A steel bar binding equipment operating device

Abstract

The invention provides a steel bar binding equipment operation device, belongs to the technical field of steel bar binding equipment, and comprises: a 3D visual tracing detection system and an automatic binding numerical control system; the 3D visual tracing detection system adopts a PC visual controller and a 3D laser line scanning camera, and realizes multi-line scanning in a material distribution area through a line scanning motion axis, and after the scanning is completed, the 3D laser line scanning camera transmits point cloud data to the PC visual controller for data processing, so as to obtain 3D point position information of the steel bar binding, and transmits it to the automatic binding numerical control system; the automatic binding numerical control system adopts EtherCAT industrial field bus control technology to control the servo drive and IO slave station; manual, zero return and IO diagnosis of the axis can be realized; according to the position offset coordinates of the motion control coordinate system and the visual coordinate system, mapping under the two coordinate systems is realized, obstacles can be effectively avoided, the position of the steel bars that need to be bound can be smoothly reached, and the steel bar binding work can be completed.

Description

Technical Field

[0001] The invention belongs to the technical field of steel bar binding equipment and relates to an operating device for steel bar binding equipment. Background Art

[0002] At present, there are complex environmental conditions at the steel bar construction site, such as the irregular placement of steel bars and obstacles at the construction site. Among them, at the construction site, steel bars are often placed in various irregular ways, and there may be bends, crosses, overlaps, etc. This makes it difficult for the robot to accurately identify and grasp each steel bar, resulting in inaccurate binding operations. At the same time, there are usually obstacles such as other building materials, equipment, and personnel at the construction site. These obstacles may hinder the robot's movement path and prevent it from smoothly reaching the position of the steel bars that need to be tied. In addition, the terrain of the construction site may be uneven and the space is limited, which poses a challenge to the robot's movement flexibility and adaptability. Summary of the invention

[0003] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a steel bar binding equipment operation device, including: a 3D visual tracking detection system and an automatic binding numerical control system; The 3D visual tracing detection system uses a PC visual controller and a 3D laser line scan camera. Through the line scan motion axis, it can perform multi-line scanning in the fabric area. After the scanning is completed, the 3D laser line scan camera transmits the point cloud data to the PC visual controller for data processing, thereby obtaining the 3D point information of the steel bar binding, and the obtained 3D point information generates an image; the 3D point information is transmitted to the automatic binding CNC system through socket network communication; The automatic lashing CNC system adopts EtherCAT industrial field bus control technology to control the servo drive and IO slave station; the CNC operation adopts PLCOpen instructions to realize the motion control of lashing gun 1, lashing gun 2, 3D line scanning axis, platform translation axis, gantry trolley and gantry car.

[0004] Furthermore, the 3D visual tracking detection system includes visual recognition and positioning software, which is composed of a 3D point recognition unit and a motion control interaction unit.

[0005] Furthermore, the 3D point recognition unit was redeveloped using VisionMaster and flowchart programming was adopted, and the recognized point information was saved in the controller in text form.

[0006] Furthermore, the motion control interaction unit triggers and sends the point information according to the interaction protocol.

[0007] Furthermore, the automatic binding CNC system software is composed of a 3D point data processing unit, a motion control unit, and a visual communication unit; the visual communication unit is used to interact with the visual recognition and positioning software, and trigger the visual recognition and positioning system to perform contour scanning and position information transmission according to the instructions of the motion control unit.

[0008] Furthermore, the 3D point data processing unit is used to perform secondary processing on the acquired point information. Since the 3D line scan camera adopts multiple line-by-line scanning, it is necessary to perform repeated point filtering on the point data of multiple scans. After filtering, it is necessary to plan the binding method and binding direction according to the binding process. After the planning is completed, the motion planning information of the two groups of binding guns is sent to the motion control unit according to the enabling mode and binding range of binding gun one and binding gun two.

[0009] Furthermore, the motion control unit has the basic operations of the CNC system and can realize manual operation, zero return, and IO diagnosis of the axis; according to the position offset coordinates of the motion control coordinate system and the visual coordinate system, the mapping between the two coordinate systems is realized; the position information on the system is based on the position of the gantry and the car.

[0010] The beneficial effects of the present invention are: The present invention provides a rebar tying equipment operation device, including: a 3D visual tracing detection system and an automatic tying numerical control system; controlling the servo drive and IO slave station; using PLCOpen instructions in numerical control operation to realize the motion control of tying gun 1, tying gun 2, 3D line scanning axis, platform translation axis, gantry trolley, and gantry trolley. It has the basic operations of the numerical control system, and can realize manual, zero return, and IO diagnosis of the axis; according to the position offset coordinates of the motion control coordinate system and the visual coordinate system, the mapping under the two coordinate systems is realized, which can effectively avoid obstacles, smoothly reach the position of the steel bars that need to be tied, and complete the steel bar tying work.

