Automated split-type threaded steel bar semi-finished product transport vehicle and use method thereof

Abstract

The present application provides an automated split-type threaded steel bar semi-finished product transport vehicle and a method of using the same, comprising a split-type material receiving rack group, a split-type transport vehicle group and a material storage rack group, wherein a walking path is provided between the split-type material receiving rack group and the material storage rack group, and the split-type transport vehicle group travels back and forth between the split-type material receiving rack group and the material storage rack group along the walking path, thereby changing the traditional transportation method of the threaded steel bar semi-finished products and solving the problem of low transportation efficiency of the threaded steel bar semi-finished products.

Description

Technical Field

[0001] The invention relates to the field of automated production of steel bars for construction, and in particular to an automated split-type threaded steel bar semi-finished product transport vehicle and a use method thereof. Background Art

[0002] In bridge construction, threaded steel bar semi-finished products are one of the most commonly used types of steel bar semi-finished products, and are often produced in steel bar processing plants through threaded steel bar production lines. Usually, the number of threaded steel bar semi-finished products that can be accommodated at the same time by the material receiving rack of the threaded steel bar production line is limited. Therefore, during the production process, the number of threaded steel bar semi-finished products processed in the same batch of the production line often depends on the number of threaded steel bar semi-finished products that can be accommodated at the same time by the material receiving rack. After a batch of threaded steel bar semi-finished products is processed, it is necessary to manually transport the batch of steel bar semi-finished products to the corresponding storage rack of threaded steel bar semi-finished products by crane, thus ending the in-plant production of a batch of threaded steel bar semi-finished products.

[0003] The existing threaded steel bar semi-finished product production line can complete the entire automated processing from raw materials to semi-finished products, greatly reducing the labor intensity of workers and improving production efficiency. Therefore, in the above-mentioned threaded steel bar semi-finished product factory production process, the main process that relies on manual operation is concentrated on the lifting process of the steel bar semi-finished product from the production line to the storage rack. The main disadvantages are as follows:

[0004] (1) After a batch of threaded steel bar semi-finished products are produced, the subsequent lifting process requires full human participation, and the production line is actually in a standby state. Since the operation speed of the crane in the steel bar factory is often relatively slow, and the batches of steel bar semi-finished products are relatively flexible and heavy, special lifting equipment or wire ropes are required for temporary fixation during the hooking process, which can easily cause the production line to be idle for a long time, resulting in a decrease in production efficiency and an invisibly increased labor frequency and intensity of workers;

[0005] (2) In engineering construction, for the sake of safety and standardized management, crane operators often require workers to hold relevant operating certificates before they can operate them. However, most workers currently do not have such certificates. Traditional lifting methods have invisibly increased the skill requirements for workers, thereby increasing employment costs.

[0006] (3) The crane in the steel bar factory often needs to serve multiple workstations. Therefore, when the threaded steel bar semi-finished products are being hoisted, there may be a situation where the crane at other workstations is in use. At this time, it is necessary to wait for the crane, which further reduces the production time and affects the production efficiency.

[0007] In summary, the existing lifting method of semi-finished threaded steel bars is still manual operation, with low automation and mismatch between production and lifting, which results in problems such as production time cannot be guaranteed, production efficiency is reduced, and workers have high labor frequency and labor intensity. Therefore, an automated split-type semi-finished threaded steel bar transport vehicle and its use method are proposed, aiming to change the traditional method, and complete the operation of semi-finished threaded steel bars from the receiving rack to the storage rack group through a dedicated automated transport vehicle, without manual intervention throughout the process, reducing the labor frequency and intensity of workers, and making the threaded steel bar production line sustainable, thereby improving production efficiency and further enhancing the automation and intelligence of steel bar processing plant production. Summary of the invention

[0008] The invention provides an automated split-type threaded steel bar semi-finished product transport vehicle and a use method thereof, which solves the problem of low efficiency in transporting threaded steel bar semi-finished products.

[0009] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automated split-type threaded steel bar semi-finished product transport vehicle, comprising a split-type material receiving rack group, a split-type transport vehicle group and a material storage rack group, a walking path is provided between the split-type material receiving rack group and the material storage rack group, and the split-type transport vehicle group travels back and forth between the split-type material receiving rack group and the material storage rack group along the walking path.

[0010] In a preferred solution, the split material receiving rack group includes a plurality of material receiving rack modules arranged in a straight line at intervals, and the material receiving rack module includes a material receiving rack base, and a liftable material rack is provided on the material receiving rack base.

[0011] In a preferred embodiment, the split transport vehicle group includes a plurality of transport module vehicles arranged in a line at intervals, the transport module vehicle includes a body, a liftable frame is provided on the body, and a traveling assembly is provided at at least four corners of the lower end of the body, and the traveling assembly includes horizontally steerable traveling wheels.

