An integrated straightening, sorting and feeding device

Abstract

The invention relates to the technical field of prefabricated box girders, and in particular to an integrated straightening, sorting and feeding device; the device comprises a straightening and cutting machine, a straightening device, a material dividing component, a steel bar transport component, a positioning tray and a controller which are sequentially arranged along the steel bar transport direction, the steel bar transport component comprises a short bar transport component and a long bar transport component which are arranged in parallel; the straightening and cutting machine is used for cutting the steel bars into short bars and long bars; the straightening device comprises a first clamping component, a second clamping component and a collimating component, the first clamping component and the second clamping component are respectively arranged at two ends of the collimating component, the collimating component detects the straightness of the short bars and the long bars, and the collimating component performs a collimating operation on the short bars or long bars whose straightness is unqualified; the material dividing component is used for dividing the short bars and the long bars; the positioning tray is used for assembling the short bars and the long bars; the straightness of the steel bars is improved, the finished product quality of the positioning steel bar mesh is ensured, and the material dividing efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of prefabricated box beams, and in particular to an integrated straightening, sorting and feeding device. Background Art

[0002] Box beam is a type of beam in bridge engineering, which is hollow inside and has flanges on both sides of the upper part. Box beams of reinforced concrete structures are divided into prefabricated box beams and cast-in-place box beams. Box beams prefabricated in independent sites can be erected in combination with bridge erection machines after the lower part of the project is completed. They are widely used because they can accelerate the progress of the project and save construction time. The box beam skeleton needs to be inserted with positioning steel mesh to assist the installation of the prestressed duct of the box beam, which plays a vital role in the installation position, installation linearity and quality of the prefabricated box beam.

[0003] Chinese patent CN118385420A discloses a production line and processing technology for positioning prestressed tendons of railway box girders, the production line includes a straightening and cutting machine, a feeding buffer area, a mesh welding area and a welding discharge area; the feeding buffer area is provided with an intermediate transmission train, an outlet mechanism, a plate pusher, a longitudinal short tendon conveyor, a conveyor 1, a conveyor 2 and a bracket rail; the mesh welding area is provided with a conveyor 3, a conveyor 4 and a lifting device; the welding discharge area is provided with a welding table, a positioning device and an automatic welding tendon discharge bin; the single-piece prestressed tendon positioning steel mesh is fully automatically processed by first assembling and welding a tic-tac-toe frame, then assembling and welding a bottom plate positioning mesh and a web positioning mesh, and finally welding.

[0004] However, the straightening and cutting machine used in the above-mentioned positioning steel mesh production line may have incomplete straightening directions and a relatively single size of steel bars that can be straightened, resulting in poor straightness of the output steel bars, thereby affecting the quality of the finished positioning steel mesh products; at the same time, the efficiency of dividing short bars and long bars in the above-mentioned positioning steel mesh production line is low.

[0005] Therefore, there is an urgent need to provide an integrated straightening, sorting and feeding device, which can improve the straightness of the steel bars, ensure the quality of the finished product of the positioned steel mesh, and improve the material sorting efficiency compared to the existing technology. Summary of the invention

[0006] The present invention solves the technical problems existing in the prior art and provides an integrated straightening, sorting and feeding device.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0008] An integrated straightening, sorting and feeding device comprises a straightening and cutting machine, a straightening device, a material dividing assembly, a steel bar transport assembly, a positioning tray and a controller which are sequentially arranged along the steel bar transport direction, wherein the steel bar transport assembly comprises a short steel bar transport assembly and a long steel bar transport assembly which are arranged in parallel, and the straightening device and the material dividing assembly are both electrically connected to the controller;

[0009] The straightening and cutting machine is used to perform preliminary straightening of the steel bars and cut the steel bars into short bars and long bars;

[0010] The collimation device comprises a first clamping assembly, a second clamping assembly and a collimation assembly, wherein the first clamping assembly and the second clamping assembly are respectively arranged at two ends of the collimation assembly, the collimation assembly detects the straightness of the short ribs and the long ribs, and the collimation assembly performs a collimation operation on the short ribs or the long ribs whose straightness is unqualified, and the first clamping assembly and the second clamping assembly are used to rotate the short ribs or the long ribs;

[0011] The material dividing assembly is used to divide the short bars and the long bars; the short bar transport assembly is used to transport the short bars, and the long bar transport assembly is used to transport the long bars; the positioning pallet is used to assemble the short bars and the long bars.

[0012] Furthermore, the material dividing assembly includes a material dividing barrel, a material dividing plate, an electric push rod, a push plate and a fixed frame. The side wall of one side of the material dividing barrel is set as an opening. The lower end of the material dividing barrel on the side of the opening is rotatably connected to the material dividing plate. The material dividing plate realizes rotational movement relative to the material dividing barrel by setting a motor. The push plate is slidably connected to the inside of the material dividing barrel. The electric push rod is set on the outside of the side wall of the material dividing barrel opposite to the set opening. The output end of the electric push rod is fixedly connected to the push plate, and the output end of the electric push rod is set along a direction perpendicular to the transportation direction of the short ribs and the long ribs; the material dividing barrel is extended along the transportation direction of the short ribs and the long ribs, and the short ribs and the long ribs enter the inside of the material dividing barrel in turn; the motor and the electric push rod are both electrically connected to the controller.

