Steel bar automatic feeding robot system and process

Abstract

The present application relates to the technical field of steel bar processing, in particular to a steel bar rod automatic feeding robot system and process. The present application adopts a magnetic attraction mechanism in cooperation with related flattening and material guiding devices to realize program-controlled automatic feeding of steel bar raw materials and processing scraps. The continuity and stability of the feeding are good, and the automatic feeding of steel bars of different specifications can be adapted without adjusting the mechanical structure and manual intervention. By setting movable multi-specification steel bar raw material and steel bar processing scrap bins, which are drawer-type and arranged synchronously in the height direction, automatic feeding of all-specification steel bars, automatic collection and reuse of steel bar scraps are realized, and traditional manual processing of scraps is not needed. Through reasonable arrangement of visual devices and related algorithms, self-recognition of the length of steel bar scraps is realized, providing data support for subsequent automatic feeding and processing of scraps.

Description

Technical Field

[0001] This invention relates to the field of steel bar processing technology, specifically to an automatic steel bar bar feeding robot system and process. Background Technology

[0002] The processing of shaped steel bars involves steel bar materials of various specifications. Traditional steel bar feeding methods and equipment require manual identification of steel bar specifications in production tasks for feeding. At the same time, the recycling and sorting of excess steel bar raw materials and steel bar processing waste also require manual operation. This feeding method is inefficient, labor-intensive, and cannot collect, sort and quickly reuse processing waste, resulting in a large backlog of steel bar processing waste.

[0003] The performance of existing automatic rebar feeding devices is unstable. The production process requires feeding one rebar at a time, but in practice, two or even more rebars are often fed in at the same time, which affects the continuity of production.

[0004] Meanwhile, existing automatic rebar feeding devices are inflexible, requiring manual adjustment of the corresponding mechanical devices when automatically feeding rebars of different specifications, making them unsuitable for rebar processing and production operations with "multiple specifications and small batches". Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an automatic feeding robot system and process for steel bar bars, which can realize the program-controlled automatic feeding of steel bar raw materials and processing waste materials, with good feeding continuity and stability, and can realize the automatic collection and reuse of steel bar waste materials, as well as the self-identification of the length of steel bar waste materials, reducing the manual intervention links and effectively improving the feeding efficiency of steel bar bars.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] I. An automated steel bar feeding robot system

[0008] This application provides an automatic steel bar feeding robot system, including a material support frame 5, a feeding machine frame 6, and raw material bins 1 and surplus material bins 2 of various specifications. The feeding machine frame 6 is arranged laterally (X-direction), and the raw material bins 1 and surplus material bins 2 are respectively located on both sides of the feeding machine frame 6. The raw material bins 1 are located below the material support frame 5 and can move longitudinally (Y-direction) along the ground guide rail 12. The surplus material bins 2 are located above the material support frame 5 and can move longitudinally (Y-direction) along the guide rail on the upper surface of the material support frame. The feeding frame 6 is provided with an upper crossbeam 13 and a lower crossbeam 14 along the transverse (X direction). The upper crossbeam 13 is equipped with an electromagnetic suction head 3, a material straightening device 10, and a visual recognition device 11. The lower crossbeam 14 is equipped with a permanent magnet suction head 4, a guide plate 7, a feeding roller conveyor 8, and an electromagnetic feeding device 9. The feeding roller conveyor 8 is equipped with a turning mechanism. The automatic feeding robot system for steel bars communicates remotely in real time with the steel bar processing production process control system (PCS).

[0009] Preferably, the electromagnetic suction head 3 is slidably disposed on the upper crossbeam 13 of the frame and can move laterally along the upper crossbeam 13 of the frame. The electromagnetic suction head 3 includes an electromagnet 15 and a guide rod 16. The electromagnet 15 can move vertically (Z direction) along the guide rod 16, and the guide rod 16 can extend and retract longitudinally (Y direction).

[0010] Preferably, there are two material feeding devices 10, which are respectively located on both sides of the electromagnetic suction head 3. The material feeding devices 10 can move laterally along the upper crossbeam 13 of the frame. The material feeding devices 10 include a support rod 26 and a guide rod 27. The support rod 26 can move vertically (Z direction) along the guide rod 27, and the guide rod 27 can extend and retract longitudinally (Y direction).

[0011] Preferably, the visual recognition device 11 is located on the bottom surface of the upper crossbeam 13 of the frame and consists of multiple evenly arranged camera units. Each camera unit has the same field of view and does not intersect with each other. The sum of the field of view of each camera unit covers the entire feeding roller conveyor 8.

[0012] Preferably, the permanent magnet suction head 4 is located on the lower crossbeam 14 of the frame on the side away from the electromagnetic suction head 3. The permanent magnet suction head 4 includes a telescopic rod 19 that can extend and retract along the longitudinal direction (Y direction). A permanent magnet 17 is provided at one end of the telescopic rod 19 near the permanent magnet suction head 4, and a baffle plate 18 is provided on the side of the telescopic rod 19.

