Intelligent machining system and machining method for multi-mode flexible steel bars

Abstract

The invention discloses an intelligent machining system and method for a multi-mode flexible steel bar. The machining system comprises a double-channel magnetic attraction feeding mechanism (1), a movable raw material bin (2), a shearing, sawing and cutting all-in-one machine (3), a fixed-length marking roller way (4), a sorting robot (5), a threading and grinding roller way (7), a threading and grinding all-in-one machine (8), a component conveying belt (10), a carrying robot (11), a bending and material moving mechanical arm (12), a component temporary storage rack (13) and an intelligent bending mechanism (14). All process equipment is connected into an assembly line, only manual feeding and discharging are needed, repeated process treatment of reinforcing steel bars can be achieved through operation of the upper computer, and the efficiency and convenience of reinforcing steel bar machining treatment are improved. And the processing efficiency and the processing accuracy of the steel bars are effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of formed steel bar processing and production, and in particular to a multi-modal flexible steel bar intelligent processing system and processing method. Background Art

[0002] The processing of construction steel bars mostly presents the discrete production characteristics of "small specifications, large batches, and changing plans". However, the current construction steel bar centralized processing equipment has low digitalization, intelligence, and integration levels. It mostly uses a combination of single-process numerical control equipment with simple functions, and each equipment is a relatively closed processing island without relevance. When multiple processing of steel bars is required, the transfer of steel bars needs to be carried out on different equipment, and there is no production line operation. Usually, manual handling of steel bars is required, resulting in low production efficiency. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a multi-modal flexible steel bar intelligent processing system and processing method to solve the technical problems of low efficiency and accuracy in the processing of flexible steel bars in related technologies.

[0004] In a first aspect, the embodiments of the present application provide a multi-modal flexible steel bar intelligent processing system, including:

[0005] A dual-channel magnetic adsorption feeding mechanism (1), a movable raw material bin (2), a shearing and sawing integrated machine (3), a fixed-length marking roller table (4), a sorting robot (5), a threading and grinding roller table (7), a threading and grinding integrated machine (8), a component conveyor belt (10), a handling robot (11), a bending and material transfer manipulator (12), a component temporary storage rack (13), and an intelligent bending mechanism (14);

[0006] The dual-channel magnetic adsorption feeding mechanism (1), the shearing and sawing integrated machine (3), the fixed-length marking roller table (4), and the component temporary storage rack (13) are sequentially connected and arranged on the horizontal main axis;

[0007] The movable raw material bin (2) is arranged below the dual-channel magnetic adsorption feeding mechanism (1);

[0008] The threading and grinding integrated machine (8) is arranged between the fixed-length marking roller table (4) and the threading and grinding roller table (7);

[0009] The component conveyor belt (10) and the threading and grinding roller table (7) are respectively arranged on both sides of the fixed-length sawing and cutting roller table (4), and the sorting robot (5) straddles both sides of the component conveyor belt (10) and the threading and grinding roller table (7);

[0010] The component conveyor belt (10) and the bending material transfer manipulator (12) are respectively arranged on both sides of the component temporary storage rack (13). The intelligent bending mechanism (14) is arranged on one side of the bending material transfer manipulator (12) and away from the component conveyor belt (10). The handling robot (11) straddles the component conveyor belt (10) and the bending material transfer manipulator (12) and is arranged on both sides.

[0011] In a second aspect, an embodiment of the present application provides a multi-modal flexible steel bar intelligent processing method, including:

[0012] S1, magnetically grabbing and feeding steel bars in the movable raw material bin through a dual-channel magnetic suction feeding mechanism;

[0013] S2, when sawing and / or shearing processing is required, processing the flexible steel bar through a combined sawing and shearing machine;

[0014] S3, when threading processing is required, the sorting robot transfers the flexible steel bar to the threading station for threading, and then transfers it to the grinding station for grinding;

[0015] S4, when passing standard processing is required, the sorting robot transfers the flexible steel bar to the laser marking station for end marking;

[0016] S5, transferring and placing it into different component bins through the sorting robot;

[0017] S6, continuously repeating the process actions of S1 - S5 until the processing and warehousing of a certain specification of flexible steel bar in this batch are completed;

[0018] S7, the movable raw material bin moves, transfers another specification of flexible steel bar to directly below the electromagnetic suction device, and then continuously repeats the process actions of S1 - S6 until the processing and warehousing of all specifications of flexible steel bars in the same batch are completed;

[0019] S8, transporting the flexible steel bar component to below the handling robot truss through the component conveyor belt;

[0020] S9, transferring and placing the flexible steel bar component on the component temporary storage rack through the handling robot;

[0021] S10, manually pulling out a single piece to the visual recognition station;

[0022] S11, the visual recognition camera takes a photo of the end of the flexible steel bar to identify the end code;

[0023] S12. If a laser code is recognized at the end, after the bending head travels to the specified position, the flexible steel bar is transferred to the bending die head by the material transfer manipulator for bending. After bending is completed, the push plate is raised to turn over the flexible steel bar into the bin.

[0024] S13. If no laser code is recognized at the end, the flexible steel bar is directly turned over into the bin.

[0025] S14. Repeat the processing operations of S10 - S13 until a flexible steel bar is completely produced.

[0026] S15. Repeat the processing operations of S9 - S14 until all flexible steel bars in the same batch are completely produced.

[0027] 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. When the processor executes the computer program, the steps in the steel bar intelligent bending method described in any one of the above are implemented.

[0028] In a fourth aspect, an embodiment of the present application provides a computer - readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the steel bar intelligent bending method described in any one of the above are implemented.