[0013] Furthermore, a total weighing sensor is embedded in the lower wall of the inner side of the distributing barrel, and the total weighing sensor is used to measure the weight of the short ribs and the long ribs entering the distributing barrel, and the total weighing sensor is electrically connected to the controller;

[0014] A first weight value range and a second weight value range are set, and a first swing stop position and a second swing stop position are set; when the weight value detected by the total weighing sensor is within the first weight value range, the controller controls the electric push rod to extend, and controls the motor to rotate to the first swing stop position, and the first swing stop position corresponds to the position setting of the short rib transport component; when the weight value detected by the total weighing sensor is within the second weight value range, the controller controls the electric push rod to extend, and controls the motor to rotate to the second swing stop position, and the second swing stop position corresponds to the position setting of the long rib transport component.

[0015] Furthermore, the minimum value of the first weight value range is set as the first weight value minimum value, the maximum value of the first weight value range is set as the first weight value maximum value, and the method for obtaining the first weight value minimum value and the first weight value maximum value is: a plurality of first weighing sensors are arranged at intervals on the short rib transport component, and real-time measurement data of all first weighing sensors are obtained, which is recorded as ,in, represents the real-time measurement data set of all first load cells, Represents the real-time measurement data of the first load cell. Represents the real-time measurement data of the second first load cell, Represents the real-time measurement data of the nth first weighing sensor. The minimum first weight value and the maximum first weight value are calculated by the following formula:

[0016] ;

[0017] ;

[0018] In the above formula, Indicates the maximum value of the first weight value, Indicates the minimum value of the first weight, Indicates the correction factor of the first load cell;

[0019] The minimum value of the second weight value range is set to the second weight value minimum value, the maximum value of the second weight value range is set to the second weight value maximum value, and the method for obtaining the second weight value minimum value and the second weight value maximum value is: a plurality of second weighing sensors are arranged at intervals on the long tendon transport component, and the real-time measurement data of all the second weighing sensors are obtained, which is recorded as ,in, represents the real-time measurement data set of all second load cells, Represents the real-time measurement data of the first and second load cells, Represents the real-time measurement data of the second second load cell, Represents the real-time measurement data of the mth second weighing sensor. The minimum value of the second weight value and the maximum value of the second weight value are calculated by the following formula:

[0020] ;

[0021] ;

[0022] In the above formula, Indicates the maximum value of the second weight, Indicates the minimum value of the second weight, Indicates the correction factor of the second load cell.

[0023] Furthermore, the positioning tray includes a short rib placement slot, a long rib placement slot, a first manipulator and a second manipulator, the short rib placement slot is vertically arranged with the long rib placement slot, the first manipulator is used to grab the short rib transported to the first set position by the short rib transport component, and the second manipulator is used to grab the long rib transported to the second set position by the long rib transport component;

[0024] The first manipulator places the short ribs transported to the first set position into the short rib placement slot according to the first set route, and the second manipulator places the long ribs transported to the second set position into the long rib placement slot according to the set route; the second manipulator is provided with a speed sensor, and the total moving distance of the second manipulator is set to , set the total moving distance of the first manipulator to ; Set the initial speed of the second manipulator to , set the speed of the second manipulator when it moves half the distance to ;

[0025] The controller controls the first manipulator to accelerate and move according to the first acceleration in the first 2 / 3 of the moving distance without rotating; the controller controls the first manipulator to decelerate and move according to the second acceleration in the last 1 / 3 of the moving distance, and rotate the set angle according to the rotation acceleration. During the rotation process, the first manipulator first accelerates and then decelerates;

[0026] The first acceleration, the second acceleration, and the rotational acceleration are obtained by the following formula:

[0027] ;

[0028] ;

[0029] ;

[0030] In the above formula, represents the first acceleration, represents the second acceleration, Represents the rotation acceleration, A and B are constants ranging from 0 to 1 respectively.

[0031] Further, the collimation assembly includes a bottom plate, a top plate, a guide rod, a first oil cylinder, a second oil cylinder, a lower pressure plate and a first upper pressure plate, the top plate is located above the bottom plate, the top plate and the bottom plate are connected by the guide rod, the guide rod passes through the first upper pressure plate and the lower pressure plate, the first upper pressure plate is located above the lower pressure plate, the upper wall of the bottom plate is fixedly connected to the first oil cylinder, the first oil cylinder drives the lower pressure plate to move in a vertical direction, the lower wall of the top plate is fixedly connected to the second oil cylinder, the second oil cylinder drives the first upper pressure plate to move in a vertical direction;

[0032] The first upper pressure plate is movably connected to multiple second upper pressure plates inside, and an auxiliary plate is passed through the output end of the second oil cylinder. The auxiliary plate is fixedly connected to the output end of the second oil cylinder, and multiple third oil cylinders are fixedly connected to the lower wall of the auxiliary plate. The third oil cylinders correspond to the second upper pressure plates one by one, and each of the third oil cylinders drives a second upper pressure plate to move in a vertical direction. Multiple upper distance sensors are embedded in the lower wall of each second upper pressure plate; multiple lower distance sensors are provided on the lower pressure plate, and the upper distance sensors and the lower distance sensors are arranged in a one-to-one correspondence.

[0033] Furthermore, when the short rib or the long rib passes through the collimating assembly, the controller controls the first oil cylinder and the second oil cylinder so that the lower pressing plate and the first upper pressing plate are in contact with the short rib or the long rib, and the plurality of upper distance sensors measure the distance from their respective positions to the upper end of the short rib or the long rib, and the plurality of lower distance sensors measure the distance from their respective positions to the lower end of the short rib or the long rib;

[0034] The controller analyzes and processes the data measured by the upper distance sensor and the lower distance sensor, specifically:

[0035] Set the corresponding position of the upper distance sensor and the lower distance sensor as a sampling point, obtain the difference between the upper distance sensor and the lower distance sensor at each sampling point, and take the absolute value, which is recorded as the detection difference; set the standard value, subtract the detection difference at each sampling point from the standard value, and take the absolute value to obtain the distance difference at each sampling point;

[0036] Set the error value and threshold value. The standard value is smaller than the error value, and the error value is smaller than the threshold value. Compare the distance difference at each sampling point with the error value and the threshold value, and analyze them according to the situation:

[0037] (1) When the distance difference at all sampling points is less than or equal to the error value, the straightness of the short or long reinforcement is qualified;

[0038] (2) When the distance difference of the sampling points is greater than the error value, the straightness of the short or long ribs is unqualified; at the same time, when the distance difference greater than the error value is less than or equal to the threshold, straightening operation is performed; when the distance difference greater than the error value is also greater than the threshold, the short or long ribs are discarded.