[0013] Preferably, the guide plate 7 is located below the permanent magnet suction head 4, and the end of the guide plate 7 extends to the feeding roller conveyor 8;

[0014] Preferably, the feeding roller conveyor 8 is located on the side of the lower crossbeam 14 of the frame near the waste material bin 2. The feeding roller conveyor 8 is composed of a plurality of roller conveyor units evenly arranged along the lower crossbeam 14 of the frame. Each roller conveyor unit includes a support plate 21 fixedly connected to the lower crossbeam 14 of the frame. A support 20 is provided above the support plate 21. A non-powered roller 23 is provided above the support 20. A V-shaped plate 22 parallel to the roller 23 is provided on the side of the support 20.

[0015] Preferably, an electromagnetic feeding device 9 is provided at the end of the feeding roller conveyor 8. The electromagnetic feeding device 9 includes a linear module 24 and an electromagnet 25. The electromagnet 25 is driven by the linear module 24 to move back and forth in the transverse (X direction).

[0016] Preferably, both the raw material bin 1 and the waste material bin 2 are provided with multiple partitions. The raw material bin 1 is driven by a motor to move longitudinally (Y direction) along the ground guide rail 12; the waste material bin 2 is driven by a motor to move longitudinally (Y direction) along the guide rail on the upper surface of the material support frame.

[0017] II. An automatic feeding process for steel bar bars

[0018] Based on the same inventive concept, this application also provides an automatic feeding process for reinforcing bars, which, based on the automatic feeding robot system for reinforcing bars described above, includes the following steps:

[0019] Step S1: Parse the processing task data information sent by the steel bar processing production process control system (PCS). The processing task data information includes steel bar diameter, steel bar quantity, and steel bar length.

[0020] Step S2: Based on the data parsing results, optimize the scheduling and nesting, generate a steel bar processing production instruction, and extract a feeding instruction from the steel bar processing production instruction. Determine whether to use steel bar scraps for processing based on the feeding instruction. If yes, continue to step S3; otherwise, directly execute step S4.

[0021] Step S3 involves loading and processing the remaining steel bars.

[0022] Step S4 involves feeding, processing, and collecting the steel reinforcement raw materials.

[0023] Preferably, the loading and processing of the surplus steel bars specifically includes the following steps:

[0024] S31: The equipment is reset, and the electromagnetic suction head and the material feeding device return to the preset initial position for feeding residual material;

[0025] S32: According to the feeding instruction, the corresponding bin of the surplus material bin is moved to the position directly below the electromagnetic suction head. The electromagnetic suction head descends under the drive of the cylinder. The electromagnet is energized and contacts and attracts the single row of surplus steel bars in the bin, then rises to the preset height.

[0026] S33: The support rod of the material straightening device extends, and the far end of the support rod extends to the outside of the remaining material steel bar. Then the material straightening device rises as a whole and lifts the remaining material steel bar. The two material straightening devices move in opposite directions in the lateral direction (X direction) respectively. They stop after reaching the preset limit, and the support rod of the material straightening device remains extended to continue to support the entire row of remaining material steel bars.

[0027] S34: The cylinder drives the permanent magnet suction head to move along the longitudinal direction (Y direction), touches and attracts a single residual steel bar, and then retracts. The single residual steel bar is blocked by the baffle plate and slides down the guide plate onto the feeding roller.

[0028] S35: The electromagnet of the electromagnetic feeding device is cyclically energized and demagnetized and reciprocates in the transverse (X direction) direction to realize the fixed-length feeding of a single residual steel bar on the feeding roller conveyor, so that the residual steel bar is fed to the zero position to be processed.

[0029] S36: Activate the visual recognition device to capture images of the remaining steel bars and identify their length information. The specific recognition process is as follows:

[0030] 1) When the surplus steel bars fill the entire field of view of a single camera unit, the length is measured as a;

[0031] 2) When the remaining steel reinforcement does not fill the entire field of view of a single camera unit, the ratio of the filled field of view is a / n;

[0032] 3) When there is no excess steel reinforcement within the field of view of a single camera unit, the length is counted as 0;

[0033] 4) Add up the length records of each camera unit and convert them to obtain the length of the remaining steel reinforcement;

[0034] S37: The length of the remaining steel bar is transmitted back to the steel bar processing production process control system (PCS). After being matched with the corresponding processing task, the steel bar continues to be fed and processed.

[0035] S38: Repeat S31 to S37 until all the steel reinforcement scraps required for this batch are loaded and processed. If there are still steel reinforcement scraps on the lifting device rod after loading is completed, retract the lifting device rod so that the steel reinforcement scraps fall back into the corresponding scrap bin.