[0029] An embodiment of the present application provides a multi - modal flexible steel bar intelligent processing system and processing method. The processing system includes a dual - channel magnetic adsorption feeding mechanism, a movable raw material bin, a sawing and cutting integrated machine, a fixed - length marking roller table, a sorting robot, a threading and grinding roller table, a threading and grinding integrated machine, a component conveyor belt, a handling robot, a bending material transfer manipulator, a component temporary storage rack, and an intelligent bending mechanism. The dual - channel magnetic adsorption feeding mechanism, the sawing and cutting integrated machine, the fixed - length marking roller table, and the component temporary storage rack are sequentially connected along the transverse main axis, and the movable raw material bin is located below the magnetic adsorption feeding mechanism. The threading and grinding integrated machine is connected to the fixed - length marking roller table and the threading and grinding roller table, and the sorting robot straddles both sides of the component conveyor belt and the threading and grinding roller table. The component conveyor belt and the bending material transfer manipulator are distributed on both sides of the component temporary storage rack, the intelligent bending mechanism is arranged on the side of the bending material transfer manipulator, and the handling robot straddles between the component conveyor belt and the bending material transfer manipulator. By adopting a movable bin structure, online switching of multi - specification materials is realized, the downtime waiting time is reduced. The movable raw material bin cooperates with the dual - channel feeding mechanism to support the rapid switching of different - specification materials, adapt to the production requirements of small batches and multiple varieties, and improve the processing efficiency and processing accuracy of steel bars. Description of the Drawings

[0030] Figure 1It is a schematic structural diagram of a multi-modal flexible steel bar intelligent processing system provided by an embodiment of the present application;

[0031] Figure 2 It is a partial schematic diagram of a top view of a multi-modal flexible steel bar intelligent processing system provided by an embodiment of the present application;

[0032] Figure 3 It is another partial schematic diagram of a top view of a multi-modal flexible steel bar intelligent processing system provided by an embodiment of the present application;

[0033] Figure 4 It is yet another partial schematic diagram of a top view of a multi-modal flexible steel bar intelligent processing system provided by an embodiment of the present application;

[0034] Among them, 1 is a dual-channel magnetic adsorption feeding mechanism, 1-1 is a feeding frame body, 1-2 is an electromagnetic material suction device, 1-3 is a straightening walking device, 1-4 is a raw material temporary storage telescopic device, 1-5 is a permanent magnetic material suction telescopic device, 1-6 is a stepped feeding roller table, 2 is a movable raw material bin, 2-1 is a bin frame body, 2-2 is a fourth guide rail, 2-3 is a power and transmission mechanism, 2-4 is a limit, 3 is a sawing and shearing integrated machine, 3-1 is a first frame body, 3-2 is a sawing device, 3-3 is a shearing device, 3-4 is a turning device, 3-5 is a roller table, 4 is a fixed-length marking roller table, 4-1 is a second frame body, 4-2 is a first roller, 4-3 is a first support, 4-4 is a first guide rail, 4-5 is a fixed-length baffle, 4-6 is a fixed-length moving platform, 4-7 is a sawing fixed-length conveying station, 4-8 is a shearing fixed-length conveying station, 4-9 is a laser marking conveying station, 5 is a sorting robot, 5-1 is a column, 5-2 is an X-direction cross beam, 5-3 is a Y-direction cross beam, 5-4 is a Z-direction lifting device, 5-5 is an end clamp, 5-6 is a second guide rail, 6 is a threading bin, 6-1 is a fifth guide rail, 6-2 is a bin frame body, 6-3 is a material guiding frame, 7 is a threading and grinding roller table, 7-1 is a third frame body, 7-2 is a second support, 7-3 is a second roller, 7-4 is a power mechanism, 7-5 is a threading station, 7-6 is a grinding station, 8 is a threading and grinding integrated machine, 8-1 is a fourth frame body, 8-2 is an intelligent threading device, 8-3 is a head milling and planing device, 8-4 is a first clamp, 9 is a laser marking machine, 10 is a component conveyor belt, 10-1 is a roller table bin, 10-2 is a conveyor chain, 10-3 is an end baffle, 11 is a handling robot, 12 is a bending and material transfer manipulator, 13 is a component temporary storage rack, 13-1 is a visual recognition station, 13-2 is a visual recognition device, 14 is an intelligent bending mechanism, 14-1 is a fifth frame body, 14-2 is a bending machine head, 14-3 is a third guide rail, 14-4 is a bending die head, 14-5 is a second clamp, 14-6 is a turning plate, 15 is a bending and blanking bin, 15-1 is a bin frame body, 15-2 is a telescopic push plate. Detailed implementation manners

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts belong to the scope of protection of the present application.

[0036] It should be understood that the various steps recorded in the method embodiments of the present disclosure may be executed in different orders and / or executed 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 regard.

[0037] The term "including" and its variations used herein are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based 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.

[0038] In the related art, the processing of construction steel bars mostly presents the discrete production characteristics of "small specifications, large batches, and changing plans". The current construction steel bar centralized processing equipment on the market has low digital, intelligent, and integrated levels. It mostly uses a combination of single-process numerical control equipment with simple functions, and each equipment is a relatively closed processing island without relevance. When multiple processing of steel bar rods is required, the transfer of steel bar rods needs to be carried out on different equipment, and no production line operation is formed. Usually, manual handling of steel bar rods is required, resulting in low production efficiency.