[0039] Furthermore, the specific method of the collimation component for performing the collimation operation is: extracting sampling points whose distance difference is greater than the error value and less than or equal to the threshold value, driving the third oil cylinder corresponding to the second upper pressing plate where the upper distance sensor is located in these sampling points, and the third oil cylinder drives the corresponding second upper pressing plate to press the short rib or the long rib; after the second upper pressing plate is pressed, the second pressing plate is retracted into the first pressing plate, and all the upper distance sensors measure the distance from their respective positions to the upper end of the short rib or the long rib, and determine the upper distance sensor farthest from the upper end of the short rib or the long rib, and the real-time data measured by the upper distance sensor is recorded as Then drive the second cylinder to make the first pressing plate press the upper end of the short rib or the long rib. The driving speed of the second cylinder is controlled by To regulate.

[0040] Furthermore, when the distance difference of only one sampling point where an upper distance sensor is located on the second upper pressure plate connected to a third oil cylinder is greater than the error value and less than or equal to the threshold, the driving speed of the corresponding third oil cylinder is regulated by the real-time data of the upper distance sensor;

[0041] When the distance difference between two or three sampling points where the upper distance sensors are located on the second upper pressure plate connected to a third oil cylinder is greater than the error value and less than or equal to the threshold, the driving speed of the corresponding third oil cylinder is regulated based on the real-time data of the lower distance sensor at the sampling point with the largest distance difference;

[0042] The specific control methods are:

[0043] The real-time data of the distance sensor is recorded as , set the first setting value , ,when When the driving speed of the third cylinder gradually increases, the acceleration is ,when When the driving speed of the third cylinder gradually decreases, the acceleration is , is the data measured by the lower distance sensor at the i-th sampling point;

[0044] and Satisfy the following formula:

[0045] ;

[0046] In the above formula, is the correction factor of the lower distance sensor.

[0047] Furthermore, the driving speed of the second cylinder is controlled by The specific methods of regulation are:

[0048] Set the second setting value , ,when When the driving speed of the second cylinder gradually increases, the acceleration is ,when When the driving speed of the second cylinder gradually decreases, the acceleration is , is the data measured by the upper distance sensor at the i-th sampling point;

[0049] and Satisfy the following formula:

[0050] .

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] The present invention arranges a collimating device to detect the straightness of short bars and long bars transported by a straightening and cutting machine, thereby ensuring the quality of the short bars and long bars, thereby ensuring the quality of the finished product of the positioning steel mesh; at the same time, the material dividing component automatically identifies the short bars and long bars by setting a first weight value range and a second weight value range, and divides the short bars and long bars into corresponding transportation components, thereby realizing automatic material dividing of the short bars and long bars, and the maximum value and the minimum value of the first weight value range and the second weight value range can be adjusted in real time, thereby ensuring the accuracy of the material dividing, and also improving the efficiency of the material dividing. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0054] Figure 2 Schematic diagram of the collimation device of the present invention.

[0055] Figure 3 It is a partial cross-sectional view showing the internal structure of the collimation assembly of the present invention.

[0056] Figure 4 It is a structural schematic diagram of the second clamping assembly of the present invention.

[0057] Figure 5 It is a cross-sectional view of the material distribution component of the present invention.

[0058] Figure 6 It is a structural schematic diagram of a positioning tray.

[0059] Description of reference numerals:

[0060] 1. Straightening and cutting machine; 2. Alignment device; 21. First clamping assembly; 211. Connecting plate; 212. Motor; 213. Air claw; 214. Gripper; 22. Second clamping assembly; 23. Alignment assembly; 231. Bottom plate; 232. Top plate; 233. Guide rod; 234. Lower pressure plate; 235. First oil cylinder; 236. First upper pressure plate; 237. Second upper pressure plate; 238. Auxiliary plate; 239. Second oil cylinder; 2310. Third oil cylinder Cylinder; 2311, upper distance sensor; 2312, lower distance sensor; 3, material distribution assembly; 31, material distribution barrel; 32, material distribution plate; 33, total weighing sensor; 34, electric push rod; 35, push plate; 36, fixed frame; 4, short rib transport assembly; 41, vibration plate; 42, first conveyor belt; 5, long rib transport assembly; 51, second conveyor belt; 6, positioning tray; 61, short rib placement slot; 62, long rib placement slot; 7, short rib; 8, long rib. DETAILED DESCRIPTION

[0061] The technical solution of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention. It should be noted that the orientation or position relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", etc. is based on the orientation or position relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0062] like Figure 1As shown, the present invention provides an integrated straightening, sorting and feeding device, comprising a straightening and cutting machine 1, a straightening device 2, a material dividing assembly 3, a steel bar transport assembly, a positioning tray 6 and a controller which are sequentially arranged along the steel bar transport direction, the steel bar transport assembly comprising a short bar transport assembly 4 and a long bar transport assembly 5 which are arranged in parallel, the feeding end of the short bar transport assembly 4 and the feeding end of the long bar transport assembly 5 are both arranged corresponding to the material dividing assembly 3, the positioning tray 6 is arranged corresponding to the discharging end of the short bar transport assembly 4 and the discharging end of the long bar transport assembly 5, the straightening device 2 and the material dividing assembly 3 are both electrically connected to the controller; the straightening and cutting machine 1 is used for preliminarily straightening the steel bars and cutting the steel bars into short bars 7 and long bars 8; the straightening device 2 is used for detecting the straightness of the short bars 7 and the long bars 8, and is also used for straightening the short bars 7 and the long bars 8 which do not meet the straightness requirements; the material dividing assembly 3 is used for dividing the short bars 7 into the inside of the short bar 7 material dividing assembly 3 and dividing the long bars 8 into the inside of the long bar 8 material dividing assembly 3; the positioning tray 6 is used for assembling the short bars 7 and the long bars 8.

