Intelligent steel bar bending system and method, electronic equipment and storage medium

Abstract

The invention discloses an intelligent steel bar bending system and method, electronic equipment and a storage medium. The system comprises a feeding bearing frame (1) arranged in the transverse direction, a bending machine head walking guide rail (5) and a material moving mechanical arm walking guide rail (6) are arranged on the side portion of the feeding bearing frame (1) in parallel, and a feeding roller way (3) and a magnetic suction feeding device (4) are installed on the feeding bearing frame (1); a bending machine head (7) is installed on the bending machine head walking guide rail (5), a material holding mechanical arm (8) is installed on the material moving mechanical arm walking guide rail (6), a visual recognition device (2) and a material blocking device (9) are arranged at the front end of the feeding roller way (3), and the visual recognition device (2) is used for recognizing the end face of a steel bar to obtain a steel bar code. The intelligent steel bar bending system is in real-time communication connection with the steel bar machining process control system. And the efficiency and convenience of steel bar bending machining are improved.

Description

Technical Field

[0001] The present application relates to the technical field of processing and producing formed steel bars, and in particular to a steel bar intelligent bending system, method, electronic equipment and storage medium. Background Art

[0002] At present, there are two types of CNC steel bar bending equipment, including vertical CNC bending equipment and horizontal CNC bending equipment. The two are basically the same in terms of process procedures. The main difference is that the vertical bending equipment occupies a smaller area because the bending direction is on the vertical plane, while the horizontal bending equipment occupies a larger area because the bending direction is on the horizontal plane or horizontal upper. The two are the same in actual processing technology. The specific process is: after inputting the processing parameters and related data, the steel bar is transferred from the material temporary storage rack to the steel bar bending station. After the end faces are aligned and positioned, the clamps in the middle of the two machine heads are clamped, and then the machine heads move to the preset position according to the input parameters. Finally, the bending axis rotates to bend the steel bar into shape, and finally the clamps are released to take out the formed steel bar.

[0003] During the entire process, the transfer of steel bars in different workstations requires manual assistance, which makes it impossible to achieve fully automated processing. In addition, the labor intensity of workers is high, resulting in low production efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a steel bar intelligent bending system, method, electronic device and storage medium to solve the technical problems in the related art that the steel bar forming process requires a large amount of manual labor and has low production efficiency.

[0005] In a first aspect, an embodiment of the present application provides a steel bar intelligent bending system, comprising:

[0006] A loading support frame (1) is arranged in the transverse direction, and a bending machine head walking guide rail (5) and a material transfer robot walking guide rail (6) are arranged in parallel on the side of the loading support frame (1). A feeding roller (3) and a magnetic feeding device (4) are installed on the loading support frame (1), a bending machine head (7) is installed on the bending machine head walking guide rail (5), and a material holding robot (8) is installed on the material transfer robot walking guide rail (6). A visual recognition device (2) and a material blocking device (9) are arranged at the front end of the feeding roller (3), and the visual recognition device (2) is used to identify the end face of the steel bar to obtain the steel bar code. The steel bar intelligent bending system is connected to the steel bar processing process control system in real time communication.

[0007] In a second aspect, an embodiment of the present application provides a steel bar intelligent bending method, comprising:

[0008] Lift the entire bundle of steel bars to the loading support frame through vertical transportation tools and unbundle;

[0009] Selecting a single steel bar from the entire bundle of steel bar components and inserting it into a feeding roller;

[0010] Control the front end baffle of the feeding roller to rise, and control the excitation of the electromagnet in the magnetic suction feeding device to transfer the single steel bar to the processing zero position;

[0011] After controlling the front baffle to fall, controlling the visual recognition device to recognize the steel bar end of the single steel bar to obtain steel bar coding information;

[0012] Identifying the steel bar coding information to obtain a processing instruction for processing the single steel bar;

[0013] Controlling the material transfer robot to move to a preset position and keeping the end clamp of the material transfer robot in a loosened state;

[0014] Controlling the bending machine head to move to a preset position, and adjusting the clamp and the bending mandrel on the bending machine head to be at the preset position;

[0015] Control the material transfer manipulator to rotate to the feeding roller, and control the end clamp to clamp the single steel bar;

[0016] Control the material transfer robot to rotate to the bending station, and raise the clamp and the bending mandrel on the bending machine head to the target position;

[0017] After the clamp of the bending machine head is clamped, the end clamp of the material transfer manipulator is controlled to be loosened, and the material transfer manipulator is adjusted to a suitable position;

[0018] According to the bending information contained in the processing instruction, the bending shaft on the bending machine head is controlled to rotate, and the bent single steel bar is obtained when the rotation action is completed;

[0019] After obtaining the bent single steel bar, the turning mechanism on the bending machine head is controlled to turn up and push the bent single steel bar into the finished product bin;

[0020] A single steel bar is selected again in the construction of the whole bundle of steel bar components until the bending process of the whole bundle of steel bar components is completed.

[0021] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-mentioned methods for intelligent bending of steel bars when executing the computer program.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any one of the above-mentioned methods for intelligent bending of steel bars are implemented.