[0036] Preferably, the feeding, processing, and collection of the steel reinforcement raw materials specifically includes the following steps:

[0037] S41: The equipment is reset, and the electromagnetic suction head and the material feeding device return to the preset initial position for raw material feeding;

[0038] S42: According to the feeding instruction, the corresponding bin of the raw material bin is moved to the position directly below the electromagnetic suction head. The electromagnetic suction head descends under the drive of the cylinder. The electromagnet is energized and contacts and attracts the single row of raw material steel bars in the bin, and then rises to the preset height.

[0039] S43: The support rod of the material straightening device extends, and the far end of the support rod extends to the outside of the raw material steel bar. Then the material straightening device rises as a whole and lifts the raw material steel bar. The two material straightening devices move in opposite directions in the lateral direction (X direction) respectively. They stop after reaching the preset limit, and the support rod of the material straightening device remains extended to continue to support the entire row of raw material steel bars.

[0040] S44: The cylinder drives the permanent magnet suction head to move along the longitudinal direction (Y direction), touches and attracts a single raw material steel bar, and then retracts. The single raw material steel bar is blocked by the baffle plate and slides down the guide plate onto the feeding roller.

[0041] S45: The electromagnet of the electromagnetic feeding device is cyclically energized and demagnetized and reciprocates in the transverse (X direction) direction to realize the fixed-length feeding of a single raw material steel bar on the feeding roller conveyor, so that the raw material steel bar is fed to the zero position to be processed.

[0042] S46: After the raw material steel bars are processed, the resulting processing waste is returned to the feeding roller conveyor through the electromagnetic feeding device. At the same time, the steel bar waste rack is driven by the motor to move the corresponding bin to the bottom of the feeding roller conveyor. The turning mechanism flips up and flips the processing waste into the corresponding bin.

[0043] S47: Repeat S41 to S46 until all the steel reinforcement materials for this batch are loaded and processed, and all the processing residues are collected into the corresponding residue bin.

[0044] Compared with the prior art, the present invention has the following main advantages:

[0045] 1. This application proposes an automatic bar bar feeding robot system and process, which can realize intelligent program control and data-driven operation of the entire production process. It eliminates the need for manual identification of bar specifications in the bar bar task. The processing task is directly issued to this device through the bar bar processing process control system (PCS), realizing fully automatic single-bar sequential feeding and temporary storage of raw materials of different diameters and processing residues of bars of different lengths. Its advantages are: reducing manual intervention, effectively improving feeding efficiency, and reducing the probability of human error.

[0046] 2. This application includes a movable multi-specification steel bar raw material and steel bar processing waste material bin. Each bin corresponds to a steel bar diameter. Both bins are arranged synchronously in the height direction in a drawer-type configuration, with the steel bar raw material bin located at the bottom. This bin temporarily stores all specifications of steel bar raw materials required for steel bar processing. When different specifications of steel bars are needed, the raw material bin can automatically move to the corresponding position according to program instructions to facilitate the relevant feeding process. At the same time, any unused steel bar raw materials from the production batch fall back to the corresponding bin under the drive of relevant devices. Its advantages are: the feeding of steel bars of different specifications is fully program-controlled, the switching of steel bar specifications and feeding speed are fast, the interruption time during the feeding of steel bars of different diameters is short, and the labor intensity of workers is reduced. In addition, the remaining raw materials can be automatically collected, eliminating the manual collection work under traditional production processes.

[0047] 3. The steel rebar processing waste bin of this application is arranged above the raw material bin. Steel rebar processing waste with usable value can be flipped back to the corresponding movable multi-specification waste bin. When waste material needs to be used for processing, the corresponding bin will move to the loading station under program control to complete the relevant loading process. Since the length of the processed waste material varies, cameras are distributed above the processing station to identify the length of the waste material and return it to the steel rebar processing process control system (PCS). If the system determines that the waste material needs to be used, it will continue to be fed in. If the waste material does not meet the requirements of the processing batch, it will fall back into the waste bin. Its advantages are: it can realize the collection, sorting, and rapid disposal of steel rebar processing waste, avoiding problems such as large temporary waste space, low waste material utilization, and large waste material loss caused by waste material accumulation.

[0048] 4. This application achieves automated feeding of steel bar raw materials and processing waste through two magnetic suctions and corresponding leveling and guiding mechanisms. The feeding has good continuity and stability, and can adapt to the automatic feeding of steel bar materials of different specifications without adjusting the mechanical structure or manual intervention. Attached Figure Description

[0049] Figure 1 This is a front view of the automatic steel bar feeding robot system in an embodiment of the present invention;

[0050] Figure 2 This is a side view of the automatic steel bar feeding robot system in an embodiment of the present invention;

[0051] Figure 3 This is a flowchart of the automatic feeding process for steel bar bars in an embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram of the visual recognition algorithm for the length of leftover steel bars in an embodiment of the present invention.