[0012] In the preferred embodiment, the walking assembly also includes a lower leg, the lower leg is provided with a rotatable leg shaft, the walking wheel is arranged at the lower end of the leg shaft, the leg shaft is provided with a rotary drive assembly, the rotary drive assembly includes a worm wheel and a worm that mesh with each other, the worm wheel is sleeved with the leg shaft, a rotatable steering motor is provided on one side of the worm, and a walking motor is provided at the end of the walking wheel shaft.

[0013] In the preferred scheme, the frame is provided with a V-shaped guide frame, and a buffer shelf is provided near the bottom end of the guide frame. The buffer shelf is used to place threaded steel bar semi-finished products. The frame is provided with multiple springs, and the upper end of each spring abuts against the lower end surface of the buffer shelf. Connecting plates are provided at both ends of the buffer shelf, one end of the connecting plate is hinged to the buffer shelf, and the other end of the connecting plate abuts against the inclined guide surface of the guide frame.

[0014] In a preferred solution, a magnetic column is provided at one end of the magnetic column close to the inclined guide surface of the guide retaining frame.

[0015] In a preferred solution, the material storage rack group includes a baffle, and a plurality of rack bodies arranged in a line at intervals are provided on one side of the baffle, and the end of the rack body away from the baffle is lower.

[0016] In a preferred solution, a UWB module, a forward infrared sensor module and a lateral infrared sensor module are provided on the walking assembly, and the forward infrared sensor module and the lateral infrared sensor module are used to identify the walking path.

[0017] In the preferred solution, the traveling assembly is also provided with a forward laser rangefinder and a lateral laser rangefinder, which are used to detect the distance from the transport module vehicle to the unloading mechanism of the production line, the split material receiving rack group and the material storage rack group.

[0018] The production method includes: after the production of the threaded steel bar semi-finished product is completed, the material racks of each receiving rack module rise, and the unloading mechanism of the production line transfers the threaded steel bar semi-finished product to the material racks of each receiving rack module;

[0019] Each transport module vehicle moves along the walking path, and the lateral infrared sensor module identifies the walking path. At the same time, the lateral laser rangefinder detects the distance between each transport module vehicle and the unloading mechanism of the production line to maintain the synchronization of each transport module vehicle;

[0020] The transport module vehicle stops after moving to the bottom of the threaded steel bar semi-finished product, and the UWB module performs position detection and feedback;

[0021] The material racks of each receiving rack module are lowered;

[0022] The frame of each transport module vehicle rises to lift the threaded steel bar semi-finished product;

[0023] The split transport vehicle group moves as a whole along the walking path, the lateral infrared sensor module identifies the walking path, and the lateral laser rangefinder detects the distance between each transport module vehicle and the unloading mechanism of the production line to make each transport module vehicle move synchronously;

[0024] When the transport module vehicle moves to the set position, the UWB module performs position detection and feedback, and the racks of each receiving rack module are lifted to receive the next batch of threaded steel bar semi-finished products;

[0025] Each transport module vehicle turns as a whole, and the split transport vehicle group moves along the walking path toward the storage rack group as a whole. The forward infrared sensor module identifies the walking path, the forward laser rangefinder detects the distance between each transport module vehicle, and the UWB module performs detection and feedback, so that the split transport vehicle group stops as a whole at the specified position;

[0026] Each transport module vehicle turns as a whole and moves toward the storage rack group, and the lateral laser rangefinder, lateral infrared sensor module and UWB module work to make each transport module vehicle stop at one side of each rack;

[0027] The frame of each transport module vehicle is lowered, and the threaded steel bar semi-finished product is placed on the storage rack group;

[0028] The split transport vehicle group returns along the original walking path and repeats the transportation of the next batch of threaded steel bar semi-finished products.

[0029] The beneficial effects of the present invention are as follows: a self-propelled control system based on a multi-sensor combination, combined with a steel bar factory cloud platform, automatically transports the threaded steel bar semi-finished products at the receiving rack of the production line to the storage rack by ground transportation, replacing the manual operation of this link, reducing the labor intensity of workers, and at the same time increasing the production time of the threaded steel bar production line, increasing the production efficiency of the threaded steel bar semi-finished products, and improving the automation and intelligence of the steel bar processing plant's production, making the unmanned development of the steel bar processing plant a step further; a split transport vehicle group is used to cooperate with a split receiving rack group and a split storage rack group to transport the threaded steel bar semi-finished products, which is flexible to use, has low requirements on the flatness of the site, and also reduces the difficulty of manufacturing and assembling the device, thereby reducing the equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0031] Figure 1 It is a schematic diagram of the layout of the present invention.

[0032] Figure 2 It is a schematic diagram of a split material receiving rack assembly of the present invention.

[0033] Figure 3 It is a structural diagram of a material receiving rack module of the present invention.