[0039] To solve the technical problems existing in the related art, the embodiments of the present application provide a multi-modal flexible steel bar intelligent processing system. Please refer to Figures 1 to 4 , where Figure 1 is a structural schematic diagram of a multi-modal flexible steel bar intelligent processing system provided by the embodiments of the present application. The multi-modal flexible steel bar intelligent processing system includes: a dual-channel magnetic adsorption feeding mechanism (1), a movable raw material bin (2), a shearing and sawing integrated machine (3), a fixed-length marking roller path (4), a sorting robot (5), a threading and grinding roller path (7), a threading and grinding integrated machine (8), a component conveyor belt (10), a handling robot (11), a bending and material transfer manipulator (12), a component temporary storage rack (13), and an intelligent bending mechanism (14);

[0040] The dual-channel magnetic adsorption feeding mechanism (1), the shearing and sawing integrated machine (3), the fixed-length marking roller path (4), and the component temporary storage rack (13) are sequentially connected and arranged on the horizontal main axis;

[0041] The movable raw material bin (2) is arranged below the dual-channel magnetic adsorption feeding mechanism (1);

[0042] The threading and grinding integrated machine (8) is arranged between the fixed-length marking roller path (4) and the threading and grinding roller path (7);

[0043] The component conveyor belt (10) and the threading and grinding roller path (7) are respectively arranged on both sides of the fixed-length sawing roller path (4), and the sorting robot (5) straddles the component conveyor belt (10) and the threading and grinding roller path (7) and is arranged on both sides;

[0044] The component conveyor belt (10) and the bending material transfer manipulator (12) are respectively arranged on both sides of the component temporary storage rack (13), the intelligent bending mechanism (14) is arranged on one side of the bending material transfer manipulator (12) and is far away from the component conveyor belt (10), and the handling robot (11) straddles the component conveyor belt (10) and the bending material transfer manipulator (12) and is arranged on both sides.

[0045] Exemplarily, the dual-channel magnetic adsorption feeding mechanism (1), the shearing and sawing integrated machine (3), the fixed-length marking roller path (4) and the component temporary storage rack (13) are sequentially connected along the transverse main axis, and the movable raw material bin (2) is located below the dual-channel magnetic adsorption feeding mechanism (1). The threading and grinding integrated machine (8) connects the fixed-length marking roller path (4) and the threading and grinding roller path (7), and the sorting robot (5) straddles both sides of the component conveyor belt (10) and the threading and grinding roller path (7). The component conveyor belt (10) and the bending material transfer manipulator (12) are distributed on both sides of the component temporary storage rack (13), the intelligent bending mechanism (14) is arranged on the side of the bending material transfer manipulator (12), and the handling robot (11) straddles between the component conveyor belt (10) and the bending material transfer manipulator (12).

[0046] Among them, the dual-channel magnetic adsorption feeding mechanism (1) refers to a material lifting device with two independent grasping paths, which can adopt a composite adsorption structure of electromagnets and permanent magnets to realize continuous grasping and directional conveying of steel bar materials and solve the problem of insufficient efficiency of traditional single-channel feeding. The movable raw material bin (2) refers to a storage device with a walking mechanism at the bottom, which can be translated through the track to switch work positions to adapt to the rapid supply of different specifications of materials. The shearing and sawing integrated machine (3) refers to a composite processing equipment integrating sawing and shearing functions, which can realize different treatments of steel bar materials based on processing requirements and reduce the floor area of the equipment. The fixed-length marking roller path (4) refers to a conveying line with length measurement and marking processing functions, which realizes precise cutting and information marking through the cooperation of baffle positioning and a moving platform. The sorting robot (5) refers to a multi-axis linkage robotic arm, which adopts a truss structure to straddle multiple work positions to complete material sorting and cross-process transfer.

[0047] Exemplarily, the raw material (flexible steel bar sheet, hereinafter simply referred to as steel bar) is extracted from the movable raw material bin (2) by the dual-channel magnetic suction feeding mechanism (1). After being cut by the combined shearing and sawing machine (3), the length is calibrated and identification processing is carried out by the fixed-length marking roller table (4).

[0048] The sorting robot (5) distributes the materials to the threading and grinding roller table (7) or the component conveyor belt (10) according to the process requirements. The threading and grinding integrated machine (7) performs threading processing and surface treatment on the ends of the steel bars. The steel bars after threading processing are transferred to the component temporary storage rack (13) by the handling robot (11) for temporary storage. Among them, the materials that need to be bent are sent to the intelligent bending mechanism (14) by the bending and material transfer manipulator (12) for bending processing. The component conveyor belt (10) transports the steel bars that do not need to be processed or the finished steel bars to the designated area, forming a closed-loop processing flow from raw materials to finished products.

[0049] Based on the above multi-modal flexible steel bar intelligent processing system, the manual transfer link can be eliminated to ensure the continuity of the processing flow. Through the cooperation of the movable raw material bin and the dual-channel feeding mechanism, it supports the rapid switching of different specifications of materials and adapts to the production requirements of small batches and multiple varieties. The straddle-type robot replaces the traditional conveyor device to achieve precise sorting and cross-station transfer, improving the material flow efficiency.

[0050] Further, referring to Figures 1 to 4 , the dual-channel magnetic suction feeding mechanism (1) includes a feeding frame body (1-1), an electromagnetic material suction device (1-2), a straightening and walking device (1-3), a raw material temporary storage telescopic device (1-4), a permanent magnet material suction telescopic device (1-5) and a stepped feeding roller table (1-6). Among them, the electromagnetic material suction device (1-2), the straightening and walking device (1-3) and the raw material temporary storage telescopic device (1-4) are arranged on the feeding frame body (1-1), and the straightening and walking device (1-3) is movably arranged on both sides of the electromagnetic material suction device (1-2).

[0051] Among them, the loading rack body (1-1) can be a frame structure that supports each functional component. For example, it can be realized by welding steel structures or modular assembly, and is used to carry components such as the electromagnetic material suction device and the straightening and walking device and maintain stability. The electromagnetic material suction device (1-2) can be a mechanism or structure that adsorbs steel bars through electromagnetic force, and is used to grab steel bar materials from the movable raw material bin (2) for feeding. The straightening and walking device (1-3) can be a mechanism with the functions of moving and straightening. By straightening the steel bar materials, it ensures that the steel bar materials are in the correct and appropriate position during feeding. At the same time, a walking frame with a guide rail can be used in cooperation with a roller group to move on both sides of the electromagnetic material suction device (1-2) to straighten the state of the steel bars. The raw material temporary storage telescopic device (1-4) can be a telescopic temporary storage platform, which is used to temporarily store the steel bar materials to be processed. The permanent magnet material suction telescopic device (1-5) can be a grasping mechanism based on permanent magnets. For example, it can be realized by combining permanent magnet blocks and telescopic arms, and is used to transfer steel bar materials between the stepped feeding roller table (1-6) and the raw material temporary storage telescopic device (1-4). The stepped feeding roller table (1-6) is used to move the steel bar materials to the corresponding roller table to complete different processes.