[0063] There are two material distribution components 3, and the output end of the collimating device 2 is connected to two conveyor lines, each conveyor line corresponds to a material distribution component 3, and the conveyor line adopts the structure of the existing conveyor line, and each material distribution component 3 is correspondingly provided with a short rib transport component 4 and a long rib transport component 5. The short rib transport component 4 includes a vibration plate 41 and a first conveyor belt 42, and the vibration plate 41 is provided corresponding to the material distribution component 3, and the output end of the vibration plate 41 is connected to the first conveyor belt 42; the long rib transport component 5 includes a second conveyor belt 51, and the second conveyor belt 51 is L-shaped, and one end of the short part of the second conveyor belt 51 is provided corresponding to the material distribution component 3, and the long part of the second conveyor belt 51 is provided in parallel with the first conveyor belt 42.

[0064] like Figure 2 , Figure 3 , Figure 4 As shown, the collimation device 2 includes a first clamping assembly 21, a second clamping assembly 22 and a collimation assembly 23. The first clamping assembly 21 and the second clamping assembly 22 are respectively arranged at two ends of the collimation assembly 23. The collimation assembly 23 detects the straightness of the short ribs 7 and the long ribs 8. The collimation assembly 23 performs collimation operations on the short ribs 7 or the long ribs 8 whose straightness fails. The first clamping assembly 21 and the second clamping assembly 22 are used to rotate the short ribs 7 and the long ribs 8.

[0065] The alignment assembly 23 includes a bottom plate 231, a top plate 232, a guide rod 233, a first oil cylinder 235, a second oil cylinder 239, a lower pressure plate 234 and a first upper pressure plate 236. The top plate 232 is located above the bottom plate 231. The top plate 232 and the bottom plate 231 are connected by a guide rod 233. The guide rod 233 passes through the first upper pressure plate 236 and the lower pressure plate 234. The first upper pressure plate 236 is located above the lower pressure plate 234. The upper wall of the bottom plate 231 is fixedly connected to the first oil cylinder 235. The first oil cylinder 235 drives the lower pressure plate 234 to move in a vertical direction. The lower wall of the top plate 232 is fixedly connected to the second oil cylinder 239. The second oil cylinder 239 drives the first upper pressure plate 236 to move in a vertical direction.

[0066] The first upper pressing plate 236 is internally movably connected to a plurality of second upper pressing plates 237, an auxiliary plate 238 is passed through the guide rod 233, and the auxiliary plate 238 is located between the top plate 232 and the first upper pressing plate 236, the output end of the second oil cylinder 239 is passed through the auxiliary plate 238, the auxiliary plate 238 is fixedly connected to the output end of the second oil cylinder 239, the distance between the auxiliary plate 238 and the first upper pressing plate 236 is fixed, a plurality of third oil cylinders 2310 are fixedly connected to the lower wall of the auxiliary plate 238, the third oil cylinders 2310 correspond one-to-one to the second upper pressing plate 237, each third oil cylinder 2310 drives a second upper pressing plate 237 to move in the vertical direction, and 2-3 upper distance sensors 2311 are embedded in the lower wall of each second upper pressing plate 237; a plurality of lower distance sensors 2312 are provided on the lower pressing plate 234, and the upper distance sensors 2311 and the lower distance sensors 2312 are arranged one-to-one; a plurality of pressure sensors are evenly distributed on the lower wall of the first upper pressing plate 236. The upper distance sensor 2311, the lower distance sensor 2312, all the pressure sensors, the first oil cylinder 235, the second oil cylinder 239, and the third oil cylinder 2310 are all electrically connected to the controller.

[0067] The first oil cylinder 235 controls the lower pressing plate 234 to extend, and the short ribs 7 or long ribs 8 are transported to the lower pressing plate 234. The controller controls the second oil cylinder 239 to extend, so that the first upper pressing plate 236 extends. When the pressure value of any one of the pressure sensors provided on the lower wall of the first upper pressing plate 236 changes, the movement of the second oil cylinder 239 is stopped. At this time, the first upper pressing plate 236 contacts the upper wall of the short ribs 7 or long ribs 8. The multiple upper distance sensors 2311 measure the distance from their respective positions to the upper end of the short ribs 7 or long ribs 8, and the lower distance sensors 2312 measure the distance from their respective positions to the lower end of the short ribs 7 or long ribs 8. The controller analyzes and processes the data measured by the upper distance sensor 2311, the lower distance sensor 2312 and the total distance sensor, specifically:

[0068] Set the corresponding position of the upper distance sensor 2311 and the lower distance sensor 2312 as a sampling point, obtain the difference between the upper distance sensor 2311 and the lower distance sensor 2312 at each sampling point, and take the absolute value, which is recorded as the detection difference; set the standard value, subtract the detection difference at each sampling point from the standard value, and take the absolute value to obtain the distance difference at each sampling point.