[0034] Figure 4 It is a schematic diagram of the split transport vehicle set of the present invention.

[0035] Figure 5 It is a schematic diagram of a transport module vehicle of the present invention.

[0036] Figure 6 It is a side view of the transport module vehicle of the present invention.

[0037] Figure 7 It is a schematic diagram of a material storage rack group of the present invention.

[0038] Figure 8 It is a system diagram of the present invention.

[0039] Fig. 9 It is the implementation step of the present invention Figure 1 .

[0040] Fig.10 It is the implementation step of the present invention Figure 2 .

[0041] Fig.11 It is the implementation step of the present invention Figure 3 .

[0042] Fig.12 It is the implementation step of the present invention Figure 4 .

[0043] Fig.13 It is the implementation step of the present invention Figure 5 .

[0044] Fig.14 It is the implementation step of the present invention Figure 6 .

[0045] Fig.15 It is the implementation step of the present invention Figure 7 .

[0046] Fig.16 It is the implementation step of the present invention Figure 8 .

[0047] Fig.17 It is a schematic diagram of installing a buffer shelf of the present invention.

[0048] Fig.18 It is a schematic diagram of the running wheel of the present invention.

[0049] In the figure: production line unloading mechanism 1; split material receiving rack group 2; split transport vehicle group 3; walking path 4; storage rack group 5; baffle 501; frame 502; receiving rack module 6; receiving rack base 601; receiving rack cylinder 602; material rack 603; guide part 604; transport module vehicle 7; walking assembly 701; rotary drive assembly 702; vehicle body 703; forward laser rangefinder 704; frame 705; first storage battery 706; lateral laser rangefinder Instrument 707; industrial computer 708; electric cylinder 709; second battery 710; forward infrared sensor module 711; lateral infrared sensor module 712; gateway module 713; UWB module 714; guide bracket 715; walking wheel 716; worm gear 717; worm 718; steering motor 719; outrigger shaft 720; walking motor 721; threaded steel bar semi-finished product 8; buffer shelf 9; connecting plate 901; magnetic column 902; spring 903. DETAILED DESCRIPTION

[0050] Embodiment 1:

[0051] like Figure 1-18In the invention, an automated split-type threaded steel bar semi-finished product transport vehicle is provided, comprising a split-type material receiving rack group 2, a split-type transport vehicle group 3 and a material storage rack group 5. A walking path 4 is provided between the split-type material receiving rack group 2 and the material storage rack group 5. The split-type transport vehicle group 3 travels back and forth between the split-type material receiving rack group 2 and the material storage rack group 5 along the walking path 4.

[0052] In a preferred solution, the split material receiving rack group 2 includes a plurality of material receiving rack modules 6 arranged in a straight line at intervals, and the material receiving rack module 6 includes a material receiving rack base 601 , and a liftable material rack 603 is provided on the material receiving rack base 601 .

[0053] The receiving rack base 601 and the material rack 603 are both welded frame structures, and a receiving rack cylinder 602 is installed on the receiving rack base 601 to drive the material rack 603 to move up and down.

[0054] A guide portion 604 is provided on one side of the upper end of the material rack 603, and the guide portion 604 is connected to the unloading mechanism 1 of the production line.

[0055] In the preferred embodiment, the split transport vehicle group 3 includes a plurality of transport module vehicles 7 arranged in a line at intervals, the transport module vehicle 7 includes a body 703, a liftable frame 705 is provided on the body 703, a walking assembly 701 is provided at at least four corners of the lower end of the body 703, and the walking assembly 701 includes horizontally steerable walking wheels 716.

[0056] The vehicle body 703 and the frame 705 are both frame structures, and an electric cylinder 709 is provided on the vehicle body 703 to drive the frame 705 to move up and down.

[0057] In the preferred embodiment, the walking assembly 701 also includes a lower leg, which is provided with a rotatable leg shaft 720, and a walking wheel 716 is provided at the lower end of the leg shaft 720. The walking wheel 716 is rotatable, and the axis of the walking wheel 716 is perpendicular to the axis of the leg shaft 720. A rotary drive assembly 702 is provided on the leg shaft 720. The rotary drive assembly 702 includes a worm wheel 717 and a worm 718 that are meshed with each other. The worm wheel 717 is sleeved with the leg shaft 720, and a rotatable steering motor 719 is provided on one side of the worm 718. A walking motor 721 is provided at the shaft end of the walking wheel 716.

[0058] The fixed housing of the slewing drive assembly 702 is connected to the fixed portion of the lower leg, and the worm gear 717, the worm 718 and the steering motor 719 are installed in the fixed housing.

[0059] The steering motor 719 drives the worm 718 to rotate so that the worm wheel 717 drives the support leg shaft 720 to rotate. A walking motor 721 is installed on one side of one of the four walking wheels 716. The walking motor 721 is a stepping motor or servo motor with a reducer, which drives the walking wheel 716 to rotate.