[0052] Exemplarily, after the electromagnetic material suction device (1-1) adsorbs the steel bar materials from the movable raw material bin (2), it moves on both sides of the electromagnetic material suction device (1-1) through the straightening and walking device (1-3) to straighten the steel bars. At the same time, the steel bar materials can be conveyed to the raw material temporary storage telescopic device (1-4). When it is necessary to process the steel bar materials, such as shearing, the permanent magnet material suction telescopic device (1-5) transfers the steel bar materials placed on the raw material temporary storage telescopic device (1-4) to the stepped feeding roller table (1-6), and the guide plate provided on the stepped roller table (1-6) is used to transfer the steel bar materials to the corresponding workstations for corresponding processing, such as shearing and sawing.

[0053] Further, referring to Figures 1 to 4 , the shearing and sawing integrated machine (3) includes a first frame body (3-1), a sawing device (3-2), a shearing device (3-3), a material turning device (3-4) and a roller table (3-5). Among them, the sawing device (3-2), the shearing device (3-3), the material turning device (3-4) and the roller table (3-5) are arranged on the first frame body (3-1).

[0054] Among them, the first frame body (3-1) refers to the main structure that bears each functional module of the equipment. For example, it is a part of the overall bracket of a multi-modal flexible steel bar intelligent processing system. The sawing device (3-2) refers to the mechanism for cutting the steel bar to a fixed length. For example, it can be realized by a hydraulically driven circular saw, which can meet the cutting requirements of steel bars with different diameters. The shearing device (3-3) refers to the mechanism for trimming the end of the steel bar. For example, it can be realized by a pneumatic shearing tool group, which can complete the end face treatment without moving the steel bar. The material turning device (3-4) refers to the mechanism for adjusting the position of the steel bar. For example, it can be realized by a robotic arm with a clamping function, which can transfer materials between different processing procedures. The roller table (3-5) refers to the mechanism for conveying the steel bar. By moving the steel bar to the corresponding position, the steel bar can be sawed, sheared, etc.

[0055] Exemplarily, the first frame body (3-1) serves as an integrated bearing platform, arranging the sawing device (3-2), the shearing device (3-3), the material turning device (3-4) and the roller table (3-5) according to the process flow. After the steel bar enters the processing area through the roller table (3-5), the sawing device (3-2) completes the cutting operation according to the preset length, the shearing device (3-3) trims the cut, and the material turning device (3-4) adjusts the posture of the steel bar in due course during the processing. Each device cooperates to complete multiple processes at the same station. The roller table (3-5) conveys the semi-finished product to the next process position during the processing gap, forming a continuous operation process.

[0056] Through the integrated design of functional modules, composite processing such as cutting and trimming is completed within a single device, eliminating the material turnover link between processes and greatly shortening the processing cycle.

[0057] Further, referring to Figures 1 to 4 , the fixed-length marking roller table (4) includes a second frame body (4-1), a first roller (4-2), a first support (4-3), a first guide rail (4-4), a fixed-length baffle (4-5) and a fixed-length moving platform (4-6). The second frame body (4-1), the first roller (4-2) and the first support (4-3) are combined to form a sawing fixed-length conveying station (4-7), a shearing fixed-length conveying station (4-8) and a laser marking conveying station (4-9), and a first guide rail (4-4), a fixed-length baffle (4-5) and a fixed-length moving platform (4-6) are provided on each of the sawing fixed-length conveying station (4-7), the shearing fixed-length conveying station (4-8) and the laser marking conveying station (4-9).

[0058] Exemplarily, the second frame (4-1) serves as a basic support structure, and the first roller (4-2) is fixed by the first support (4-3) to form a continuous conveyor line. The sawing and sizing conveyor station (4-7), the shearing and sizing conveyor station (4-8), and the laser marking conveyor station (4-9) are arranged longitudinally along the roller path, and each station is independently configured with a first guide rail (4-4), a sizing baffle (4-5), and a sizing moving platform (4-6). When the steel bar is conveyed to the target station by the first roller (4-2), the sizing moving platform (4-6) moves along the first guide rail (4-4) to the set position, driving the sizing baffle (4-5) to form a physical limit, thereby realizing automatic sizing. For example, at the sawing station, after the sizing baffle (4-5) moves to the position corresponding to the sawing length and is locked, the end of the steel bar abuts against the sizing baffle (4-5) to complete positioning; at the laser marking station, the sizing moving platform (4-6) carries the marking machine and synchronously moves to the designated position at the end of the steel bar for marking.

[0059] Further, referring to Figures 1 to 4 , the sorting robot (5) includes a column (5-1), an X-direction cross beam (5-2), a Y-direction cross beam (5-3), a Z-direction lifting device (5-4), an end clamp (5-5), and a second guide rail (5-6). The second guide rail (5-6) is arranged on the X-direction cross beam (5-2), the Y-direction cross beam (5-3) is fixed to the column, the Y-direction cross beam (5-3) is vertically and movably connected to the X-direction cross beam (5-2), and the Z-direction lifting device (5-4) drives the end clamp (5-5) to move in the Z-axis direction.

[0060] Among them, the column (5-1) is used to provide rigid support for the lateral movement assembly. The X-direction cross beam (5-2) realizes lateral movement based on the second guide rail (5-6). The Y-direction cross beam (5-3) realizes Y-direction adjustment by moving on the X-direction cross beam. The Z-direction lifting device (5-4) is used to adjust the height position of the end clamp (5-5),

[0061] and the end clamp (5-5) is used to grasp the steel bar.