[0023] The embodiment of the present application provides a steel bar intelligent bending system, method, electronic device and storage medium. The steel bar intelligent bending system includes a feeding support frame 1 arranged in the horizontal direction, a bending machine head walking guide rail 5 and a material transfer manipulator walking guide rail 6 are arranged in parallel on the side of the feeding support frame 1, a feeding roller 3 and a magnetic feeding device 4 are installed on the feeding support frame 1, a bending machine head 7 is installed on the bending machine head walking guide rail 5, a material holding manipulator 8 is installed on the material transfer manipulator walking guide rail 6, and a visual recognition device 2 and a material blocking device 9 are provided at the front end of the feeding roller 3. The visual recognition device 2 at the front end is used to realize automatic recognition of steel bar materials to avoid errors caused by manual information input. The cooperation of the magnetic feeding device 4 and the feeding roller 3 can realize automatic feeding processing, improve the safety and efficiency of processing, and use the material transfer manipulator 8 to transfer the steel bar materials from the visual recognition station to the bending station to ensure the fixation of the position of the steel bar materials. There is no need to re-perform secondary positioning processing of the steel bar materials, thereby improving the processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a steel bar intelligent bending system provided in an embodiment of the present application;

[0025] Figure 2 It is a structural schematic diagram of a feeding roller provided in an embodiment of the present application;

[0026] Figure 3 It is a structural schematic diagram of a magnetic suction feeding device provided in an embodiment of the present application;

[0027] Figure 4 This is a structural schematic diagram of a material transfer robot provided in an embodiment of the present application;

[0028] Figure 5 It is a structural schematic diagram of a bending head provided in an embodiment of the present application;

[0029] Figure 6 It is a left view schematic diagram of the steel bar intelligent bending system provided in an embodiment of the present application;

[0030] Figure 7 It is a schematic diagram of a process of the intelligent steel bar bending method provided in an embodiment of the present application;

[0031] Figure 8 is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0032] Fig. 9is another structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0033] Among them, in the figure: 1, loading support frame, 2, visual recognition device, 3, feeding roller, 4, magnetic feeding device, 5, bending head walking rail, 6, material transfer robot walking rail, 7, bending head, 8, material transfer robot, 9, material blocking device, 10, frame, 11, cross beam, 12, material blocking plate, 13, material guide plate, 21, visual recognition frame, 22, CCD camera, 23, light source, 31, stick support plate, 32 , V-groove plate, 33, roller support, 34, roller, 41, electromagnet, 42 magnetic feeding device support plate, 43, non-inductive cylinder, 61, chassis, 62, guide wheel, 63, bending mandrel fixing plate, 64, bending axis rotating plate, 65, bending mandrel, 66, bending axis, 67, flipping plate, 68, clamp, 81, sliding base, 82, rotating robotic arm, 83, rotating servo drive motor, 84, robotic arm clamp. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0036] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0037] In the related art, when the formwork concrete is subjected to moisture-maintaining maintenance, the treatment is carried out after the formwork is removed to expose the entire surface of the formwork concrete. The humidity of the formwork concrete wrapped in the formwork before demolding is not regulated. The lack of monitoring before demolding makes it impossible to finely manage the entire process of formwork concrete maintenance and to carry out high-quality construction. At the same time, since the concrete formwork engineering and formwork concrete maintenance are implemented as two independent processes and the degree of intensiveness is low, the efficiency of regulation cannot be guaranteed.

[0038] In order to solve the technical problems existing in the related art, the present application embodiment provides a steel bar intelligent bending system, see Figure 1 , Figure 1 It is a structural schematic diagram of the steel bar intelligent bending system provided in an embodiment of the present application, wherein the steel bar intelligent bending system has a loading support frame 1 arranged horizontally, and a bending machine head walking guide rail 5 and a material transfer robot walking guide rail 6 are arranged in parallel on the side of the loading support frame 1, a feeding roller 3 and a magnetic feeding device 4 are installed on the loading support frame 1, a bending machine head 7 is installed on the bending machine head walking guide rail 5, and a material holding robot 8 is installed on the material transfer robot walking guide rail 6, a visual recognition device 2 and a material blocking device 9 are provided at the front end of the feeding roller 3, the visual recognition device 2 is used to identify the end face of the steel bar to obtain the steel bar code, and the steel bar intelligent bending system is connected to the steel bar processing process control system in real time communication.

[0039] In one embodiment, each part of the steel bar bending system has different roles and functions to complete the bending process of the steel bars. Specifically, the feeding support frame 1 is used to place the steel bars that need to be bent, and the stored steel bars can be of various specifications and sizes. At the same time, a bending machine head walking guide rail 5 and a manipulator walking guide rail 6 are arranged in parallel on one side of the feeding support frame 1, wherein the bending machine head walking guide rail 5 is used to install the bending machine head 7, and the manipulator walking guide rail 6 is used to install the manipulator 8, and the number of the installed bending machine heads 7 is several, and the manipulator 8 is used to transfer the steel bars placed on the raw material support frame 1 to the station for steel bar bending processing, and the station for steel bar processing is composed of the bending machine head 7.

[0040] In addition, a feeding roller 3 and a magnetic feeding device 4 are also installed on the loading support frame 1, wherein the feeding roller 3 is used to place the steel bars that need to be bent, and the magnetic feeding device 4 is used to adsorb the steel bars on the loading support frame 1 to a characteristic position, such as alignment to the zero position. At this time, the zero position alignment of the steel bars is achieved in combination with the blocking device 9. Specifically, when the magnetic feeding device 4 is energized, an adsorption force is generated to adsorb the steel bars, thereby moving the steel bars to the feeding roller 3.