[0069] Set the error value and threshold value. The standard value is smaller than the error value, and the error value is smaller than the threshold value. Compare the distance difference at each sampling point with the error value and the threshold value, and analyze them according to the situation:

[0070] (1) When the distance difference at all sampling points is less than or equal to the error value, the straightness of the short rib 7 or the long rib 8 is qualified;

[0071] (2) When the distance difference of the sampling points is greater than the error value, the straightness of the short rib 7 or the long rib 8 is unqualified; at the same time, when the distance difference greater than the error value is less than or equal to the threshold, the straightening operation is performed; when the distance difference greater than the error value is also greater than the threshold, the short rib 7 or the long rib 8 is invalid.

[0072] The specific method for the collimation operation of the collimation component 23 is as follows: extracting sampling points whose distance difference is greater than the error value and less than or equal to the threshold value, driving the third oil cylinder 2310 corresponding to the second upper pressing plate 237 where the upper distance sensor 2311 is located in these sampling points, and the third oil cylinder 2310 drives the corresponding second upper pressing plate 237 to press the short rib 7 or the long rib 8; after the second upper pressing plate 237 is pressed, the second pressing plate retracts into the inside of the first pressing plate, and all the upper distance sensors 2311 measure the distance from their respective positions to the upper end of the short rib 7 or the long rib 8, and determine the upper distance sensor 2311 that is farthest from the upper end of the short rib 7 or the long rib 8, and the real-time data measured by the upper distance sensor 2311 is recorded as Then, the second oil cylinder 239 is driven to make the first pressing plate press the upper end of the short rib 7 or the long rib 8. The driving speed of the second oil cylinder 239 is controlled by The specific control methods are as follows:

[0073] Set the second setting value , ,when When the driving speed of the second oil cylinder 239 gradually increases, the acceleration is ,when When the driving speed of the second oil cylinder 239 gradually decreases, the acceleration is ;

[0074] and Satisfy the following formula:

[0075] ;

[0076] In the above formula, represents the data measured by the distance sensor 2311 at the i-th sampling point, Represents the correction coefficient of the upper distance sensor 2311.

[0077] The lower walls of the first upper pressing plate 236 and the second upper pressing plate 237 are both arc-shaped structures, and the upper wall of the lower pressing plate 234 is also provided with an arc-shaped groove for placing the short ribs 7 or the long ribs 8.

[0078] When the distance difference of only one sampling point where the upper distance sensor 2311 is located on the second upper pressure plate 237 connected to a third oil cylinder 2310 is greater than the error value and less than or equal to the threshold, the driving speed of the corresponding third oil cylinder 2310 is regulated by the real-time data of the upper distance sensor 2311;

[0079] When the distance difference between two or three sampling points where the upper distance sensors 2311 are located on the second upper pressing plate 237 connected to a third oil cylinder 2310 is greater than the error value and less than or equal to the threshold, the driving speed of the corresponding third oil cylinder 2310 is regulated based on the real-time data of the lower distance sensor 2312 at the sampling point with the largest distance difference;

[0080] The specific control methods are:

[0081] The real-time data of the upper distance sensor 2311 is recorded as , set the first setting value , ,when When the driving speed of the third oil cylinder 2310 gradually increases, the acceleration is ,when When the driving speed of the third oil cylinder 2310 gradually decreases, the acceleration is , is the data measured by the lower distance sensor 2312 at the i-th sampling point;

[0082] and Satisfy the following formula:

[0083] ;

[0084] In the above formula, is the correction coefficient of the lower distance sensor 2312. The upper distance sensor 2311 and the lower distance sensor 2312 are sensors of the same model, that is, the correction coefficients are the same.

[0085] The first clamping assembly 21 includes a connecting plate 211, a motor 212, an air gripper 213, and a gripper 214. The connecting plate 211 is slidably connected to the bottom plate 231. The upper end of the side wall of the connecting plate 211 close to the collimation assembly 23 is connected to the air gripper 213. Two grippers 214 are provided on the upper wall of the air gripper 213. The upper end of the side wall of the connecting plate 211 away from the collimation assembly 23 is connected to the motor 212. The output end of the motor 212 is fixedly connected to the air gripper 213 through the connecting plate 211. The motor 212 drives the air gripper 213 to rotate. The two grippers 214 move relative to or toward each other through the air gripper 213. The air gripper 213 has two states, namely the first state and the second state. The air gripper 213 in the first state and the air gripper 213 in the second state are vertically arranged. The second clamping assembly 22 has the same structure as the first clamping assembly 21. The second clamping assembly 22 is arranged opposite to the first clamping assembly 21. The first clamping assembly 21 and the second clamping assembly 22 can move in the horizontal direction relative to the bottom plate 231. The first clamping assembly 21 and the second clamping assembly 22 clamp the short ribs 7 and the long ribs 8 and move along the transportation direction. The first clamping assembly 21 and the second clamping assembly 22 can also clamp the short ribs 7 and the long ribs 8 and rotate 90°, so as to facilitate two straightness tests on each short rib 7 and the long rib 8.