[0062] Exemplarily, the sorting robot (5) forms a planar rectangular coordinate system through the X-direction cross beam (5-2) and the Y-direction cross beam (5-3), and constitutes a three-dimensional motion system in combination with the Z-direction lifting device (5-4). The column (5-1) is fixed to the multi-modal flexible steel bar intelligent processing system as a basic support structure. The X-direction cross beam (5-2) extends along the lateral axis of the processing system to cover the material transfer area. The Y-direction cross beam (5-3) realizes longitudinal movement on the X-direction cross beam (5-2) through a slider assembly, and the end clamp (5-5) completes vertical positioning under the drive of the Z-direction lifting device (5-4).

[0063] Further, referring to Figures 1 to 4, the threading and grinding roller table (7) includes a third frame body (7-1), a second support (7-2), a second roller (7-3) and a power mechanism (7-4), and the third frame body (7-1), the second support (7-2), the second roller (7-3) and the power mechanism (7-4) are combined to form a threading station (7-5) and a grinding station (7-6), and the threading station (7-5) is arranged on both sides of the grinding station (7-6).

[0064] Exemplarily, the third frame body (7-1) serves as a basic support structure, and the second support (7-2) installed thereon is used to fix the bearing seat of the second roller (7-3) to ensure the coaxiality during the operation of the roller. The power mechanism (7-4) drives the second roller (7-3) to rotate synchronously through chain drive, so that the steel bar moves along the length direction of the roller table. The threading stations (7-5) are arranged on both sides of the roller table, and threading processing can be carried out on both ends of the steel bar simultaneously; the grinding station (7-6) is located in the middle of the roller table, and the milled end faces after threading are trimmed by a milling device. After the steel bar is placed on the roller table by the sorting robot (5), the threading and grinding processes are completed in sequence, without the need for repeated transfer between different devices.

[0065] Further, referring to Figures 1 to 4 , the threading and grinding integrated machine (8) includes a fourth frame body (8-1), an intelligent threading device (8-2), an end milling device (8-3) and a first clamp (8-4). The intelligent threading device (8-2), the end milling device (8-3) and the clamp (8-4) are arranged on the fourth frame body (8-1). The first clamp (8-4) is arranged on the threading station (7-5) and the grinding station (7-6) for fixing the flexible steel bar. The intelligent threading device (8-2) is arranged on the threading station (7-5), and the end milling device (8-3) is arranged on the grinding station (7-6).

[0066] Exemplarily, when the flexible steel bar enters the threading station (7-5), it is fixed at a predetermined position of the fourth frame body (8-1) by the first clamp (8-4), and the intelligent threading device (8-2) completes the thread processing according to the preset parameters. After the processing is completed, the steel bar can be transferred to the adjacent grinding station (7-6), and the end milling device (8-3) mills the threaded end. The first clamp (8-4) fixes the steel bar again at the grinding station (7-6) to ensure the processing stability, and the entire threading and grinding processes are continuously completed in the same device, avoiding the operation of transferring between different devices in the traditional process.

[0067] Further, referring to Figures 1 to 4, the intelligent bending mechanism (14) mainly consists of a fifth frame body (14-1), a bending head (14-2), a third guide rail (14-3), a bending die head (14-4), a second clamp (14-5) and a material turning plate (14-6). Among them, the fifth frame body (14-1) is used to place the flexible steel bar. The bending die head (14-4) and the second clamp (14-5) are arranged on the bending head (14-2), and the material turning plate (14-6) is arranged on one side of the bending head (14-2).

[0068] Among them, the intelligent bending mechanism (14) is used to bend the steel bar that needs to be bent. Through the mutual assistance of the components in the intelligent bending mechanism (14), the bending process of the steel bar is completed.

[0069] Exemplarily, after the flexible steel bar is transferred to the fifth frame body (14-1), the second clamp (14-5) fixes the end of the steel bar. The bending die head (14-4) arranged on the bending head (14-2) performs a rotary bending action according to a preset program. After the bending process is completed, the second clamp (14-5) releases the steel bar. At this time, the material turning plate (14-6) flips the bent steel bar to the third track (14-3) through a flipping action. For the steel bar on the third guide rail (14-3), it will be moved to a specific position for storage by the action of the bending material transfer manipulator (12).

[0070] Further, referring to Figures 1 to 4 , the multi-modal flexible steel bar intelligent processing system further includes: a threading bin (6), a laser marking machine (9) and a bending blanking bin (15). Among them, the threading bin (6) is arranged on one side of the threading and grinding roller path (7) and far from the fixed-length sawing roller path (4). The laser marking machine (9) is used to mark the flexible steel bar. The bending blanking bin (15) is arranged on one side of the intelligent bending mechanism (14) and far from the component conveyor belt (10).

[0071] Among them, the threading bin (6) is used to store the steel bar after threading processing. The laser marking machine (9) is used to perform a marking process on the steel bar. The bending blanking bin (15) is used to store the steel bar after the bending process is completed.

[0072] Exemplarily, the threading bin (6) and the threading and grinding roller path (7) are integrally arranged, so that the threaded steel bar can directly slide into the storage area, reducing the intermediate transfer link. The laser marking machine (9) is integrated in the process of the sizing and marking roller path (4). After the steel bar is sized and cut, it is conveyed to the laser marking station through the roller path for end coding and marking, avoiding the positioning error caused by secondary handling. The bending and blanking bin (15) and the intelligent bending mechanism (14) form a closed-loop operation unit. The bent steel bar slides into the bending and blanking bin (15) through the action of the turning plate (14-6).