[0041] At the same time, the intelligent steel bar bending system first identifies the steel bar to be bent, determines the identification of the processed steel bar, specifically the steel bar code, and then determines the processing technology for bending the steel bar based on the steel bar code. Therefore, for the processed steel bar, it is necessary to mark the steel bar code at the end of the steel bar in advance, and then when the bending process is performed, the visual recognition device 2 in the intelligent steel bar bending system identifies the end face of the steel bar to obtain the steel bar code to determine the processing technology for processing the steel bar.

[0042] Furthermore, the steel bar intelligent bending system is connected in real-time communication with the steel bar processing process control system that performs processing control. After the steel bar intelligent bending system identifies the steel bars that need to be bent and transfers the required steel bars to the bending station, the steel bar processing process control system determines the processing technology based on the steel bar code identified by the steel bar intelligent bending system, and then controls the steel bar intelligent bending system to bend the steel bars based on the processing technology.

[0043] Furthermore, the loading support frame 1 includes a frame body 10, and a plurality of cross beams 11 are arranged equidistantly in the horizontal direction on the top of the frame body 10. A material blocking plate 12 is arranged at one end of the cross beam 11 away from the walking guide rail 6 of the material transferring robot, and a material guide plate 13 is arranged at one end of the cross beam 11 close to the walking guide rail 6 of the material transferring robot.

[0044] In one embodiment, for the steel bars placed on the loading support frame 1, the cross beam 11 is responsible for the placement task, that is, the combination of multiple cross beams 11 can enable the steel bars to be placed stably on the loading support frame 1. At the same time, in order to ensure the placement stability of the steel bars, corresponding components can be set at both ends of the cross beam 11 so that the placed steel bars will not move at will. Therefore, a material baffle plate 12 and a material guide plate 13 are set at both ends of the cross beam 11, wherein the material baffle plate 11 is set at the end away from the walking guide rail 6 of the material transfer robot, and is used as a boundary fence for placing the steel bars. The material guide plate 13 is set at the end close to the walking guide rail 6 of the material transfer robot, and is used to guide the steel bars that need to be bent to the feeding roller 3 for subsequent processing.

[0045] Furthermore, the visual recognition device 2 is arranged on a visual recognition frame 21 at the front end of the feeding roller, and a CCD camera 22 and a light source 23 are arranged on the visual recognition bracket 21, and the CCD camera 22 is arranged at one end away from the front end baffle of the feeding roller 3, and the light source 23 is arranged at one end close to the front end baffle of the feeding roller 3.

[0046] In one embodiment, through the setting of the visual recognition device 2, the steel bars to be bent can be automatically identified, and the steel bar codes of the steel bars that need to be bent can be determined, so that the steel bar processing process control system can determine the processing technology based on the steel bar code, so as to control the steel bar intelligent bending system to bend the steel bars that need to be bent based on the processing technology.

[0047] Specifically, when identifying the steel bar code of the steel bar, the steel bar is first transferred to the feeding roller 3, and then the visual recognition device 2 is started, and the end face of the steel bar is photographed by turning on the light source 23 and the CCD camera 22, wherein the light source 23 is used to determine the brightness and clarity of the end face of the steel bar to obtain the end face image of the steel bar, and then the steel bar code of the steel bar is obtained by analyzing and identifying the end face image.

[0048] Further, refer to Figure 2 , Figure 2 It is a structural schematic diagram of the feed roller provided in an embodiment of the present application, wherein the feed roller 3 includes a roller support plate 31 and a V-groove plate 32 arranged on a frame 10, and a roller support 33 for fixing a non-powered roller 34 is arranged on the support plate, and the V-groove plate 32 is used for placing steel bars.

[0049] In one embodiment, the feeding roller 3 is used to perform zero-position alignment processing on the steel bars that need to be bent, and at the same time transfer the steel bars to a suitable position so that the material transfer robot 8 can accurately grab and transfer the steel bars.

[0050] Specifically, a roller support 33 is fixedly connected to the roller pallet 31, and the roller support 33 is used to fix the unpowered roller 34, and the roller 34 can rotate to complete the zero-position alignment of the steel bar. At the same time, a V-shaped groove plate 32 is provided on the side of the roller 34 for placing the steel bar so that the steel bar is in a stable placement device, thereby facilitating the material transfer robot 8 to grab the steel bar.

[0051] Further, refer to Figure 3 , Figure 3 It is a structural schematic diagram of the magnetic feeding device provided in an embodiment of the present application, wherein the magnetic feeding device 4 includes an electromagnet 41, a magnetic feeding device support plate 42 and a rodless cylinder 43, and the electromagnet 41 reciprocates along the length direction of the magnetic feeding device support plate 42 under the drive of the rodless cylinder 43.

[0052] In one embodiment, a rodless cylinder 43 is placed on the support plate 42 of the magnetic feeding device, and an electromagnet 41 is placed above the rodless cylinder 43, and the electromagnet 41, the magnetic feeding device drag rod 42 and the rodless cylinder 43 can be fixedly connected, wherein the electromagnet 41 is used to adsorb and fix the steel bars that need to be bent, and at the same time, under the action of the rodless cylinder 43, the electromagnet 41 can reciprocate in the length direction of the support plate 42 of the magnetic feeding device to perform zero-position alignment on the steel bars.