[0086] like Figure 5 As shown, the material distributing assembly 3 includes a material distributing barrel 31, a material distributing plate 32, an electric push rod 34, a push plate 35 and a fixing frame 36. One side wall of the material distributing barrel 31 is set as an opening structure. The lower end of the material distributing barrel 31 is set to be rotatably connected to the material distributing plate 32 on the side of the opening. The material distributing plate 32 realizes the rotational movement relative to the material distributing barrel 31 by setting a motor. The push plate 35 is slidably connected to the inside of the material distributing barrel 31. The electric push rod 34 is set outside the side wall of the material distributing barrel 31 opposite to the set opening. The output of the electric push rod 34 The outlet end is fixedly connected to the push plate 35, and the output end of the electric push rod 34 is arranged perpendicular to the transportation direction of the short ribs 7 and the long ribs 8; the dividing barrel 31 is extended along the transportation direction of the short ribs 7 and the long ribs 8, and the length of the push plate 35 and the dividing plate 32 extended along the transportation direction of the short ribs 7 and the long ribs 8 is the same as the length of the dividing barrel 31 extended along the transportation direction of the short ribs 7 and the long ribs 8, and the short ribs 7 and the long ribs 8 enter the inside of the dividing barrel 31 in sequence; the motor and the electric push rod 34 are electrically connected to the controller.

[0087] A total weighing sensor 33 is embedded in the lower inner wall of the distributing barrel 31 . The total weighing sensor 33 is used to measure the weight of the short ribs 7 and the long ribs 8 entering the distributing barrel 31 . The total weighing sensor 33 is electrically connected to the controller.

[0088] A first weight value range and a second weight value range are set, and a first swing stop position and a second swing stop position are set; when the weight value detected by the total weighing sensor 33 is within the first weight value range, the controller controls the electric push rod 34 to extend, and at the same time controls the motor to rotate to the first swing stop position, the first swing stop position corresponds to the position setting of the feeding end of the short rib transport component 4, and the push plate 35 pushes the short rib 7 onto the dividing plate 32 under the action of the electric push rod 34, and the short rib 7 slides into the short rib transport component 4 along the dividing plate 32; when the weight value detected by the total weighing sensor 33 is within the second weight value range, the controller controls the electric push rod 34 to extend, and at the same time controls the motor to rotate to the second swing stop position, the second swing stop position corresponds to the position setting of the long rib transport component 5, and the push plate 35 pushes the long rib 8 onto the dividing plate 32 under the action of the electric push rod 34, and the long rib 8 slides into the long rib transport component 5 along the dividing plate 32.

[0089] The maximum value of the first weight value range is set as the first weight value maximum value, and the minimum value of the first weight value range is set as the first weight value minimum value. The method for obtaining the first weight value minimum value and the first weight value maximum value is as follows: a plurality of first weighing sensors are arranged at intervals on the first conveyor belt 42, and real-time measurement data of all first weighing sensors are obtained, which is recorded as ,in, represents the real-time measurement data set of all first load cells, Represents the real-time measurement data of the first load cell. Represents the real-time measurement data of the second first load cell, Represents the real-time measurement data of the nth first weighing sensor. The minimum first weight value and the maximum first weight value are calculated by the following formula:

[0090] ;

[0091] ;

[0092] In the above formula, Indicates the maximum value of the first weight value, Indicates the minimum value of the first weight, Indicates the correction factor of the first load cell.

[0093] The maximum value of the second weight value range is set as the second weight value maximum value, and the minimum value of the second weight value range is set as the second weight value minimum value. The method for obtaining the second weight value minimum value and the second weight value maximum value is as follows: a plurality of second weighing sensors are arranged at intervals on the long portion of the second conveyor belt 51, and the real-time measurement data of all the second weighing sensors are obtained, which is recorded as ,in, represents the real-time measurement data set of all second load cells, Represents the real-time measurement data of the first and second load cells, Represents the real-time measurement data of the second second load cell, Represents the real-time measurement data of the mth second weighing sensor. The minimum value of the second weight value and the maximum value of the second weight value are calculated by the following formula:

[0094] ;

[0095] ;

[0096] In the above formula, Indicates the maximum value of the second weight, Indicates the minimum value of the second weight, Indicates the correction factor of the second load cell.

[0097] like Figure 6 As shown, the positioning pallet 6 includes a short rib placement slot 61, a long rib placement slot 62, a first manipulator and a second manipulator, the short rib placement slot 61 and the long rib placement slot 62 are vertically arranged, the first manipulator is used to grab the short rib 7 transported to the first set position on the short rib transport component 4, and the second manipulator is used to grab the long rib 8 transported to the second set position on the long rib transport component 5.

[0098] The first manipulator places the short rib 7 transported to the first set position into the short rib placement slot 61 according to the first set route, and the second manipulator places the long rib 8 transported to the second set position into the long rib placement slot 62 according to the set route; the second manipulator is provided with a speed sensor, and the total moving distance of the second manipulator is set to , set the total moving distance of the first manipulator to ; Set the initial speed of the second manipulator to , set the speed of the second manipulator when it moves half the distance to .

[0099] The controller controls the first manipulator to accelerate and move according to the first acceleration in the first 2 / 3 of the moving distance without rotating; the controller controls the first manipulator to decelerate and move according to the second acceleration in the last 1 / 3 of the moving distance, and rotate the set angle according to the rotation acceleration. During the rotation process, the first manipulator first accelerates and then decelerates.

[0100] The first acceleration, the second acceleration, and the rotational acceleration are obtained by the following formula:

[0101] ;

[0102] ;

[0103] ;

[0104] In the above formula, represents the first acceleration, represents the second acceleration, Represents the rotation acceleration, A and B are constants ranging from 0 to 1 respectively.

[0105] The present invention arranges a straightening device 2 to detect the straightness of the short bars 7 and long bars 8 transported by the straightening and cutting machine 1, thereby ensuring the quality of the short bars 7 and long bars 8, thereby ensuring the quality of the finished product of the positioning steel mesh; at the same time, the material dividing component 3 automatically identifies the short bars 7 and long bars 8 by setting the first weight value range and the second weight value range, and divides the short bars 7 and long bars 8 into the corresponding transportation components, thereby realizing automatic material division of the short bars 7 and long bars 8, and the maximum value and the minimum value of the first weight value range and the second weight value range can be adjusted in real time, thereby ensuring the accuracy of the material division and also improving the efficiency of the material division.