[0060] The threaded steel bar semi-finished product 8 is relatively long, and the transport module cart 7 needs to move. Even if the heights of the transport module carts 7 are adjusted to be consistent in advance at the beginning, since the floor heights of the workshops where the transport module carts 7 are located are different and the differences are not very regular, once the position changes during walking, the heights of the transport module carts 7 will change again, causing some of the transport module carts 7 to lose contact with the threaded steel bar semi-finished product 8, which may crush other transport module carts 7.

[0061] Therefore, in the preferred scheme, the frame 705 is provided with a V-shaped guide frame 715, and a buffer shelf 9 is provided near the bottom end of the guide frame 715. The buffer shelf 9 is used to place the threaded steel bar semi-finished product 8. A plurality of springs 903 are provided on the frame 705, and the upper end of each spring 903 abuts against the lower end surface of the buffer shelf 9. Connecting plates 901 are provided at both ends of the buffer shelf 9, and one end of the connecting plate 901 is hinged to the buffer shelf 9, and the other end of the connecting plate 901 abuts against the inclined guide surface of the guide frame 715.

[0062] When the threaded steel bar semi-finished product 8 is transferred to the transport module vehicle 7, the guide frame 715 guides the left and right sides, and at the same time constrains the threaded steel bar semi-finished product 8 in the guide frame 715 to prevent the threaded steel bar semi-finished product 8 from slipping out during transportation.

[0063] A fixing sleeve or a fixing plate is welded on the inner side of the frame 705 , and the lower end of the spring 903 is sleeved or welded to the fixing sleeve or the fixing plate, and the upper end of the spring 903 is connected to the lower end surface of the buffer shelf 9 as a whole.

[0064] The spring 903 has a relatively large rigidity, a small amount of compressibility, and a floating range of about one to two centimeters, which reduces the amount of up and down shaking of the threaded steel bar semi-finished product 8.

[0065] The connecting plate 901 is hinged to the buffer shelf 9 and leans obliquely against the V-shaped surface of the guide retaining frame 715, and the abutment end is thinned.

[0066] When the transport module vehicle 7 is close to the unloading mechanism 1 of the production line, the unloaded heights of the buffer shelves 9 are adjusted to be consistent. After the threaded steel bar semi-finished product 8 is placed, the buffer shelves 9 are compressed. When the split transport vehicle group 3 moves as a whole, even if the local ground height changes, the buffer shelves 9 are in a floating state and can still withstand part of the force, so that the transport module vehicles 7 are subjected to force as evenly as possible.

[0067] The spring 903 can also play a role in vibration reduction during movement, thereby preventing the threads of the threaded steel bar semi-finished product 8 from being damaged by hard impact.

[0068] In a preferred solution, a magnetic column 902 is provided at one end of the magnetic column 902 close to the inclined guide surface of the guide frame 715 .

[0069] The magnetic column 902 is embedded in the thinned small end of the connecting plate 901. Since one end of the connecting plate 901 is hinged, even if the buffer shelf 9 floats up and down, the small end is always adsorbed on the V-shaped surface of the guide frame 715 to prevent the formation of a docking gap, which would cause the threaded steel bar semi-finished product 8 to roll down and get stuck here.

[0070] In a preferred solution, the storage rack group 5 includes a baffle 501, and a plurality of rack bodies 502 arranged in a line at intervals are provided on one side of the baffle 501, and the end of the rack body 502 away from the baffle 501 is lower.

[0071] One end of the frame 502 is tilted so that the threaded steel bar semi-finished products 8 are gathered and arranged on one side, and the threaded steel bar semi-finished products 8 will not move to the other end of the frame 502 due to vibration or other slight collisions.

[0072] The frame 502 has a relatively small inclination.

[0073] In a preferred solution, 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 to identify the walking path 4 .

[0074] In the preferred embodiment, the traveling assembly 701 is also provided with a forward laser rangefinder 704 and a lateral laser rangefinder 707, which are used to detect the distance from the transport module vehicle 7 to the unloading mechanism 1 of the production line, the split material receiving rack group 2 and the material storage rack group 5.

[0075] The UWB module 714 is used for rough positioning. On this basis, the forward infrared sensor module 711 and the lateral infrared sensor module 712 identify the walking path 4. Finally, the forward laser rangefinder 704 and the lateral laser rangefinder 707 are used to detect whether the docking position is appropriate.