[0073] Further, referring to Figures 1 to 4 , the movable raw material bin (2) includes a bin frame body (2-1), a fourth guide rail (2-2), a power and transmission mechanism (2-3), a limit (2-4) and a transmission chain; the threading bin 6 includes a fifth guide rail (6-1), a bin frame body (6-2) and a material guiding frame (6-3); the laser marking machine (9) includes a laser frame body and a laser marker; the component conveyor belt (10) mainly includes a conveyor belt frame body, a roller bin (10-1), a conveyor chain (10-2) and an end baffle (10-3); the structure of the handling robot (11) is the same as that of the sorting robot (5), only different in size and the end mechanism, and the end clamp (5-5) is replaced by an L-shaped fixture; the bending and material transfer manipulator (12) includes a rotary material transfer mechanical claw, a claw support, a chute and a manipulator frame body; the component temporary storage rack (13) includes a rack frame body, a visual recognition station (13-1) and a visual recognition device (13-2); the bending and blanking bin (15) includes a bin frame body (15-1) and a telescopic push plate (15-2).

[0074] Further, based on the above-described multi-modal flexible steel bar intelligent processing system, a multi-modal flexible steel bar intelligent processing method is provided, including:

[0075] S1, magnetically grasping and loading the steel bar in the movable raw material bin through the dual-channel magnetic adsorption loading mechanism;

[0076] S2, when sawing and / or shearing processing is required, processing the flexible steel bar through the combined sawing and shearing machine;

[0077] S3, when threading processing is required, transferring the flexible steel bar to the threading station for threading by the sorting robot, and then transferring it to the grinding station for grinding;

[0078] S4, when marking processing is required, transferring the flexible steel bar to the laser marking station for end marking by the sorting robot;

[0079] S5, transferring and placing it into different component bins by the sorting robot;

[0080] S6. Continuously repeat the process actions of S1 - S5 until the processing and warehousing of a certain specification of flexible steel bar in this batch are completed;

[0081] S7. The movable raw material bin moves, transfers another specification of flexible steel bar to directly below the electromagnetic material suction device, and then continuously repeats the process actions of S1 - S6 until the processing and warehousing of all specifications of flexible steel bars in the same batch are completed;

[0082] S8. Convey the flexible steel bar components to below the handling robot truss through the component conveyor belt;

[0083] S9. Use the handling robot to transfer and place the flexible steel bar components on the component temporary storage rack;

[0084] S10. Manually pull out a single piece to the visual recognition station;

[0085] S11. The visual recognition camera takes a photo of the end of the flexible steel bar to identify the end code;

[0086] S12. If a laser code is recognized at the end, after the bending machine head moves to the specified position, use the material transfer manipulator to transfer the flexible steel bar to the bending die head for bending. After bending is completed, raise the push plate to turn the flexible steel bar over into the bin;

[0087] S13. If no laser code is recognized at the end, directly turn the flexible steel bar over into the bin;

[0088] S14. Repeat the processing actions of S10 - 13 until the production of a flexible steel bar is completed;

[0089] S15. Repeat the processing actions of S9 - 14 until the production of all flexible steel bars in the same batch is completed.

[0090] Exemplarily, the processing flow realizes automatic material grasping and conveying through a dual - channel magnetic attraction mechanism. The cutting and sawing integrated machine cuts or trims the bar according to process requirements. The sorting robot transfers the semi - finished products to the threading, grinding, or marking stations respectively according to the process requirements, and stores them classified after surface treatment. When changing the material specification, the movable raw material bin automatically adjusts its position to achieve continuous feeding. During the component processing stage, the handling robot transfers the semi - finished products to the temporary storage rack, and manual intervention is used to send a single bar into the visual recognition station. The system determines whether bending processing is required based on the end code. If the coding information is detected, the bending machine head moves to the set position and completes the forming operation through the material transfer manipulator; if there is no code, it is directly turned over into the bin. The entire process realizes parallel processing of different - specification materials through multi - thread cooperative control, reducing manual intervention and the number of material turnover times.

[0091] In practical applications, when operating a multi-threaded and multi-mode flexible steel bar intelligent processing system, there are mainly two production processes: component package production process and batch production process.

[0092] Among them, the component package production process mainly includes the following steps:

[0093] Step 1: Load the corresponding specifications of steel bar raw materials into each bin of the movable raw material bin according to the instructions of the host computer.

[0094] Step 2: The movable raw material bin walks to directly below the electromagnetic material suction device.

[0095] Step 3: The electromagnetic material suction device is magnetized and extends downward to the bin directly below. After firmly sucking, it slowly lifts upward.

[0096] Step 4: After the straightening walking device supports the steel bar, it slowly straightens from the center of the steel bar raw material in the longitudinal direction to both ends. Every time it passes through the raw material temporary storage telescopic device, the raw material temporary storage telescopic device extends to support the straightened steel bar until the straightening walking device walks to both ends of the steel bar and the raw material temporary storage telescopic device is fully extended, and the single-row steel bar is smoothly placed on the raw material temporary storage telescopic device.

[0097] Step 5: The permanent magnet material suction telescopic device extends, sucks a single steel bar from the side of the single-row steel bar and then retracts. During the retraction process, the single steel bar is blocked by the baffle until the permanent magnet is completely separated from the steel bar, and the feeding action of the single steel bar is completed.

[0098] Step 6: The single steel bar falls into the roller path along the guide plate of the stepped feeding roller path. Further, when the guide plate is lifted, it falls into the first roller path (shearing feeding roller path), and when the guide plate falls, it falls into the second roller path (sawing feeding roller path), which can be controlled according to the instructions of the host computer.

[0099] Step 7: The roller path rotates. At the same time, after the fixed-length moving platform moves to the specified position, the fixed-length baffle drops. When the roller path feeds the end of the steel bar to be close to the fixed-length baffle, the roller path stops rotating, and the fixed-length feeding action is completed.

[0100] Step 8: The roller path rotates. At the same time, after the fixed-length moving platform moves to the specified position, the fixed-length baffle drops. When the roller path feeds the end of the steel bar to be close to the fixed-length baffle, the roller path stops rotating, and the fixed-length feeding action is completed.

[0101] Step 9-1: If the cutting process adopted is sawing, the clamp tightens. After the steel bar is fixed, the sawing device is started. After the steel bar is sawed, the clamp is loosened.