[0106] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. An integrated straightening, sorting and feeding device, characterized in that: It includes a straightening and cutting machine, a collimating device, a material dividing assembly, a steel bar transport assembly, a positioning tray and a controller which are sequentially arranged along the steel bar transport direction, wherein the steel bar transport assembly includes a short steel bar transport assembly and a long steel bar transport assembly which are arranged in parallel, and the collimating device and the material dividing assembly are both electrically connected to the controller; The straightening and cutting machine is used to perform preliminary straightening of the steel bars and cut the steel bars into short bars and long bars; The collimation device comprises a first clamping assembly, a second clamping assembly and a collimation assembly, wherein the first clamping assembly and the second clamping assembly are respectively arranged at two ends of the collimation assembly, the collimation assembly detects the straightness of the short ribs and the long ribs, and the collimation assembly performs a collimation operation on the short ribs or the long ribs whose straightness is unqualified, and the first clamping assembly and the second clamping assembly are used to rotate the short ribs or the long ribs; The material distribution assembly is used to distribute the short reinforcement and the long reinforcement; the short reinforcement transport assembly is used to transport the short reinforcement, and the long reinforcement transport assembly is used to transport the long reinforcement; the positioning tray is used to assemble the short reinforcement and the long reinforcement; The material distributing assembly includes a material distributing barrel, a material distributing plate, an electric push rod, a push plate and a fixed frame. The side wall of one side of the material distributing barrel is set as an opening. The lower end of the material distributing barrel on the side of the opening is rotatably connected to the material distributing plate. The material distributing plate realizes rotational movement relative to the material distributing barrel by setting a motor. The push plate is slidably connected to the inside of the material distributing barrel. The electric push rod is set on the outside of the side wall of the material distributing barrel opposite to the opening. The output end of the electric push rod is fixedly connected to the push plate, and the output end of the electric push rod is set along a direction perpendicular to the transportation direction of the short ribs and the long ribs; the material distributing barrel is extended along the transportation direction of the short ribs and the long ribs, and the short ribs and the long ribs enter the inside of the material distributing barrel in turn; the motor and the electric push rod are both electrically connected to the controller.

2. The integrated straightening, sorting and feeding device according to claim 1, characterized in that: A total weighing sensor is embedded in the lower wall of the inner side of the distributing barrel, and the total weighing sensor is used to measure the weight of the short ribs and the long ribs entering the distributing barrel, and the total weighing sensor is electrically connected to the controller; Setting a first weight value range and a second weight value range, and setting a first swing stop position and a second swing stop position; When the weight value detected by the total weighing sensor is within a first weight value range, the controller controls the electric push rod to extend, and controls the motor to rotate to a first swing stop position, which corresponds to the position setting of the short rib transport component; when the weight value detected by the total weighing sensor is within a second weight value range, the controller controls the electric push rod to extend, and controls the motor to rotate to a second swing stop position, which corresponds to the position setting of the long rib transport component.

3. The integrated straightening, sorting and feeding device according to claim 2, characterized in that: The minimum value of the first weight value range is set as the first weight value minimum value, and the maximum value of the first weight value range is set as the first weight value maximum value. The method for obtaining the first weight value minimum value and the first weight value maximum value is as follows: a plurality of first weighing sensors are arranged at intervals on the short rib transport assembly, and real-time measurement data of all first weighing sensors are obtained, which is recorded as ,in, represents the real-time measurement data set of all first load cells, Represents the real-time measurement data of the first load cell. Represents the real-time measurement data of the second first load cell, Represents the real-time measurement data of the nth first weighing sensor. The minimum first weight value and the maximum first weight value are calculated by the following formula: ； ； In the above formula, Indicates the maximum value of the first weight value, Indicates the minimum value of the first weight, Indicates the correction factor of the first load cell; The minimum value of the second weight value range is set to the second weight value minimum value, the maximum value of the second weight value range is set to the second weight value maximum value, and the method for obtaining the second weight value minimum value and the second weight value maximum value is: a plurality of second weighing sensors are arranged at intervals on the long tendon transport component, and the real-time measurement data of all the second weighing sensors are obtained, which is recorded as ,in, represents the real-time measurement data set of all second load cells, Represents the real-time measurement data of the first and second load cells, Represents the real-time measurement data of the second second load cell, Represents the real-time measurement data of the mth second weighing sensor. The minimum value of the second weight value and the maximum value of the second weight value are calculated by the following formula: ； ； In the above formula, Indicates the maximum value of the second weight, Indicates the minimum value of the second weight, Indicates the correction factor of the second load cell.

4. The integrated straightening, sorting and feeding device according to claim 1, characterized in that: The positioning tray includes a short rib placement slot, a long rib placement slot, a first manipulator and a second manipulator, the short rib placement slot is vertically arranged with the long rib placement slot, the first manipulator is used to grab the short rib transported to the first set position by the short rib transport assembly, and the second manipulator is used to grab the long rib transported to the second set position by the long rib transport assembly; The first manipulator places the short ribs transported to the first set position into the short rib placement slot according to the first set route, and the second manipulator places the long ribs transported to the second set position into the long rib placement slot according to the set route; the second manipulator is provided with a speed sensor, and the total moving distance of the second manipulator is set to , set the total moving distance of the first manipulator to ; Set the initial speed of the second manipulator to , set the speed of the second manipulator when it moves half the distance to ; The controller controls the first manipulator to accelerate and move according to the first acceleration in the first 2 / 3 of the moving distance without rotating; the controller controls the first manipulator to decelerate and move according to the second acceleration in the last 1 / 3 of the moving distance, and rotate the set angle according to the rotation acceleration. During the rotation process, the first manipulator first accelerates and then decelerates; The first acceleration, the second acceleration, and the rotational acceleration are obtained by the following formula: ； ； ； In the above formula, represents the first acceleration, represents the second acceleration, Represents the rotation acceleration, A and B are constants ranging from 0 to 1 respectively.