[0053] In the diagram: 1. Raw material bin; 2. Residual material bin; 3. Electromagnetic suction head; 4. Permanent magnet suction head; 5. Material support frame; 6. Loading frame; 7. Guide plate; 8. Feeding roller conveyor; 9. Electromagnetic feeding device; 10. Material straightening device; 11. Vision recognition device; 12. Ground guide rail; 13. Upper crossbeam of the frame; 14. Lower crossbeam of the frame; 15. Electromagnet one; 16. Guide rod one; 17. Permanent magnet; 18. Baffle plate; 19. Telescopic rod; 20. Support; 21. Support plate; 22. V-shaped plate; 23. Roller; 24. Linear module; 25. Electromagnet two; 26. Support rod; 27. Guide rod two. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0055] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0056] Example 1: This example provides an automatic steel bar feeding robot system, such as... Figures 1-2 As shown, the system includes a material support frame 5, a feeding frame 6, raw material bins 1 of various specifications, and waste material bins 2. The feeding frame 6 is arranged horizontally (X-direction), and the raw material bins 1 and waste material bins 2 are respectively located on both sides of the feeding frame 6. The raw material bins 1 are located below the material support frame 5 and can move longitudinally (Y-direction) along the ground guide rail 12. The waste material bins 2 are located above the material support frame 5 and can move longitudinally (Y-direction) along the guide rail on the upper surface of the material support frame. The feeding frame 6 is arranged horizontally (X-direction), and the waste material bins 1 and 2 are respectively located on both sides of the feeding frame 6. The machine is equipped with an upper crossbeam 13 and a lower crossbeam 14 in the X direction. The upper crossbeam 13 is equipped with an electromagnetic suction head 3, a material feeding device 10, and a visual recognition device 11. The lower crossbeam 14 is equipped with a permanent magnet suction head 4, a guide plate 7, a feeding roller conveyor 8, and an electromagnetic feeding device 9. The feeding roller conveyor 8 is equipped with a turning mechanism. The automatic feeding robot system for steel bars communicates remotely in real time with the steel bar processing production process control system (PCS).

[0057] Furthermore, the electromagnetic suction head 3 is slidably mounted on the upper crossbeam 13 of the frame and can move laterally along the upper crossbeam 13 of the frame. The electromagnetic suction head 3 includes an electromagnet 15 and a guide rod 16. The electromagnet 15 can move vertically (Z direction) along the guide rod 16, and the guide rod 16 can extend and retract longitudinally (Y direction).

[0058] Furthermore, the material straightening device 10 is provided in two parts and is respectively located on both sides of the electromagnetic suction head 3. The material straightening device 10 can move laterally along the upper crossbeam 13 of the frame. The material straightening device 10 includes a support rod 26 and a guide rod 27. The support rod 26 can move vertically (Z direction) along the guide rod 27, and the guide rod 27 can extend and retract longitudinally (Y direction).

[0059] Furthermore, the visual recognition device 11 is located on the bottom surface of the upper crossbeam 13 of the frame and consists of multiple evenly arranged camera units. Each camera unit has the same field of view and does not intersect with each other. The sum of the field of view of each camera unit covers the entire feeding roller conveyor 8.

[0060] Furthermore, the permanent magnet suction head 4 is located on the lower crossbeam 14 of the frame on the side away from the electromagnetic suction head 3. The permanent magnet suction head 4 includes a telescopic rod 19 that can extend and retract in the longitudinal direction (Y direction). A permanent magnet 17 is provided at one end of the telescopic rod 19 near the permanent magnet suction head 4, and a baffle plate 18 is provided on the side of the telescopic rod 19.

[0061] Furthermore, the guide plate 7 is located below the permanent magnet suction head 4, and the end of the guide plate 7 extends to the feeding roller conveyor 8;

[0062] Furthermore, the feeding roller conveyor 8 is located on the side of the lower crossbeam 14 of the frame near the waste material bin 2. The feeding roller conveyor 8 is composed of a plurality of roller conveyor units evenly arranged along the lower crossbeam 14 of the frame. Each roller conveyor unit includes a support plate 21 fixedly connected to the lower crossbeam 14 of the frame. A support 20 is provided above the support plate 21. A non-powered roller 23 is provided above the support 20. A V-shaped plate 22 parallel to the roller 23 is provided on the side of the support 20.

[0063] Furthermore, an electromagnetic feeding device 9 is provided directly opposite the end of the feeding roller conveyor 8. The electromagnetic feeding device 9 includes a linear module 24 and an electromagnet 25. The electromagnet 25 is driven by the linear module 24 to reciprocate laterally (in the X direction).

[0064] Furthermore, both the raw material bin 1 and the waste material bin 2 are provided with multiple partitions. The raw material bin 1 is driven by motor 1 to move longitudinally (Y direction) along the ground guide rail 12; the waste material bin 2 is driven by motor 2 to move longitudinally (Y direction) along the guide rail on the upper surface of the material support frame.