[0011] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0013] Figure 1 It is a structural schematic diagram of an operating device of a steel bar binding equipment of the present invention; Figure 2 This is a first operation and editing interface diagram of the present invention; Figure 3 This is a second operation and editing interface diagram of the present invention; Figure 4 This is a third operation and editing interface diagram of the present invention; Figure 5 This is a diagram of the operation interface of the first motion control system of the present invention; Figure 6 This is a diagram of the operation interface of the second motion control system of the present invention; Figure 7 This is a diagram of the operation interface of the third motion control system of the present invention; Figure 8 This is a diagram of the operation interface of the fourth motion control system of the present invention; Fig. 9 It is a data flow diagram of the present invention; Fig.10 A coordinate offset information diagram of the present invention; Fig.11 A calling logic flow chart of the tying operation of the present invention; Fig.12 It is a schematic diagram of the process of the tying operation of the present invention. DETAILED DESCRIPTION

[0014] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0015] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in this embodiment have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0016] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0017] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0018] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0019] Embodiment 1, as Figure 1-Figure 11 As shown, this embodiment provides a steel bar tying equipment operating device for controlling the intelligent tying system to perform operation, including: a 3D visual tracking detection system and an automatic tying CNC system; The 3D visual tracing detection system uses a PC visual controller and a 3D laser line scan camera. Through the line scan motion axis, it can perform multi-line scanning in the fabric area. After the scanning is completed, the 3D laser line scan camera transmits the point cloud data to the PC visual controller for data processing, thereby obtaining the 3D point information of the steel bar binding, and the obtained 3D point information generates an image. The 3D point information is transmitted to the automatic binding CNC system through socket network communication.

[0020] The automatic lashing CNC system adopts EtherCAT industrial field bus control technology, which has high real-time and scalability for servo drive and IO slave station control; PLCOpen instructions are used in CNC operation to realize the motion control of lashing gun 1, lashing gun 2, 3D line scanning axis, platform translation axis, gantry cart and gantry car.

[0021] The software part of the entire steel bar binding system is divided into: visual recognition and positioning software and automatic binding CNC system.

[0022] The visual recognition and positioning software consists of a 3D point recognition unit and a motion control interaction unit; The 3D point recognition unit is developed using VisionMaster. The platform uses flowchart programming, which is easy to operate and maintain. The recognized point information is saved in the controller in text form. The operation and editing interface is as follows: Figure 2-Figure 4 As shown; The motion control interaction unit triggers and sends point information according to the interaction protocol.

[0023] The automatic lashing CNC system software consists of a 3D point data processing unit, a motion control unit, and a visual communication unit. The motion control system operation interface is as follows: Figure 5-Figure 8 As shown; The visual communication unit is used to exchange data with the visual recognition and positioning software, and trigger the visual recognition and positioning system to perform contour scanning and position information transmission according to the instructions of the motion control unit.

[0024] The 3D point data processing unit is used to perform secondary processing on the acquired point information. Since the 3D line scan camera adopts multiple line-by-line scanning, it is necessary to perform repeated point filtering on the point data of multiple scans. After filtering, it is necessary to plan the binding method and binding direction according to the binding process. After the planning is completed, according to the enabling mode and binding range of binding gun 1 and binding gun 2, the motion planning information of the two groups of binding guns is sent to the motion control unit. The whole data flow is as follows: Fig. 9 As shown; first, the single-line contour information is obtained, and the repeated position processing unit is used to filter the repeated points of the point data scanned multiple times. The binding method and binding direction are planned according to the binding process by the binding process processing unit. After the planning is completed, the enabling mode and binding range of the binding gun 1 and the binding gun 2 are set according to the binding planning unit.

[0025] The motion control unit has the basic operations of the CNC system, which can realize manual operation, zero return, and IO diagnosis of the axis; according to the position offset coordinates of the motion control coordinate system and the visual coordinate system, the mapping between the two coordinate systems is realized; the position information on the system is based on the position of the gantry carriage and the car, and the coordinate offset information of the gun axis, translation axis, visual axis, carriage, and car is as follows: Fig.10 As shown; In order to improve the lashing accuracy, the motion control unit will add the online compensation information of each lashing gun according to the actual requirements to optimize the lashing operation. The calling logic flow of the entire lashing operation is as follows: Fig.11 shown.