[0102] Step 9-2: If the cutting process adopted is shearing, the pressing plate descends. After the steel bar is fixed, the shearing device is started. After the steel bar is sheared, the pressing plate is loosened.

[0103] Step 10-1: If the steel bars need to be threaded, the sorting robot transfers the steel bars to the threading station for threading, and then transfers them to the grinding station for grinding.

[0104] Step 10-2: If the steel bars need to be marked, the sorting robot transfers the steel bars to the laser marking station for end marking.

[0105] Step 11: After the steel bars have completed the processes of cutting, threading, grinding, and marking, the sorting robot transfers and places them into different component bins.

[0106] Step 12: Continuously repeat the process actions from Step 3 to Step 11 until the processing and warehousing of a certain specification of steel bars in this batch are completed.

[0107] Step 13: The movable raw material bin moves, transfers another specification of steel bars to directly below the electromagnetic material suction device, and then continuously repeats the process actions from Step 3 to Step 13 until the processing and warehousing of all specifications of steel bars in this batch are completed.

[0108] Step 14: The component conveyor belt starts and transports the steel bar components to below the truss of the handling robot.

[0109] Step 15: The handling robot starts and transfers and places the steel bar components on the component temporary storage rack according to the instructions of the host computer.

[0110] Step 16: Manually pick out a single steel bar to the visual recognition station.

[0111] Step 17: The visual recognition camera takes a photo of the end of the steel bar to identify the end code.

[0112] Step 18-1: If a laser code is recognized at the end, after the bending head travels to the designated position, the transfer manipulator transfers the steel bar to the bending die head for bending. After bending is completed, the push plate is raised to turn the steel bar over into the bin. Further, if the steel bar to be bent is too long, before the transfer manipulator transfers the steel bar, the telescopic push plate extends forward to play a supporting role.

[0113] Step 18-2: If no laser code is recognized at the end, skip the bending process and directly turn the steel bar over into the bin.

[0114] Step 19: Repeat the processing actions from Step 16 to Step 19 until the production of this component is completed.

[0115] Step 20: Repeat the processing actions from Step 15 to Step 19 until the production of all components in this batch is completed.

[0116] In addition, the batch production process mainly includes the following steps:

[0117] When performing batch cutting / sawing / threading processing, repeat the process actions from Step 1 to Step 10-1 in the production process of the repetitive component package. The processed steel bars after cutting / sawing / threading are directly transferred to the threading bin by the sorting robot, and the batch cutting / sawing / threading processing and discharging can be completed.

[0118] When performing batch bending processing, first perform the process actions of Step 1 - Step 5. When performing the process action of Step 6, select cutting for blanking. After blanking is completed, the roller table motor starts, and the steel bars are directly sent into the visual recognition station. Finally, perform the process work of Step 17 - Step 18 to achieve batch bending processing.

[0119] In summary, the present application discloses a multi-modal flexible steel bar intelligent processing system and processing method. The processing system includes a dual-channel magnetic adsorption feeding mechanism, a movable raw material bin, a combined cutting and sawing machine, a fixed-length marking roller table, a sorting robot, a threading and grinding roller table, a combined threading and grinding machine, a component conveyor belt, a handling robot, a bending material transfer manipulator, a component temporary storage rack, and an intelligent bending mechanism. The dual-channel magnetic adsorption feeding mechanism, the combined cutting and sawing machine, the fixed-length marking roller table, and the component temporary storage rack are sequentially connected along the horizontal main axis, and the movable raw material bin is located below the magnetic adsorption feeding mechanism. The combined threading and grinding machine is connected to the fixed-length marking roller table and the threading and grinding roller table, and the sorting robot straddles both sides of the component conveyor belt and the threading and grinding roller table. The component conveyor belt and the bending material transfer manipulator are distributed on both sides of the component temporary storage rack, the intelligent bending mechanism is arranged on the side of the bending material transfer manipulator, and the handling robot straddles between the component conveyor belt and the bending material transfer manipulator. By adopting a movable bin structure, online switching of multi-specification materials is realized, the downtime waiting time is reduced, the movable raw material bin cooperates with the dual-channel feeding mechanism, supports the rapid switching of different specification materials, adapts to the production requirements of small batches and multiple varieties, and improves the processing efficiency and accuracy of steel bars.

[0120] Those of ordinary skill 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 relevant hardware through instructions. The instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. For this purpose, the embodiments of the present application provide a storage medium, which stores multiple instructions that can implement any step in the multi-modal flexible steel bar intelligent processing method provided by the above embodiments when being executed by a processor.

[0121] Among them, the storage medium may include: Read Only Memory (ROM), Random Access Memory (RAM), magnetic disk or optical disc, etc.

[0122] Since the instructions stored in the storage medium can execute the steps in any of the embodiments of the intelligent steel bar bending method provided in the embodiments of the present application, the beneficial effects achievable by any of the multi-modal flexible steel bar intelligent processing methods provided in the embodiments of the present application can be realized. For details, refer to the previous embodiments and will not be elaborated here.

[0123] The above has introduced in detail a multi-modal flexible steel bar intelligent processing system and processing method provided in the embodiments of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner 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 those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application. Moreover, for those of ordinary skill in the art of this technology, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present application.