[0076] In the preferred embodiment, after the production of the threaded steel bar semi-finished product 8 is completed, the material rack 603 of each receiving rack module 6 rises, and the unloading mechanism 1 of the production line transfers the threaded steel bar semi-finished product 8 to the material rack 603 of each receiving rack module 6;

[0077] Each transport module vehicle 7 moves along the walking path 4, and the lateral infrared sensor module 712 identifies the walking path 4. At the same time, the lateral laser rangefinder 707 detects the distance between each transport module vehicle 7 and the unloading mechanism 1 of the production line to maintain the synchronization of each transport module vehicle 7;

[0078] The transport module vehicle 7 moves to the bottom of the threaded steel bar semi-finished product 8 and stops, and the UWB module 714 performs position detection and feedback;

[0079] The material rack 603 of each material receiving rack module 6 descends;

[0080] The frame 705 of each transport module vehicle 7 rises and lifts the threaded steel bar semi-finished product 8;

[0081] The split transport vehicle group 3 moves as a whole along the walking path 4, the lateral infrared sensor module 712 identifies the walking path 4, and the lateral laser rangefinder 707 detects the distance between each transport module vehicle 7 and the unloading mechanism 1 of the production line so that each transport module vehicle 7 moves synchronously;

[0082] When the transport module vehicle 7 moves to the set position, the UWB module 714 performs position detection and feedback, and the material rack 603 of each receiving rack module 6 is lifted to receive the next batch of threaded steel bar semi-finished products 8;

[0083] Each transport module vehicle 7 turns as a whole, and the split transport vehicle group 3 moves along the walking path 4 toward the storage rack group 5 as a whole. The forward infrared sensor module 711 identifies the walking path 4, and the forward laser rangefinder 704 detects the distance between each transport module vehicle 7. The UWB module 714 performs detection and feedback, so that the split transport vehicle group 3 stops as a whole at the specified position;

[0084] Each transport module vehicle 7 turns as a whole and moves toward the storage rack group 5, and the lateral laser rangefinder 707, the lateral infrared sensor module 712 and the UWB module 714 work to make each transport module vehicle 7 stop at one side of each rack 502;

[0085] The frame 705 of each transport module vehicle 7 descends to place the threaded steel bar semi-finished product 8 on the storage rack group 5;

[0086] The split transport vehicle group 3 returns along the walking path 4 and repeats the transportation of the next batch of threaded steel bar semi-finished products 8.

[0087] Embodiment 2:

[0088] Taking a steel bar factory building as an example, the upper, lower, left and right in the scheme represent relevant directions, have no special meaning, and are not used as limiting conditions for limiting this technical scheme. The technical scheme mainly includes a threaded steel bar production line unloading mechanism 1, a split material receiving rack group 2, a split transport vehicle group 3, a walking path 4, and a storage rack group 5.

[0089] The unloading mechanism 1 of the threaded steel bar production line is the terminal operation mechanism of the threaded steel bar production line, which is mainly used to transfer the processed threaded steel bar semi-finished products to the split receiving rack group 2.

[0090] The split material receiving rack group 2 is a split structure, which is composed of a plurality of material receiving rack modules 6. The material receiving rack module 6 is mainly composed of a material receiving rack base 601, a material receiving rack cylinder 602 and a material rack 603. Among them, the material receiving rack base 601 and the material rack 603 form a sliding mechanism, the cylinder barrel of the material receiving rack cylinder 602 is fixedly connected to the material receiving rack base 601, and the piston rod is fixedly connected to the material rack 603. The material rack 603 can be driven by the material receiving rack cylinder 602 to move vertically along the sliding mechanism formed with the material receiving rack base 601. The split material receiving rack group 2 is mainly used to carry the semi-finished threaded steel bars delivered by the unloading mechanism 1 of the threaded steel bar production line, and place the semi-finished threaded steel bars on the split transport vehicle group 3 through vertical movement.

[0091] The split transport vehicle group 3 is a split structure, and is composed of a plurality of transport module vehicles 7. The transport module vehicle 7 is mainly composed of a traveling assembly 701, a slewing drive assembly 702, a vehicle body 703, a forward laser rangefinder 704, a vehicle frame 705, a first battery 706, a lateral laser rangefinder 707, an industrial 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, and a UWB module 714. Among them, the body 703 and the frame 705 form a sliding mechanism, the cylinder barrel of the electric cylinder 709 is fixedly connected to the body 703, and the piston rod is fixedly connected to the frame 705. The frame 705 can be vertically moved by the electric cylinder 709 along the sliding mechanism formed with the body 703; the walking assembly 701 is the walking drive structure of the entire module vehicle, and the speed can be controlled; the rotary drive assembly 702 is connected to the walking assembly 701 at the bottom and the body 703 at the top, so that the walking assembly 701 can rotate 360° around the rotation axis, so that the module vehicle can travel in all directions; the body 703 carries all the components of the module vehicle except the frame 705, the walking assembly 701, the cylinder barrel of the electric cylinder 709, and the UWB module 714; the forward laser rangefinder 704 and the lateral laser rangefinder 707 are respectively fixedly connected to the front and left center positions of the body 703, and are mainly used for the module vehicle to measure the distance in the direction of the corresponding external environment. Positioning feedback; the frame 705 is mainly used for carrying the semi-finished threaded steel bars; the first battery 706 and the second battery 710 are fixedly connected to the body 703 to provide power for the entire module vehicle; the industrial computer 708 is fixedly connected to the body 703, mainly carrying 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 body 703, and the detection directions are respectively along the front and rear directions and the left and right directions of the module vehicle, mainly used to identify and detect the walking path 4 on the ground, so as to guide the module vehicle to walk along the walking path 4; the gateway module 713 is fixedly connected to the body 703, mainly used for wireless communication of all control and detection information of the module vehicle with the overall production control system of the steel bar factory; the UWB module 714 is inserted into the gateway module 713, mainly used for the collection and feedback of positioning information of the module vehicle in the steel bar factory. The split transport vehicle group 3 is mainly used to carry the semi-finished threaded steel bars placed by the split material receiving rack group 2, and then transport them to the storage rack group 5 along the walking path 4.