5. The integrated straightening, sorting and feeding device according to claim 1, characterized in that: The collimation assembly comprises a bottom plate, a top plate, a guide rod, a first oil cylinder, a second oil cylinder, a lower pressing plate and a first upper pressing plate, the top plate is located above the bottom plate, the top plate and the bottom plate are connected via the guide rod, the guide rod passes through the first upper pressing plate and the lower pressing plate, the first upper pressing plate is located above the lower pressing plate, the upper wall of the bottom plate is fixedly connected to the first oil cylinder, the first oil cylinder drives the lower pressing plate to move in a vertical direction, the lower wall of the top plate is fixedly connected to the second oil cylinder, the second oil cylinder drives the first upper pressing plate to move in a vertical direction; The first upper pressure plate is movably connected to multiple second upper pressure plates inside, and an auxiliary plate is passed through the output end of the second oil cylinder. The auxiliary plate is fixedly connected to the output end of the second oil cylinder, and multiple third oil cylinders are fixedly connected to the lower wall of the auxiliary plate. The third oil cylinders correspond to the second upper pressure plates one by one, and each of the third oil cylinders drives a second upper pressure plate to move in a vertical direction. Multiple upper distance sensors are embedded in the lower wall of each second upper pressure plate; multiple lower distance sensors are provided on the lower pressure plate, and the upper distance sensors and the lower distance sensors are arranged in a one-to-one correspondence.

6. The integrated straightening, sorting and feeding device according to claim 5, characterized in that: When the short rib or the long rib passes through the collimating assembly, the controller controls the first oil cylinder and the second oil cylinder so that the lower pressing plate and the first upper pressing plate are in contact with the short rib or the long rib, and the plurality of upper distance sensors measure the distance from their respective positions to the upper end of the short rib or the long rib, and the plurality of lower distance sensors measure the distance from their respective positions to the lower end of the short rib or the long rib; The controller analyzes and processes the data measured by the upper distance sensor and the lower distance sensor, specifically: The corresponding position of the upper distance sensor and the lower distance sensor is set as a sampling point, the difference between the upper distance sensor and the lower distance sensor at each sampling point is obtained, and the absolute value is taken and recorded as the detection difference; Set the standard value, subtract the detection difference at each sampling point from the standard value, and take the absolute value to obtain the distance difference at each sampling point; Set the error value and threshold value. The standard value is smaller than the error value, and the error value is smaller than the threshold value. Compare the distance difference at each sampling point with the error value and the threshold value, and analyze them according to the situation: (1) When the distance difference at all sampling points is less than or equal to the error value, the straightness of the short or long reinforcement is qualified; (2) When the distance difference of the sampling points is greater than the error value, the straightness of the short or long ribs is unqualified; at the same time, when the distance difference greater than the error value is less than or equal to the threshold, straightening operation is performed; when the distance difference greater than the error value is also greater than the threshold, the short or long ribs are discarded.

7. The integrated straightening, sorting and feeding device according to claim 6, characterized in that: The specific method of the collimation assembly for performing the collimation operation is as follows: extracting sampling points where the distance difference is greater than the error value and less than or equal to the threshold value, driving the third oil cylinder corresponding to the second upper pressing plate where the upper distance sensor is located in these sampling points, and the third oil cylinder drives the corresponding second upper pressing plate to press the short rib or the long rib; after the second upper pressing plate is pressed, the second pressing plate is retracted into the first pressing plate, and all upper distance sensors measure the distance from their respective positions to the upper end of the short rib or the long rib, and determine the upper distance sensor farthest from the upper end of the short rib or the long rib, and the real-time data measured by the upper distance sensor is recorded as Then drive the second cylinder to make the first pressing plate press the upper end of the short rib or the long rib. The driving speed of the second cylinder is controlled by To regulate.

8. The integrated straightening, sorting and feeding device according to claim 7, characterized in that: When the distance difference of only one sampling point where an upper distance sensor is located on the second upper pressure plate connected to a third oil cylinder is greater than the error value and less than or equal to the threshold, the driving speed of the corresponding third oil cylinder is regulated by the real-time data of the upper distance sensor; When the distance difference between two or three sampling points where the upper distance sensors are located on the second upper pressure plate connected to a third oil cylinder is greater than the error value and less than or equal to the threshold, the driving speed of the corresponding third oil cylinder is regulated based on the real-time data of the lower distance sensor at the sampling point with the largest distance difference; The specific control methods are: The real-time data of the distance sensor is recorded as , set the first setting value , ,when When the driving speed of the third cylinder gradually increases, the acceleration is ,when When the driving speed of the third cylinder gradually decreases, the acceleration is , is the data measured by the lower distance sensor at the i-th sampling point; and Satisfy the following formula: ； In the above formula, is the correction factor of the lower distance sensor.

9. The integrated straightening, sorting and feeding device according to claim 7, characterized in that: The driving speed of the second cylinder is The specific methods of regulation are: Set the second setting value , ,when When the driving speed of the second cylinder gradually increases, the acceleration is ,when When the driving speed of the second cylinder gradually decreases, the acceleration is , is the data measured by the upper distance sensor at the i-th sampling point; and Satisfy the following formula: ； In the above formula, is the correction factor of the upper distance sensor.

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