[0053] Further, refer to Figure 4 , Figure 4It is a structural schematic diagram of a material transfer manipulator provided in an embodiment of the present application. In the steel bar intelligent bending system, a plurality of material transfer manipulators 8 are arranged horizontally along the material transfer manipulator walking rail, and each material transfer manipulator 8 is composed of a sliding base 81, a rotating manipulator arm 82, a rotating servo drive motor 83 and a manipulator clamp 84. The sliding base 851 fixes the rotating manipulator arm 82, and the sliding base 81 moves horizontally on the material transfer manipulator walking rail 6 under the drive of the rotating servo drive motor 83. The rotating manipulator arm 82 completes a circular motion on a vertical plane under the drive of the rotating servo drive motor 83. The rotating manipulator arm 82 is connected to the manipulator clamp 84, and the manipulator clamp 84 is driven based on the set cylinder.

[0054] Specifically, the material transfer manipulator 8 is laterally arranged with multiple parts along the material transfer manipulator walking guide rail 6, so that when grasping the steel bars, the grasping stability can be guaranteed, and the heavy and high-specification steel bars can be grasped and bent. Each material transfer manipulator 8 includes four parts, namely, a sliding bottom block 81, a rotating mechanical arm 82, a rotating servo drive motor 83, and a manipulator clamp 84. Among them, the sliding bottom block 81 is used to realize the movement on the material transfer manipulator walking guide rail 6, the rotating mechanical arm 82 is used to realize the transfer of the steel bars from the visual recognition station to the bending station, the rotating servo drive motor 83 is used to drive the rotating mechanical arm 82 and the sliding bottom block 81 to move, and the manipulator clamp 84 is used to grasp the steel bars. In actual applications, the sliding bottom block 81 is fixedly connected to the rotating servo drive motor 83, one end of the rotating mechanical arm 82 is flexibly connected to the rotating servo drive motor 83, and the other end of the rotating mechanical arm 82 is provided with a manipulator clamp 84.

[0055] When the material transfer robot 8 moves with the sliding of the sliding bottom block, the moving direction is the length direction of the material transfer robot's travel guide rail, which is consistent with the moving direction of the electromagnet described above.

[0056] Further, refer to Figure 5 , Figure 5 It is a structural schematic diagram of a bending head provided in an embodiment of the present application, wherein the bending head 6 includes a chassis 61, a guide wheel 62 is arranged at the bottom of the chassis 61, and the guide wheel 62 controls the chassis 61 to move laterally along the bending head walking guide rail 5 under the drive of the motor, and a liftable bending mandrel fixing disk 63 and a bending shaft rotating disk 64 are arranged on the chassis 61, a bending mandrel 65 is installed on the bending mandrel fixing disk 63, and a bending shaft 66 is installed on the bending shaft rotating disk 64. The bending shaft rotating disk 64 drives the bending shaft 66 to make a circular motion around the center of the bending mandrel 65 under the drive of the motor, and a flipping plate 67 is arranged on the side of the chassis 61, and the flipping plate 67 flips up and down under the drive of the cylinder, and a clamp 68 is also arranged at the bottom of the chassis 61, and the clamp 68 realizes loosening and tightening and up and down process actions under the drive of the motor.

[0057] Specifically, when the bending of steel bars is realized, it is realized based on the operation of the bending head 6. At the same time, in order to realize the bending processing of steel bars of different specifications, a plurality of guide wheels 62 are arranged at the bottom of the chassis 61, and the guide wheels 62 are driven by the motor to control the chassis 61 to move horizontally on the bending head walking guide rail 5.

[0058] Exemplarily, the bending head 6 includes a chassis 61, and relevant components are arranged on the chassis 61 to realize the bending of the steel bars. Specifically, a liftable bending mandrel fixing plate 63 and a bending shaft rotating plate 64 are arranged on the chassis 61, and a bending mandrel 65 is installed on the bending mandrel fixing plate 63, and a bending shaft 66 is installed on the bending shaft rotating plate 64. When the steel bars are bent, the bending shaft rotating plate 64 drives the bending shaft 66 to make a circular motion around the center of the bending shaft 65 under the drive of the motor, and different rotation angles correspond to different bending requirements. By acquiring the processing technology, the bending angle of the steel bars is determined, and then the rotation of the bending shaft rotating plate 64 is realized by controlling the operation of the motor to achieve the required bending effect.

[0059] At the same time, in order to ensure the stability of the steel bar during the bending process, a clamp 68 is also provided on the chassis 61, and the clamp is controlled to be loose and move up and down by the drive of the motor. In addition, the steel bar that has been bent needs to be moved out of the bending station, so a flip plate 67 is also provided on the side of the chassis 61. After it is determined that the bending process of the steel bar is completed, the clamp 68 on the chassis 61 is first controlled to be loosened, and then the flip plate 67 is controlled to flip, so that the processed steel bar is flipped from the chassis 61 to a specific location, such as a finished material warehouse, and the bending process of a steel bar is completed.

[0060] Further, refer to Figure 6 , Figure 6 It is a left view schematic diagram of the steel bar intelligent bending system provided in an embodiment of the present application.