[0092] The walking path 4 is a black line drawn on the ground, which is mainly the walking route of the split transport vehicle group 3 during the walking process from the material receiving rack 2 to the material storage rack group 5, and provides a path identification function for the split transport vehicle group 3.

[0093] The structure of the storage rack group 5 is composed of a baffle 501 and a frame 502. The baffle 501 is fixedly connected to the frame 502, and the upper surface of the frame 502 is in an inclined state, with the side close to the baffle 501 being lower and the side away from the baffle 502 being higher. The inclined structure is mainly used to prevent the threaded steel bar semi-finished products from rolling freely on the storage rack group 5. The storage rack group 5 is mainly used for storing the threaded steel bar semi-finished products in the factory.

[0094] It also includes a cloud-based distributed control system, which mainly includes a threaded steel bar semi-finished product specification management system, a production plan management system, and a threaded steel bar semi-finished product quantity management system. The cloud platform can arrange production plans such as specifications and quantities of threaded steel bar semi-finished products in the steel bar factory according to the production progress of the construction site; wireless communication technology is used to realize information exchange between the cloud platform and the host computer system, and to achieve real-time online interaction between the cloud platform and the host computer system; the host computer system adopts a distributed control system, which can realize data interaction and control with the threaded steel bar production line, split material receiving rack group and split transport vehicle group.

[0095] The split transport vehicle group 3 also includes a self-propelled control system based on a multi-sensor combination. The first is a coarse positioning system based on the UWB positioning system. According to the UWB tag on the body of each transport module vehicle 7, the UWB module 714 realizes the coarse positioning of each transport module vehicle 7 (the reason is that the positioning accuracy of the UWB technology is difficult to meet the split transport vehicle group 3 for precise control of walking along the walking path 4), so that each transport module vehicle 7 can be in a relatively controlled position range; the second is a tracking walking module based on infrared sensing technology, which recognizes the walking path 4 through the forward infrared sensor module 711 and the lateral infrared sensor module 712, and feeds the recognition signal back to each transport module vehicle 7. The path tracking system of the module vehicle 7 controls the speed of the walking assembly 701, so that each transport module vehicle 7 can be precisely controlled to walk along the walking path 4; finally, it is a relative position positioning system based on the laser rangefinder. Through the forward laser rangefinder 704, each transport module vehicle 7 can accurately feedback the distance between the adjacent module vehicles, thereby realizing the relative distance and position control between each module vehicle; through the lateral laser rangefinder 707, each transport module vehicle 7 can determine the mutual distance between the unloading mechanism 1 of the threaded steel bar production line and the storage rack group 5, thereby realizing the precise control of the distance between the split transport vehicle group 3 and the unloading mechanism 1 and the storage rack group 5 of the threaded steel bar production line.

[0096] Here’s how to use it:

[0097] (1) When a batch of threaded steel bar semi-finished products 8 is produced, it is transferred to the split material receiving rack group 2 by the unloading mechanism 1 of the threaded steel bar production line. At this time, the material receiving rack cylinder 602 of each material receiving rack module 6 is in the maximum stroke state, and the electric cylinder 709 of each transport module vehicle 7 is in the minimum stroke state. Under the positioning control of the self-propelled control system based on a multi-sensor combination, the center line of each transport module vehicle 7 in the front and rear directions is directly above the walking path 4;

[0098] (2) The split module vehicle 3 moves to the left and moves to the bottom of a batch of threaded steel bar semi-finished products 8. During this process, the lateral infrared sensor module 712 identifies the walking path 4 and synchronously controls each transport module vehicle 7 to move along the corresponding walking path 4. At the same time, the lateral laser rangefinder 707 detects the distance between each transport module vehicle 7 and the unloading mechanism 1 of the threaded steel bar production line to maintain the synchronization of the movement of each transport module vehicle. When the transport module vehicle 7 moves to the set distance corresponding to the unloading mechanism of the threaded steel bar production line, the transport module vehicle 7 stops moving. At the same time, the UWB module 714 performs position detection and feedback on each transport module vehicle 7 in real time.