[0065] Example 2: This example provides an automatic bar bar feeding robot system, which mainly includes a raw material bin, a surplus material bin, an electromagnetic chuck, a permanent magnet chuck, a material support frame, a feeding frame, a guide plate, a feeding roller conveyor, an electromagnetic feeding device, a material straightening device, a vision device, and guide rails.

[0066] The main components are arranged as follows: the feeding frame is in the center, the upper crossbeam of the frame is equipped with electromagnetic suction head, material feeding device and visual recognition camera, etc., the lower crossbeam of the frame is equipped with guide plate, feeding roller, permanent magnet suction head, electromagnetic feeding device, turning device, etc., the material support frame is arranged on both sides of the feeding frame and connected to the feeding frame, the surplus material bin is set on the material support frame, and the raw material rack is set below the material support frame.

[0067] Furthermore, the electromagnetic chuck is mainly composed of an electromagnet, a guide rod, and other devices. It can move along the X and Z axes, which means it can move along the upper crossbeam or be raised and lowered at different heights.

[0068] Furthermore, the material handling device consists of two components, such as a support rod and a guide rod, which can move along the X and Z axes. It can move along the upper crossbeam and can also be raised and lowered at different heights. At the same time, the guide rod can extend and retract along the Y direction.

[0069] Furthermore, the vision device is installed at the lower middle part of the crossbeam of the feeding frame above the feeding roller conveyor, and the imaging range covers the entire feeding roller conveyor, which can help identify the specifications such as the length and diameter of the steel bars.

[0070] Furthermore, the permanent magnet chuck is composed of a permanent magnet, a baffle plate, a telescopic rod, and other mechanisms. The permanent magnet chucks are evenly distributed on the crossbeam opposite the electromagnetic chucks and can extend and retract in the Y-axis direction under the drive of the cylinder.

[0071] Furthermore, the guide plates are evenly distributed on the crossbeams opposite the electromagnetic suction head at the bottom of the feeding frame, and the guiding direction is from the electromagnetic suction head to the side of the feeding roller conveyor.

[0072] Furthermore, the feeding roller conveyor is composed of support plates, V-shaped plates, rollers, supports, and other devices, which are evenly distributed on the crossbeam opposite the electromagnetic suction head at the bottom of the feeding frame and set on the opposite side of the guide plate. The entire roller conveyor is unpowered.

[0073] Furthermore, the electromagnetic feeding device consists of a linear module, an electromagnet, and other mechanisms. The electromagnet can move along the X-axis under the drive of the linear module.

[0074] Furthermore, the waste material rack is equipped with multiple compartments, and can move along the Y direction on the material support rack slide rail under the drive of the motor.

[0075] Furthermore, the raw material rack is equipped with multiple compartments and can move along the Y direction on the ground guide rail under the drive of a motor.

[0076] Example 3: Based on the same inventive concept, this application also provides an automatic feeding process for reinforcing bars, based on the automatic feeding robot system for reinforcing bars described above, such as... Figure 3 As shown, the specific steps include the following:

[0077] Step S1: The equipment receives and parses the processing task data information from the steel bar processing production process control system (PCS), including key processing parameters such as steel bar diameter, steel bar quantity, and steel bar length.

[0078] Step S2: Based on the data analysis results, optimize the scheduling and nesting, and generate steel bar processing production instructions. The steel bar feeding equipment instructions are automatically transmitted to this device and the feeding command is executed.

[0079] Step S3: Loading and processing of leftover steel bars, specifically including:

[0080] S31: Equipment reset. All electromagnetic suction heads and material feeding devices return to their initial positions for feeding surplus material. That is, the electromagnetic suction heads return to the appropriate position at the end of the surplus material bin feeding device, and the material feeding devices return to the appropriate distance on both sides of the electromagnetic suction heads.

[0081] S32: Based on the feeding command, the corresponding bin of the surplus material bin is moved to the position directly below the electromagnetic chuck. The electromagnetic chuck descends under the drive of the cylinder. The electromagnet is energized and contacts and picks up a single row of steel bars in the bin, then rises up and picks up the entire row of steel bars from the middle, raising it to a certain height. At this time, the entire row of steel bars is arched and may be tangled together.

[0082] S33: The support rod of the straightening device extends, with the far end of the support rod reaching the outside of the entire row of steel bars. Then, the entire straightening device rises slightly to support the entire row of steel bars. After that, it moves in opposite directions along the X-axis and stops after reaching the preset limit. At the same time, during the movement, the support rod of the straightening device will rise after passing the position, supporting the steel bars while straightening and flattening the entire row of steel bars.

[0083] S34: The cylinder drives the permanent magnet suction head to move along the Y direction, touches and picks up a single steel bar, and then retracts. The single steel bar is blocked by the baffle plate and slides down the guide plate onto the feeding roller.

[0084] S35: The feeding device uses an electromagnet to circulate and demagnetize, and reciprocate in the X direction to feed the steel bars to a fixed length and feed the remaining material to the zero position of the steel bars to be processed.