[0061] In one embodiment, during the operation of the intelligent steel bar bending system, the material transfer robot rotates to one side of the feed roller to grab the steel bars placed on the feed roller, and then the motor drives the material transfer robot to rotate to transfer the grabbed steel bars to the bending station, that is, to the bending head for fixation, and then the motor drives the bending axis on the chassis to rotate and move in a circular motion around the center of the bending center axis, so that the steel bars can achieve the required bending process.

[0062] It should be noted that the intelligent rebar bending system is also connected to the rebar processing control system in real time communication. The rebar code identified by the rebar bending system is transmitted to the rebar processing control system, and then the rebar processing control system determines the processing technology for bending based on the rebar code, and then controls the operation of the bending head according to the processing technology to achieve the bending of the rebar.

[0063] Further, refer to Figure 7 , Figure 7 It is a flow chart of the steel bar intelligent bending method provided in an embodiment of the present application, wherein the steps include S1 to S13.

[0064] S1, hoisting the whole bundle of steel bar components to the loading support frame by vertical transportation tools and unbundling;

[0065] S2, select a single steel bar from the whole bundle of steel bar components and put it into the feeding roller;

[0066] S3, controls the front baffle of the feeding roller to rise, and controls the excitation of the electromagnet in the magnetic suction feeding device to transfer the single steel bar to the processing zero position;

[0067] S4, after controlling the front baffle to fall, controlling the visual recognition device to recognize the end of a single steel bar to obtain steel bar coding information;

[0068] S5, identifying the steel bar coding information and obtaining a processing instruction for processing a single steel bar;

[0069] S6, controlling the material transfer robot to move to a preset position and keeping the end clamp of the material transfer robot in a loosened state;

[0070] S7, controlling the bending machine head to move to a preset position, and adjusting the clamp and the bending mandrel on the bending machine head to be at the preset position;

[0071] S8, controlling the material transfer manipulator to rotate to the feeding roller, and controlling the end clamp to clamp a single steel bar;

[0072] S9, controlling the material transfer robot to rotate to the bending station, and raising the clamp and the bending mandrel on the bending machine head to the target position;

[0073] S10, after the clamp of the bending machine head is clamped, the end clamp of the material transfer manipulator is controlled to be loosened, and the material transfer manipulator is adjusted to a suitable position;

[0074] S11, according to the bending information contained in the processing instruction, the bending axis on the bending machine head is controlled to rotate, and a bent single steel bar is obtained when the rotation action is completed;

[0075] S12, after obtaining the bent single steel bar, controlling the turning mechanism on the bending machine head to turn up and push the bent single steel bar into the finished product bin;

[0076] S13, again selecting a single steel bar in the entire bundle of steel bar components to complete the bending process of the entire bundle of steel bar components.

[0077] Specifically, when bending steel bars, it is realized based on the steel bar intelligent bending system combined with the steel bar processing process control system. At the same time, it is necessary to ensure that the processed steel bars are pre-marked with steel bar codes on the end faces of the steel bars, and then through combined processing, the steel bars can be automatically bent.

[0078] Exemplarily, when bending steel bars, the entire bundle of steel bar components is lifted by a vertical transport tool to a loading support frame and unpacked, and only one steel bar can be bent at a time. Therefore, it is necessary to select a single steel bar from the entire bundle of steel bar components to dial it into the feeding roller, and then the electromagnet in the magnetic feeding device is energized and the baffle rises synchronously to adsorb the dialed single steel bar, so as to drag the single steel bar to the baffle to achieve zero-position alignment. Then, the baffle falls and the visual recognition device is started. By controlling the start of the CCD camera and the light source, the end of the steel bar is photographed and analyzed to obtain the steel bar code, and then the steel bar code is uploaded to the steel bar processing process control system. At this point, the positioning and identification of the single steel bar is completed.

[0079] After completing the positioning and code identification of a single steel bar, the steel bar processing process control system analyzes the received steel bar code to determine the processing technology for bending the single steel bar, specifically, the processing instructions for how to process the single steel bar. When determining the specific processing technology, the steel bar processing process control system can query and match based on the steel bar code to obtain the processing technology that matches the steel bar code.

[0080] After obtaining the processing technology (processing instructions) for bending processing, the material transfer robot will be controlled to grab and transfer the steel bars. When grabbing the steel bars, it is first necessary to move the material transfer robot to a suitable position and keep the clamp at the end in a loose state. The suitable position can be determined based on the steel bar coding, and the suitable positions corresponding to different steel bars are different.

[0081] While controlling the movement of the material transfer robot, the position of the bending head will also be controlled to adjust so as to move to the appropriate position of the bending head. The clamps and bending spindle on the bending head can be controlled to move to the default position or initial position to prevent the steel bars from colliding with the material transfer robot during the transfer process.

[0082] After completing the position adjustment, the material transfer robot will be controlled to complete the transfer of the steel bars from the visual recognition station to the bending station. Specifically, the material transfer robot is rotated to the feeding roller to control the clamp of the material transfer robot to clamp and complete the grabbing of the bar. Then it is rotated again to rotate the grabbed steel bars to the bending station. When reaching the bending station, the clamp and the bending mandrel on the sign of the bending machine head are controlled to adjust the position to the appropriate position to ensure that the steel bars can be fixed and the subsequent bending operation can be completed. After the clamp of the bending machine head clamps the steel bars, the clamp at the end of the material transfer robot is released, and the material transfer robot continues to fall to avoid the walking space of the bending machine head.