[0099] (3) The receiving rack cylinders 602 of each receiving rack module 6 are synchronously lowered to the minimum stroke, and a batch of threaded steel bar semi-finished products 8 are placed on the split module vehicle 3;

[0100] (4) The electric cylinders 709 of each transport module vehicle 7 are synchronously raised to the maximum stroke, and a batch of threaded steel bar semi-finished products 8 are synchronously lifted onto the split module vehicle 3;

[0101] (5) The split module vehicle 3 moves to the right and stops when the center line of the left and right directions is directly above the walking path 4. The rotary drive assembly 702 controls the walking assembly 701 to rotate 90°. During this process, the lateral infrared sensor module 712 identifies the walking path 4 and synchronously controls each transport module vehicle 7 to move along the corresponding walking path 4. At the same time, the lateral laser rangefinder 707 detects the distance between each transport module vehicle 7 and the unloading mechanism 1 of the threaded steel bar production line to maintain the synchronization of the movement of each transport module vehicle. When the transport module vehicle 7 moves to the distance When the unloading mechanism 1 of the threaded steel bar production line reaches the set distance of the corresponding position, the transport module vehicle 7 stops moving, and at the same time, the UWB module 714 performs position detection and feedback on each transport module vehicle 7 in real time; then, the receiving rack cylinder 602 of each receiving rack module 6 is raised to the maximum stroke state, and the cloud platform can arrange the production plan such as the specifications and quantity of the next batch of threaded steel bar semi-finished products in the steel bar factory according to the production progress of the construction site, and after interacting with the host computer system, the host computer system controls the threaded steel bar production line to continue to produce the next batch of threaded steel bar semi-finished products;

[0102] (6) The split module vehicle 3 moves along the walking path 4 toward the storage rack group 5, and stops at the designated position. The rotary drive assembly 702 controls the walking assembly 701 to rotate 90°. During this process, the forward infrared sensor module 711 identifies the walking path 4, and synchronously controls each transport module vehicle 7 to move along the corresponding walking path 4. At the same time, the forward laser rangefinder 704 is used to detect and control the distance between adjacent module vehicles of each transport module vehicle 7, thereby ensuring the synchronization of the movement of each module vehicle; the UWB module 714 is used to detect and feedback the position of each transport module vehicle 7 in real time, and combined with the forward infrared sensor module 711, the split module vehicle 3 is stopped at the designated position. At this time, the center line of each transport module vehicle 7 in the front-to-back direction and the left-to-right direction is directly above the walking path 4 of the corresponding position;

[0103] (7) The split module vehicle 3 moves to the left and moves to the designated position in the storage rack group 5. During this process, the lateral infrared sensor module 712 identifies the walking path 4 and synchronously controls each transport module vehicle 7 to move along the corresponding walking path 4. At the same time, the lateral laser rangefinder 707 detects the distance between each transport module vehicle 7 and the baffle 501 to maintain the synchronization of the movement of each transport module vehicle. When the transport module vehicle 7 moves to the set distance corresponding to the position of the baffle 501, the transport module vehicle 7 stops moving. At the same time, the UWB module 714 performs position detection and feedback on each transport module vehicle 7 in real time.

[0104] (8) The electric cylinders 709 of each transport module vehicle 7 are synchronously lowered to the minimum stroke, and a batch of threaded steel bar semi-finished products 8 are placed on the storage rack group 5;

[0105] (9) The split module vehicle 3 returns along the original route. The working principle of each transport module vehicle 7 in this process is the same as steps (2) to (8);

[0106] (10) Repeat steps (1) to (9) to complete the operation of the next batch of threaded steel bar semi-finished products.

[0107] In step (7), during the transportation of each batch of threaded steel bar semi-finished products, the distance between the split module vehicle 3 and the baffle 501 is different, and each distance is smaller than the previous distance. The distance difference is equal to the left and right width of the transport module vehicle 7.