[0085] S36: Activate the visual recognition device to capture images of the remaining rebar and identify its length. The visual recognition device, composed of multiple CCD cameras evenly distributed above the feeding roller conveyor, can capture the entire scene along the conveyor. The feeding roller conveyor is slightly longer than the original rebar. The field of view of each CCD camera is fixed, and the height of the CCD cameras suspended above the conveyor is fixed. The field of view of a single camera is constant. When the rebar fills the entire field of view, its length is recorded as 'a'. When it does not fill the entire field of view, the length is calculated according to the proportion of the filled field of view. When there is no rebar in the field of view, the length is recorded as 0. By converting and adding the lengths of multiple fields of view, the length of the remaining rebar can be measured. Figure 4 As shown.

[0086] S37: The measured length of the remaining material is transmitted back to the rebar processing production process control system (PCS). After being matched with the corresponding processing task, the rebar continues to be fed and the processing work begins.

[0087] S38: Repeat S31-S37 until all the steel reinforcement scraps required for this batch are loaded and processed. If there are still steel reinforcements on the support rod after loading is completed, retract the support rod and the material straightening device, and the steel reinforcement scraps fall back into the corresponding scrap hopper. The processing of steel reinforcement scraps is then completed.

[0088] Step S4: Raw material loading, processing, and collection of reinforcing bars, specifically including:

[0089] S41: Equipment reset. All electromagnetic suction heads and material feeding devices return to their initial positions for raw material feeding, i.e., the electromagnetic suction heads return to the center of the raw material hopper, and the material feeding devices return to a suitable distance on both sides of the electromagnetic suction heads.

[0090] S42: Based on the feeding command, the corresponding bin of the raw material bin is moved to the position directly below the electromagnetic chuck. The electromagnetic chuck descends under the drive of the cylinder. The electromagnet is energized and contacts and picks up a single row of steel bars in the bin, then rises up and picks up the entire row of steel bars from the middle, raising it to a certain height. At this time, the entire row of steel bars is arched and may be tangled together.

[0091] S43: The support rod of the straightening device extends, with the far end of the support rod reaching the outside of the entire row of steel bars. Then, the entire straightening device rises slightly to support the entire row of steel bars. After that, it moves in opposite directions along the X-axis and stops when it reaches the preset limit. At the same time, the support rod that passes through the position during the movement rises, straightening and flattening the entire row of steel bars while supporting the steel bars.

[0092] S44: The cylinder drives the permanent magnet suction head to move along the Y direction, touches and picks up a single steel bar, and then retracts. The single steel bar is blocked by the baffle plate and slides down the guide plate onto the feeding roller.

[0093] S45: The feeding device uses an electromagnet that is cyclically energized, demagnetized, and reciprocates in the X direction to achieve fixed-length feeding of steel bars.

[0094] S46: The processing waste material is returned to the feeding device under the cyclic excitation and demagnetization of the electromagnet of the feeding device and the reciprocating motion in the X direction. At the same time, the steel bar waste material rack is driven by the motor to move the corresponding bin to the designated position. The flipping mechanism flips up and flips the steel bar waste material to the corresponding bin.

[0095] S47: Repeat S41-S46 to complete the feeding and processing of all steel reinforcement raw materials in this batch, and collect all processing residues into the corresponding residue bin. The processing of this batch of steel reinforcement is now complete.

[0096] Furthermore, if the processing does not require the use of processing waste, step S3 can be skipped directly to step S4.

[0097] In summary, the automatic feeding robot system and process for steel bar bars of the present invention are as follows:

[0098] 1. This application proposes an automatic bar bar feeding robot system and process, which can realize intelligent program control and data-driven operation of the entire production process. It eliminates the need for manual identification of bar specifications in the bar bar task. The processing task is directly issued to this device through the bar bar processing process control system (PCS), realizing fully automatic single-bar sequential feeding and temporary storage of raw materials of different diameters and processing residues of bars of different lengths. Its advantages are: reducing manual intervention, effectively improving feeding efficiency, and reducing the probability of human error.

[0099] 2. This application includes a movable multi-specification steel bar raw material and steel bar processing waste material bin. Each bin corresponds to a steel bar diameter. Both bins are arranged synchronously in the height direction in a drawer-type configuration, with the steel bar raw material bin located at the bottom. This bin temporarily stores all specifications of steel bar raw materials required for steel bar processing. When different specifications of steel bars are needed, the raw material bin can automatically move to the corresponding position according to program instructions to facilitate the relevant feeding process. At the same time, any unused steel bar raw materials from the production batch fall back to the corresponding bin under the drive of relevant devices. Its advantages are: the feeding of steel bars of different specifications is fully program-controlled, the switching of steel bar specifications and feeding speed are fast, the interruption time during the feeding of steel bars of different diameters is short, and the labor intensity of workers is reduced. In addition, the remaining raw materials can be automatically collected, eliminating the manual collection work under traditional production processes.