[0083] When the final bending operation is performed, the bending axis rotary disk is controlled to rotate based on the determined processing technology, and the rotation angle is determined based on the processing technology. In actual applications, the bending action can be multiple times. When performing multiple bending, after completing one bending action, the bending machine head can be shifted to the position of the next bending to control the bending axis rotary disk to rotate again until the last bending action is completed. For example, if a steel bar needs to be bent both forward and reverse at the same time, before the bending machine head is shifted, the bending mandrel and the bending axis must first be lowered to avoid the steel bar, and then raised again after moving into position to prepare for bending.

[0084] After completing the bending work of a single steel bar, the flipping plate that controls the sign of the bending machine head is flipped up to push the bent steel bar into the finished product bin, thus completing the bending work of the single steel bar.

[0085] For a whole bundle of steel bar components, by repeating the above steps, batch processing without intervals can be achieved. In order to improve the efficiency of the bending work, after the material transfer robot completes the transfer of the steel bar from the feeding roller to the bending station, steps S2 to S5 can be repeated to prepare for the processing of the next steel bar in advance.

[0086] In summary, the present application discloses a steel bar intelligent bending system, which includes a feeding support frame 1 arranged in the transverse direction, a bending machine head walking guide rail 5 and a material transfer manipulator walking guide rail 6 are arranged in parallel on the side of the feeding support frame 1, a feeding roller 3 and a magnetic feeding device 4 are installed on the feeding support frame 1, a bending machine head 7 is installed on the bending machine head walking guide rail 5, a material holding manipulator 8 is installed on the material transfer manipulator walking guide rail 6, and a visual recognition device 2 is provided at the front end of the feeding roller 3. The visual recognition device 2 at the front end is used to realize automatic recognition of steel bars to avoid errors caused by manual information input. The cooperation of the magnetic feeding device 4 and the feeding roller 3 can realize automatic feeding processing, improve the safety and efficiency of processing, and use the material transfer manipulator 8 to transfer the steel bars from the visual recognition station to the bending station to ensure the fixation of the position of the steel bars, without the need to re-perform secondary positioning processing of the steel bars, thereby improving the efficiency of processing.

[0087] Also, see Figure 8 , Figure 8 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, and the electronic device may be a mobile terminal such as a smart phone, a tablet computer, or the like. Figure 8 As shown, the electronic device 800 includes a processor 801 and a memory 802. The processor 801 is electrically connected to the memory 802.

[0088] The processor 801 is the control center of the electronic device 800. It uses various interfaces and lines to connect various parts of the entire electronic device. It executes various functions of the electronic device 800 and processes data by running or loading applications stored in the memory 802 and calling data stored in the memory 802, thereby monitoring the electronic device 800 as a whole.

[0089] In this embodiment, the processor 801 in the electronic device 800 will load the instructions corresponding to the processes of one or more applications into the memory 802 according to the following steps, and the processor 801 will run the application stored in the memory 802, thereby implementing any step in the steel bar intelligent bending method provided in the above embodiment.

[0090] The electronic device 800 can implement the steps in any embodiment of the steel bar intelligent bending method provided in the embodiments of the present application, and therefore can achieve the beneficial effects that can be achieved by any steel bar intelligent bending method provided in the embodiments of the present application. For details, please refer to the previous embodiments and will not be repeated here.

[0091] See also Fig. 9 , Fig. 9 is another structural schematic diagram of an electronic device provided in an embodiment of the present application, such as Fig. 9 As shown, Fig. 9The specific structural block diagram of the electronic device provided in the embodiment of the present application is shown, and the electronic device can be used to implement the steel bar intelligent bending method provided in the above embodiment. The electronic device 900 can be a mobile terminal such as a smart phone or a laptop computer.

[0092] The RF circuit 910 is used to receive and send electromagnetic waves, realize the mutual conversion between electromagnetic waves and electrical signals, and thus communicate with a communication network or other devices. The RF circuit 910 may include various existing circuit elements for performing these functions, such as antennas, radio frequency transceivers, digital signal processors, encryption / decryption chips, user identity module (SIM) cards, memories, etc. The RF circuit 910 can communicate with various networks such as the Internet, corporate intranets, wireless networks, or communicate with other devices through wireless networks. The above-mentioned wireless networks may include cellular telephone networks, wireless local area networks, or metropolitan area networks. The above-mentioned wireless networks can use various communication standards, protocols and technologies, including but not limited to Global System for Mobile Communication (GSM), Enhanced Data GSM Environment (EDGE), Wideband Code Division Multiple Access (WCDMA), Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Wireless Fidelity (Wi-Fi) (such as Institute of Electrical and Electronics Engineers standards IEEE 802.11a, IEEE 802.11b, IEEE802.11g and / or IEEE802.11n), Voice over Internet Protocol (VoIP), Worldwide Interoperability for Microwave Access (Wi-Max), other protocols for email, instant messaging and short messages, and any other suitable communication protocols, even those that have not yet been developed.