[0026] The intelligent binding system consists of three parts: high-precision servo double-beam gantry frame platform, transverse servo suspension trolley platform, and intelligent steel binding platform; 1: High-precision servo double-beam gantry frame platform. The double-beam gantry frame is arranged on the tracks on both sides of the steel binding jig, and it spans above the binding jig and moves longitudinally along the jig. Two parallel tracks are set on the top of the double-beam frame. The platform is driven by the servo system, and the operation is stable and the positioning accuracy is high. 2: Transverse servo suspension trolley platform. Three trolleys are arranged on the top track of the double-beam frame. The three intelligent steel binding platforms are suspended under the double-beam gantry frame by a high-precision electro-hydraulic system. The central controller controls the three intelligent steel binding platforms to move smoothly and accurately along the longitudinal, transverse, and up and down directions of the steel binding jig with the double-beam gantry frame. 3: Intelligent steel binding platform. The intelligent steel binding platform consists of a bottom plate steel binding platform arranged in the middle and two web plate steel binding platforms on both sides. The web plate intelligent binding platform can rotate 180 degrees along the horizontal plane of the jig. A set of visual recognition modules and two sets of intelligent binding robot systems are deployed under the platform. The visual recognition module first identifies the spatial coordinates of the steel bar intersection points and the steel bar direction information in the preset area and sends them to the central controller. The central controller controls the two binding robots to perform cross-binding at the required binding points in sequence according to the technical requirements based on the identification information, and at the same time controls the visual recognition module to identify the intersection information of the next area.

[0027] The operation control process of the bottom plate binding platform is as follows: 1: binding of the first layer of bottom plate steel bars; 2: binding of the second layer of bottom plate steel bars; after the second layer of bottom plate steel bars are laid out, the left and right binding manipulator transverse modules move toward the center of the platform respectively to adapt to the transverse width of the second steel bar binding plane, and the process is the same as the first layer steel bar binding process.

[0028] The operation control process of the side web tying platform is as follows: 1: tying the first layer of steel bars of the side web; 2: tying the second layer of steel bars of the side web; after the second layer of steel bars of the side web are laid out, move the hanging trolley of the side web tying platform to make the tying platform adapt to the height of the second steel bar tying plane, and the process is the same as the tying process of the first layer of steel bars.

[0029] The control process of the top plate and two wing plate binding operation, after the top plate and two wing plate reinforcement are laid out, the bottom plate reinforcement binding platform rises and is supported parallel to the top plate reinforcement plane, the two web plate binding platforms rise and rotate and are respectively supported parallel to the two wing plate reinforcement planes, the binding operation process is the same as the bottom plate and side web plate operation process.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A steel bar tying equipment operating device, characterized in that: include: 3D visual tracking detection system and automatic lashing CNC system; The 3D visual tracing detection system uses a PC visual controller and a 3D laser line scan camera. Through the line scan motion axis, it can perform multi-line scanning in the fabric area. After the scanning is completed, the 3D laser line scan camera transmits the point cloud data to the PC visual controller for data processing, thereby obtaining the 3D point information of the steel bar binding, and the obtained 3D point information generates an image; the 3D point information is transmitted to the automatic binding CNC system through socket network communication; The automatic lashing CNC system adopts EtherCAT industrial field bus control technology to control the servo drive and IO slave station; the CNC operation adopts PLCOpen instructions to realize the motion control of lashing gun 1, lashing gun 2, 3D line scanning axis, platform translation axis, gantry trolley and gantry car.

2. The steel bar tying equipment operating device according to claim 1, characterized in that: The 3D visual tracking detection system includes visual recognition and positioning software, which is composed of a 3D point recognition unit and a motion control interaction unit.

3. The steel bar tying equipment operating device according to claim 2, characterized in that: The 3D point recognition unit is secondary developed using VisionMaster and flowchart programming. The recognized point information is saved in the controller in text form.

4. The steel bar tying equipment operating device according to claim 2, characterized in that: The motion control interaction unit triggers and sends point information according to the interaction protocol.

5. The steel bar tying equipment operating device according to claim 1, characterized in that: The automatic binding CNC system software consists of a 3D point data processing unit, a motion control unit, and a visual communication unit; the visual communication unit is used to interact with the visual recognition and positioning software, and triggers the visual recognition and positioning system to perform contour scanning and position information transmission according to the instructions of the motion control unit.

6. The steel bar tying equipment operating device according to claim 1, characterized in that: The 3D point data processing unit is used to perform secondary processing on the acquired point information. Since the 3D line scan camera adopts multiple line-by-line scanning, it is necessary to perform repeated point filtering on the point data of multiple scans. After filtering, the binding method and binding direction need to be planned according to the binding process. After the planning is completed, the motion planning information of the two groups of binding guns is sent to the motion control unit according to the enabling mode and binding range of binding gun one and binding gun two.

7. The steel bar tying equipment operating device according to claim 1, characterized in that: The motion control unit has the basic operations of the CNC system, realizing manual operation, zero return, and IO diagnosis of the axis; according to the position offset coordinates of the motion control coordinate system and the visual coordinate system, the mapping between the two coordinate systems is realized; the position information on the system is based on the position of the gantry car and the car.

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