[0100] 3. The steel rebar processing waste bin of this application is arranged above the raw material bin. Steel rebar processing waste with usable value can be flipped back to the corresponding movable multi-specification waste bin. When waste material needs to be used for processing, the corresponding bin will move to the loading station under program control to complete the relevant loading process. Since the length of the processed waste material varies, cameras are distributed above the processing station to identify the length of the waste material and return it to the steel rebar processing process control system (PCS). If the system determines that the waste material needs to be used, it will continue to be fed in. If the waste material does not meet the requirements of the processing batch, it will fall back into the waste bin. Its advantages are: it can realize the collection, sorting, and rapid disposal of steel rebar processing waste, avoiding problems such as large temporary waste space, low waste material utilization, and large waste material loss caused by waste material accumulation.

[0101] 4. This application achieves automated feeding of steel bar raw materials and processing waste through two magnetic suctions and corresponding leveling and guiding mechanisms. The feeding has good continuity and stability, and can adapt to the automatic feeding of steel bar materials of different specifications without adjusting the mechanical structure or manual intervention.

[0102] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic feeding process for reinforcing bars, based on an automatic feeding robot system for reinforcing bars, characterized in that: The automatic steel bar feeding robot system includes a material support frame (5), a feeding machine frame (6), and raw material bins (1) and surplus material bins (2) of various specifications. The feeding machine frame (6) is arranged horizontally, and the raw material bins (1) and surplus material bins (2) are respectively located on both sides of the feeding machine frame (6). The raw material bins (1) are located below the material support frame (5) and can move longitudinally along the ground guide rail (12). The surplus material bins (2) are located above the material support frame (5) and can move longitudinally along the guide rail on the upper surface of the material support frame. The feeding machine... The frame (6) is provided with an upper crossbeam (13) and a lower crossbeam (14) along the transverse direction. The upper crossbeam (13) is equipped with an electromagnetic suction head (3), a material handling device (10) and a visual recognition device (11). The lower crossbeam (14) is equipped with a permanent magnet suction head (4), a guide plate (7), a feeding roller conveyor (8) and an electromagnetic feeding device (9). The feeding roller conveyor (8) is equipped with a turning mechanism. The automatic feeding robot system for steel bars communicates remotely with the steel bar processing production process control system in real time. The automatic feeding process for steel bars includes the following steps: Step S1: Parse the processing task data information sent by the steel bar processing production process control system. The processing task data information includes steel bar diameter, steel bar quantity, and steel bar length. Step S2: Generate the corresponding steel bar processing production instruction based on the data parsing result, and extract the material loading instruction from the steel bar processing production instruction. Determine whether to use steel bar scrap for processing based on the material loading instruction. If yes, continue to step S3; otherwise, directly execute step S4. Step S3 involves loading and processing the remaining steel bars. The loading and processing of the surplus steel bars specifically includes the following steps: S31: The equipment is reset, and the electromagnetic suction head and the material feeding device return to the preset initial position for feeding residual material; S32: According to the feeding instruction, the corresponding bin of the surplus material bin is moved to the position directly below the electromagnetic suction head. The electromagnetic suction head descends under the drive of the cylinder. The electromagnet is energized and contacts and attracts the single row of surplus steel bars in the bin, then rises to the preset height. S33: The support rod of the material straightening device extends, and the far end of the support rod extends to the outside of the remaining material steel bar. Then the material straightening device rises as a whole and lifts the remaining material steel bar. The two material straightening devices move in opposite directions laterally and stop after reaching the preset limit. The support rod of the material straightening device remains extended to continue supporting the entire row of remaining material steel bars. S34: The cylinder drives the permanent magnet suction head to move longitudinally, touches and attracts a single piece of residual steel bar, and then retracts. The single piece of residual steel bar is blocked by the baffle plate and slides down the guide plate onto the feeding roller. S35: The electromagnet of the electromagnetic feeding device is cyclically energized and demagnetized and reciprocates in the transverse direction to realize the fixed-length feeding of a single residual steel bar on the feeding roller conveyor, so that the residual steel bar is fed to the zero position to be processed. S36: Activate the visual recognition device to capture images of the remaining steel bars and identify their length information. The specific recognition process is as follows: 1) When the surplus steel bars fill the entire field of view of a single camera unit, the length is measured as a; 2) When the remaining steel reinforcement does not fill the entire field of view of a single camera unit, the ratio of the filled field of view is a / n; 3) When there is no excess steel reinforcement within the field of view of a single camera unit, the length is counted as 0; 4) The length records of each camera unit are added together and converted to obtain the length of the remaining steel reinforcement; S37: The length of the remaining steel bar is transmitted back to the steel bar processing production control system; S38: Repeat S31~S37 until all the steel bars required for this batch are loaded and processed. If there are still steel bars on the support rod of the material feeding device after loading is completed, retract the support rod of the material feeding device so that the steel bars fall back into the corresponding material bin. Step S4 involves feeding, processing, and collecting the steel reinforcement raw materials. The loading, processing, and collection of steel reinforcement raw materials specifically include the following steps: S41: The equipment is reset, and the electromagnetic suction head and the material feeding device return to the preset initial position for raw material feeding; S42: According to the feeding instruction, the corresponding bin of the raw material bin is moved to the position directly below the electromagnetic suction head. The electromagnetic suction head descends under the drive of the cylinder. The electromagnet is energized and contacts and attracts the single row of raw material steel bars in the bin, and then rises to the preset height. S43: The support rod of the material straightening device extends, and the far end of the support rod extends to the outside of the raw material steel bar. Then the material straightening device rises as a whole and lifts the raw material steel bar. The two material straightening devices move in opposite directions laterally and stop after reaching the preset limit. The support rod of the material straightening device remains extended to continue supporting the entire row of raw material steel bars. S44: The cylinder drives the permanent magnet suction head to move longitudinally, touches and attracts a single raw material steel bar, and then retracts. The single raw material steel bar is blocked by the baffle plate and slides down the guide plate onto the feeding roller. S45: The electromagnet of the electromagnetic feeding device is cyclically energized and demagnetized and reciprocates in the transverse direction to realize the fixed-length feeding of a single raw material steel bar on the feeding roller conveyor, so that the raw material steel bar is fed to the zero position to be processed. S46: After the raw material steel bars are processed, the resulting processing waste is returned to the feeding roller conveyor through the electromagnetic feeding device. At the same time, the steel bar waste rack is driven by the motor to move the corresponding bin to the bottom of the feeding roller conveyor. The turning mechanism flips up and flips the processing waste into the corresponding bin. S47: Repeat S41~S46 until all the steel reinforcement materials for this batch are loaded and processed, and all the processing residues are collected into the corresponding residue bin.