[0093] The memory 920 can be used to store software programs and modules, such as the program instructions / modules corresponding to the steel bar intelligent bending method in the above-mentioned embodiment. The processor 980 executes various functional applications and the steel bar intelligent bending method by running the software programs and modules stored in the memory 920.

[0094] The memory 920 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 920 may further include a memory remotely arranged relative to the processor 980, and these remote memories may be connected to the electronic device 900 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0095] The input unit 930 can be used to receive uploaded digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control. Specifically, the input unit 930 may include a touch-sensitive surface 931 and other input devices 932. The touch-sensitive surface 931, also known as a touch display screen or touchpad, can collect user touch operations on or near it (such as operations performed by users using fingers, styluses, or any other suitable objects or accessories on or near the touch-sensitive surface 931), and drive corresponding connection devices according to a pre-set program. Optionally, the touch-sensitive surface 931 may include a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 980, and can receive and execute commands sent by the processor 980. In addition, the touch-sensitive surface 931 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic waves. In addition to the touch-sensitive surface 931, the input unit 930 may further include other input devices 932. Specifically, the other input devices 932 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.

[0096] The display unit 940 can be used to display information input by the user or information provided to the user and various graphical user interfaces of the electronic device 900, which can be composed of graphics, text, icons, videos and any combination thereof. The display unit 940 may include a display panel 941, and optionally, the display panel 941 may be configured in the form of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc. Further, the touch-sensitive surface 931 may cover the display panel 941, and when the touch-sensitive surface 931 detects a touch operation on or near it, it is transmitted to the processor 980 to determine the type of the touch event, and then the processor 980 provides corresponding visual output on the display panel 941 according to the type of the touch event. Although in the figure, the touch-sensitive surface 931 and the display panel 941 are implemented as two independent components to implement input and output functions, in some embodiments, the touch-sensitive surface 931 and the display panel 941 can be integrated to implement input and output functions.

[0097] The electronic device 900 may also include at least one sensor 950, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel 941 according to the brightness of the ambient light, and the proximity sensor may generate an interrupt when the flip cover is closed or closed. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc. that can also be configured in the electronic device 900, they will not be repeated here.

[0098] The audio circuit 960, the speaker 961, and the microphone 962 can provide an audio interface between the user and the electronic device 900. The audio circuit 960 can transmit the electrical signal converted from the received audio data to the speaker 961, which is converted into a sound signal for output; on the other hand, the microphone 962 converts the collected sound signal into an electrical signal, which is received by the audio circuit 960 and converted into audio data, and then the audio data is output to the processor 980 for processing, and then sent to another terminal through the RF circuit 910, or the audio data is output to the memory 920 for further processing. The audio circuit 960 may also include an earplug jack to provide communication between an external headset and the electronic device 900.

[0099] The electronic device 900 can help users receive requests, send information, etc. through the transmission module 970 (such as a Wi-Fi module), which provides users with wireless broadband Internet access. Although the transmission module 970 is shown in the figure, it is understandable that it is not a necessary component of the electronic device 900 and can be omitted as needed without changing the essence of the invention.

[0100] The processor 980 is the control center of the electronic device 900. It uses various interfaces and lines to connect various parts of the entire mobile phone. By running or executing software programs and / or modules stored in the memory 920, and calling data stored in the memory 920, it executes various functions of the electronic device 900 and processes data, thereby monitoring the electronic device as a whole. Optionally, the processor 980 may include one or more processing cores; in some embodiments, the processor 980 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communications. It can be understood that the above-mentioned modem processor may not be integrated into the processor 980.

[0101] The electronic device 900 also includes a power supply 990 (such as a battery) for supplying power to various components. In some embodiments, the power supply can be logically connected to the processor 980 through a power management system, so that the power management system can manage charging, discharging, and power consumption management. The power supply 990 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0102] Although not shown, the electronic device 900 also includes a camera (such as a front camera, a rear camera), a Bluetooth module, etc., which will not be described in detail here. Specifically in this embodiment, the display unit of the electronic device is a touch screen display, and the mobile terminal also includes a memory, and one or more programs, wherein one or more programs are stored in the memory, and are configured to be executed by one or more processors to implement any step of the steel bar intelligent bending method provided in the above embodiment.

[0103] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0104] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by controlling related hardware through instructions, and the instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. To this end, an embodiment of the present application provides a storage medium, which stores multiple instructions, and the instructions can be executed by the processor to implement any step of the steel bar intelligent bending method provided in the above embodiments.

[0105] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0106] Since the instructions stored in the storage medium can execute the steps in any embodiment of the steel bar intelligent bending method provided in the embodiments of the present application, the beneficial effects that can be achieved by any steel bar intelligent bending method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0107] The above is a detailed introduction to a steel bar intelligent bending method, device, electronic device and storage medium provided in the embodiments of the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, for technicians in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application. Moreover, for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A steel bar intelligent bending system, characterized in that: include: A loading support frame (1) is arranged in the transverse direction, and a bending machine head walking guide rail (5) and a material transfer robot walking guide rail (6) are arranged in parallel on the side of the loading support frame (1). A feeding roller (3) and a magnetic feeding device (4) are installed on the loading support frame (1), a bending machine head (7) is installed on the bending machine head walking guide rail (5), and a material holding robot (8) is installed on the material transfer robot walking guide rail (6). A visual recognition device (2) and a material blocking device (9) are arranged at the front end of the feeding roller (3), and the visual recognition device (2) is used to identify the end face of the steel bar to obtain the steel bar code. The steel bar intelligent bending system is connected to the steel bar processing process control system in real time communication.