[0108] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An automated split-type semi-finished threaded steel bar transport vehicle, characterized by: It comprises a split material receiving rack group (2), a split transport vehicle group (3) and a material storage rack group (5), a walking path (4) is provided between the split material receiving rack group (2) and the material storage rack group (5), and the split transport vehicle group (3) travels back and forth between the split material receiving rack group (2) and the material storage rack group (5) along the walking path (4); The split material receiving rack group (2) includes a plurality of material receiving rack modules (6) arranged in a straight line at intervals, the material receiving rack module (6) includes a material receiving rack base (601), and a liftable material rack (603) is provided on the material receiving rack base (601); The split transport vehicle group (3) includes a plurality of transport module vehicles (7) arranged in a line at intervals, the transport module vehicle (7) including a vehicle body (703), a liftable vehicle frame (705) provided on the vehicle body (703), a running assembly (701) provided at at least four corners of the lower end of the vehicle body (703), and the running assembly (701) including horizontally steerable running wheels (716); The walking assembly (701) further includes a lower leg, the lower leg being provided with a rotatable leg shaft (720), a walking wheel (716) being provided at the lower end of the leg shaft (720), a slewing drive assembly (702) being provided on the leg shaft (720), the slewing drive assembly (702) including a worm wheel (717) and a worm (718) meshing with each other, the worm wheel (717) being sleeved with the leg shaft (720), a rotatable steering motor (719) being provided on one side of the worm (718), and a walking motor (721) being provided at the shaft end of the walking wheel (716); The walking assembly (701) is provided with a UWB module (714), a forward infrared sensor module (711), and a side infrared sensor module (712), wherein the forward infrared sensor module (711) and the side infrared sensor module (712) are used to identify the walking path (4); The walking assembly (701) is also provided with a forward laser rangefinder (704) and a side laser rangefinder (707), and the forward laser rangefinder (704) and the side laser rangefinder (707) are used to detect the distance from the transport module vehicle (7) to the production line unloading mechanism (1), the split receiving rack group (2) and the storage rack group (5); The storage rack group (5) includes a baffle (501), and a plurality of rack bodies (502) arranged in a straight line at intervals are provided on one side of the baffle (501). The end of the rack body (502) away from the baffle (501) is higher, and the walking path (4) extends to the area between adjacent rack bodies (502) near the baffle (501).

2. The automated split-type threaded steel bar semi-finished product transport vehicle according to claim 1 is characterized by: The frame (705) is provided with a guide frame (715) of a V-shaped structure, and a buffer shelf (9) is provided near the bottom end of the guide frame (715), and the buffer shelf (9) is used to place the threaded steel bar semi-finished product (8). A plurality of springs (903) are provided on the frame (705), and the upper end of each spring (903) abuts against the lower end surface of the buffer shelf (9). A connecting plate (901) is provided at both ends of the buffer shelf (9), and one end of the connecting plate (901) is hinged to the buffer shelf (9), and the other end of the connecting plate (901) abuts against the inclined guide surface of the guide frame (715).

3. The automated split-type threaded steel bar semi-finished product transport vehicle according to claim 2 is characterized by: A magnetic column (902) is provided at one end of the magnetic column (902) close to the oblique guide surface of the guide retaining frame (715).

4. The method for using the automated split-type threaded steel bar semi-finished product transport vehicle according to claim 1 is characterized by: After the production of the threaded steel bar semi-finished product (8) is completed, the material rack (603) of each material receiving rack module (6) rises, and the production line unloading mechanism (1) transfers the threaded steel bar semi-finished product (8) to the material rack (603) of each material receiving rack module (6); Each transport module vehicle (7) moves along the walking path (4), and the lateral infrared sensor module (712) identifies the walking path (4). At the same time, the lateral laser rangefinder (707) detects the distance between each transport module vehicle (7) and the production line unloading mechanism (1) to maintain the synchronization of each transport module vehicle (7); The transport module vehicle (7) moves to the bottom of the threaded steel bar semi-finished product (8) and stops, and the UWB module (714) performs position detection and feedback; The material rack (603) of each material receiving rack module (6) descends; The frame (705) of each transport module vehicle (7) rises and lifts the threaded steel bar semi-finished product (8); The split transport vehicle group (3) moves as a whole along the walking path (4), the lateral infrared sensor module (712) identifies the walking path (4), and the lateral laser rangefinder (707) detects the distance between each transport module vehicle (7) and the production line unloading mechanism (1) so that each transport module vehicle (7) moves synchronously; When the transport module vehicle (7) moves to the set position, the UWB module (714) performs position detection and feedback, and the material racks (603) of each material receiving rack module (6) are lifted to receive the next batch of threaded steel bar semi-finished products (8); Each transport module vehicle (7) turns as a whole, and the split transport vehicle group (3) moves as a whole along the walking path (4) toward the storage rack group (5). The forward infrared sensor module (711) identifies the walking path (4), the forward laser rangefinder (704) detects the distance between each transport module vehicle (7), and the UWB module (714) performs detection and feedback, so that the split transport vehicle group (3) stops as a whole at a designated position; Each transport module vehicle (7) turns as a whole and moves toward the storage rack group (5), and the lateral laser rangefinder (707), the lateral infrared sensor module (712) and the UWB module (714) operate to make each transport module vehicle (7) stop at one side of each rack (502); The frame (705) of each transport module vehicle (7) is lowered to place the threaded steel bar semi-finished product (8) on the storage rack group (5); The split transport vehicle group (3) returns along the travel path (4) and repeats the transportation of the next batch of threaded steel bar semi-finished products (8).

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