2. The automatic feeding process for reinforcing bars according to claim 1, characterized in that, The electromagnetic suction head (3) is slidably mounted on the upper crossbeam (13) of the frame and can move laterally along the upper crossbeam (13). The electromagnetic suction head (3) includes an electromagnet (15) and a guide rod (16). The electromagnet (15) can move vertically up and down along the guide rod (16), and the guide rod (16) can extend and retract longitudinally.

3. The automatic feeding process for reinforcing bars according to claim 1, characterized in that, The material feeding device (10) has two parts and is respectively located on both sides of the electromagnetic suction head (3). The material feeding device (10) can move laterally along the upper crossbeam (13) of the frame. The material feeding device (10) includes a support rod (26) and a guide rod (27). The support rod (26) can move vertically up and down along the guide rod (27), and the guide rod (27) can extend and retract longitudinally.

4. The automatic feeding process for reinforcing bars according to claim 1, characterized in that, The visual recognition device (11) is located on the bottom surface of the upper crossbeam (13) of the frame and consists of multiple uniformly arranged camera units. Each camera unit has the same field of view and does not cross each other. The sum of the field of view of each camera unit covers the entire feeding roller conveyor (8).

5. The automatic feeding process for reinforcing bars according to claim 1, characterized in that, The permanent magnet suction head (4) is located on the lower crossbeam (14) of the frame on the side away from the electromagnetic suction head (3). The permanent magnet suction head (4) includes a telescopic rod (19) that can extend and retract longitudinally. A permanent magnet (17) is provided at one end of the telescopic rod (19) near the permanent magnet suction head (4). A baffle plate (18) is provided on the side of the telescopic rod (19).

6. The automatic feeding process for reinforcing bars according to claim 1, characterized in that, The guide plate (7) is located below the permanent magnet suction head (4), and the end of the guide plate (7) extends to the feeding roller conveyor (8); The feeding roller conveyor (8) is located on the side of the lower crossbeam (14) of the frame near the waste bin (2). The feeding roller conveyor (8) is composed of multiple roller conveyor units evenly arranged along the lower crossbeam (14) of the frame. Each roller conveyor unit includes a support plate (21) fixedly connected to the lower crossbeam (14) of the frame. A support (20) is provided above the support plate (21). A non-powered roller (23) is provided above the support (20). A V-shaped plate (22) parallel to the roller (23) is provided on the side of the support (20). An electromagnetic feeding device (9) is provided directly opposite the end of the feeding roller conveyor (8). The electromagnetic feeding device (9) includes a linear module (24) and an electromagnet (25). The electromagnet (25) is driven by the linear module (24) to move laterally back and forth.

7. The automatic feeding process for reinforcing bars according to claim 1, characterized in that, Both the raw material silo (1) and the waste material silo (2) are provided with multiple partitions. The raw material silo (1) is driven by motor one to move longitudinally along the ground guide rail (12); the waste material silo (2) is driven by motor two to move longitudinally along the guide rail on the upper surface of the material support frame.

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