2. The intelligent steel bar bending system according to claim 1, characterized in that: The loading support frame (1) comprises a frame body (10), and a plurality of cross beams (11) are arranged at equal intervals in the transverse direction on the top of the frame body, a material blocking plate (12) is arranged at one end of the cross beam (11) away from the material transfer robot walking guide rail (6), and a material guide plate (13) is arranged at one end of the cross beam (11) close to the material transfer robot walking guide rail (6).

3. The intelligent steel bar bending system according to claim 1, characterized in that: The visual recognition device (2) is arranged on a visual recognition frame (21) at the front end of the feeding roller (3); a CCD camera (22) and a light source (23) are arranged on the visual recognition frame (21); the CCD camera (22) is arranged at one end away from the front end baffle of the feeding roller (3); and the light source (23) is arranged at one end close to the front end baffle of the feeding roller (3).

4. The intelligent steel bar bending system according to claim 2, characterized in that: The feeding roller conveyor (3) comprises a roller support plate (31) and a V-shaped groove plate (32) arranged on the frame, and a roller support (33) for fixing a non-powered roller (34) is arranged on the roller support plate (31), and the V-shaped groove plate (32) is used for placing steel bars.

5. The intelligent steel bar bending system according to claim 1, characterized in that: The magnetic suction feeding device (4) comprises an electromagnet (41), a magnetic suction feeding device support plate (42) and a rodless cylinder (43); the electromagnet (41) moves back and forth along the length direction of the magnetic suction feeding device support plate (42) under the drive of the rodless cylinder (43).

6. The intelligent steel bar bending system according to claim 1, characterized in that: The material transfer robot (8) is arranged in multiple directions along the material transfer robot walking guide rail (6), and each material transfer robot (8) is composed of a sliding base (81), a rotating robot arm (82), a rotating servo drive motor (83) and a robot clamp (84). The sliding base (81) fixes the rotating robot arm (82). The sliding base (81) moves laterally on the material transfer robot walking guide rail (6) driven by the rotating servo drive motor (83). The rotating robot arm (82) completes a circular motion on a vertical plane driven by the rotating servo drive motor (83). The rotating robot arm (82) is connected to the robot clamp (84), and the robot clamp (84) is driven based on the set cylinder.

7. The intelligent steel bar bending system according to claim 1, characterized in that: The bending machine head (6) comprises a chassis (61), a guide wheel (62) is arranged at the bottom of the chassis (61), and the guide wheel (62) controls the chassis (61) to move laterally along the bending machine head walking guide rail (5) under the drive of a motor. The chassis (61) is provided with a lifting and lowering bending mandrel fixing disk (63) and a bending shaft rotating disk (64), the bending mandrel fixing disk (63) is installed with a bending mandrel (65), and the bending shaft rotating disk (64) is installed with a bending shaft (66), and the bending shaft rotating disk (64) drives the bending shaft (66) to make a circular motion around the center of the bending mandrel (65) under the drive of a motor. A turning plate (67) is arranged on the side of the chassis (61), and the turning plate is turned up and down under the drive of a cylinder. A clamp (68) is also arranged at the bottom of the chassis, and the clamp (68) realizes loosening and tightening and up and down process actions under the drive of the motor.

8. A steel bar intelligent bending method, applied to the steel bar intelligent bending system based on time recognition according to any one of claims 1 to 7, characterized in that: The method comprises: Lift the whole bundle of steel bars to the loading support frame through vertical transportation tools and unbundle; Selecting a single steel bar from the entire bundle of steel bar components and inserting it into a feeding roller; Control the front end baffle of the feeding roller to rise, and control the excitation of the electromagnet in the magnetic suction feeding device to transfer the single steel bar to the processing zero position; After controlling the front baffle to fall, controlling the visual recognition device to recognize the steel bar end of the single steel bar to obtain steel bar coding information; Identifying the steel bar coding information to obtain a processing instruction for processing the single steel bar; Controlling the material transfer robot to move to a preset position and keeping the end clamp of the material transfer robot in a loosened state; Controlling the bending machine head to move to a preset position, and adjusting the clamp and the bending mandrel on the bending machine head to be at the preset position; Control the material transfer manipulator to rotate to the feeding roller, and control the end clamp to clamp the single steel bar; Control the material transfer robot to rotate to the bending station, and raise the clamp and the bending mandrel on the bending machine head to the target position; After the clamp of the bending machine head is clamped, the end clamp of the material transfer manipulator is controlled to be loosened, and the material transfer manipulator is adjusted to a suitable position; According to the bending information contained in the processing instruction, the bending shaft on the bending machine head is controlled to rotate, and the bent single steel bar is obtained when the rotation action is completed; After obtaining the bent single steel bar, the turning mechanism on the bending machine head is controlled to turn up and push the bent single steel bar into the finished product bin; A single steel bar is selected again in the construction of the whole bundle of steel bar components until the bending process of the whole bundle of steel bar components is completed.

9. An electronic device, characterized in that: The electronic device comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor implements the steps in the method according to claim 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the method according to claim 8 are implemented.

Images