Claims

1. A multi-modal flexible steel bar intelligent processing system, characterized in that Including: A dual-channel magnetic adsorption feeding mechanism (1), a movable raw material bin (2), a sawing and cutting integrated machine (3), a fixed-length marking roller path (4), a sorting robot (5), a threading and grinding roller path (7), a threading and grinding integrated machine (8), a component conveyor belt (10), a handling robot (11), a bending and material transferring manipulator (12), a component temporary storage rack (13), and an intelligent bending mechanism (14); The dual-channel magnetic adsorption feeding mechanism (1), the sawing and cutting integrated machine (3), the fixed-length marking roller path (4), and the component temporary storage rack (13) are sequentially connected and arranged on the horizontal main axis; The movable raw material bin (2) is arranged below the dual-channel magnetic adsorption feeding mechanism (1); The threading and grinding integrated machine (8) is arranged between the fixed-length marking roller path (4) and the threading and grinding roller path (7); The component conveyor belt (10) and the threading and grinding roller path (7) are respectively arranged on both sides of the fixed-length sawing and cutting roller path (4), and the sorting robot (5) straddles the component conveyor belt (10) and the threading and grinding roller path (7) and is arranged on both sides; The component conveyor belt (10) and the bending and material transferring manipulator (12) are respectively arranged on both sides of the component temporary storage rack (13), the intelligent bending mechanism (14) is arranged on one side of the bending and material transferring manipulator (12) and away from the component conveyor belt (10), and the handling robot (11) straddles the component conveyor belt (10) and the bending and material transferring manipulator (12) and is arranged on both sides.

2. The multi-modal flexible steel bar intelligent processing system according to claim 1, characterized in that, The dual-channel magnetic adsorption feeding mechanism (1) includes a feeding frame body (1-1), an electromagnetic material suction device (1-2), a straightening and traveling device (1-3), a raw material temporary storage telescopic device (1-4), a permanent magnet material suction telescopic device (1-5), and a stepped feeding roller path (1-6). Among them, the electromagnetic material suction device (1-2), the straightening and traveling device (1-3), and the raw material temporary storage telescopic device (1-4) are arranged on the feeding frame body (1-1), and the straightening and traveling device (1-3) is movably arranged on both sides of the electromagnetic material suction device (1-2).

3. The multi-modal flexible steel bar intelligent processing system according to claim 1, wherein The sawing and cutting integrated machine (3) includes a first frame body (3-1), a sawing device (3-2), a shearing device (3-3), a material turning device (3-4), and a roller path (3-5). Among them, the sawing device (3-2), the shearing device (3-3), the material turning device (3-4), and the roller path (3-5) are arranged on the first frame body (3-1).

4. The multi-modal flexible steel bar intelligent processing system according to claim 1, characterized in that, The fixed-length marking roller table (4) includes a second frame body (4-1), a first roller (4-2), a first support (4-3), a first guide rail (4-4), a fixed-length baffle (4-5) and a fixed-length moving platform (4-6). The second frame body (4-1), the first roller (4-2) and the first support (4-3) are combined to form a sawing fixed-length conveying station (4-7), a shearing fixed-length conveying station (4-8) and a laser marking conveying station (4-9). The first guide rail (4-4), the fixed-length baffle (4-5) and the fixed-length moving platform (4-6) are provided on the sawing fixed-length conveying station (4-7), the shearing fixed-length conveying station (4-8) and the laser marking conveying station (4-9).

5. The multi-modal flexible steel bar intelligent processing system according to claim 1, characterized in that The sorting robot (5) includes a column (5-1), an X-direction cross beam (5-2), a Y-direction cross beam (5-3), a Z-direction lifting device (5-4), an end clamp (5-5) and a second guide rail (5-6). The second guide rail (5-6) is provided on the X-direction cross beam (5-2). The Y-direction cross beam (5-3) is fixed on the column. The Y-direction cross beam (5-3) is vertically and movably connected to the X-direction cross beam (5-2). The Z-direction lifting device (5-4) drives the end clamp (5-5) to move in the Z-axis direction.

6. The multimodal flexible steel bar intelligent processing system according to claim 1, characterized in that The threading and grinding roller table (7) includes a third frame body (7-1), a second support (7-2), a second roller (7-3) and a power mechanism (7-4). The third frame body (7-1), the second support (7-2), the second roller (7-3) and the power mechanism (7-4) are combined to form a threading station (7-5) and a grinding station (7-6). The threading station (7-5) is arranged on both sides of the grinding station (7-6).

7. The multi-modal flexible steel bar intelligent processing system according to claim 6, wherein, The threading and grinding integrated machine (8) includes a fourth frame body (8-1), an intelligent threading device (8-2), an end milling and planing device (8-3) and a first clamp (8-4). The intelligent threading device (8-2), the end milling and planing device (8-3) and the clamp (8-4) are provided on the fourth frame body (8-1). The first clamp (8-4) is arranged on the threading station (7-5) and the grinding station (7-6) for fixing the flexible steel bar. The intelligent threading device (8-2) is arranged on the threading station (7-5), and the end milling and planing device (8-3) is arranged on the grinding station (7-6).

8. The multi-modal flexible steel bar intelligent processing system according to claim 1, characterized in that The intelligent bending mechanism (14) mainly consists of a fifth frame body (14-1), a bending head (14-2), a third guide rail (14-3), a bending die head (14-4), a second clamp (14-5) and a turning plate (14-6). Among them, the fifth frame body (14-1) is used to place the flexible steel bar. The bending die head (14-4) and the second clamp (14-5) are arranged on the bending head (14-2), and the turning plate (14-6) is arranged on one side of the bending head (14-2).

9. The multi-modal flexible steel bar intelligent processing system according to claim 1, characterized in that The multi-modal flexible steel bar intelligent processing system further includes: a threading material bin (6), a laser marking machine (9), and a bending and blanking bin (15). Among them, the threading material bin (6) is arranged on one side of the threading and grinding roller path (7) and away from the fixed-length sawing roller path (4). The laser marking machine (9) is used to mark the flexible steel bar. The bending and blanking bin (15) is arranged on one side of the intelligent bending mechanism (14) and away from the component conveyor belt (10).

10. A multi-modal flexible steel bar intelligent processing method, applied to the multi-modal flexible steel bar intelligent processing system according to any one of claims 1 to 9, characterized in that, The method includes: S1, magnetically grasping and feeding the steel bar in the movable raw material bin through the dual-channel magnetic adsorption feeding mechanism; S2, when sawing and / or shearing is required, processing the flexible steel bar with a combined sawing and shearing machine; S3, when threading is required, the sorting robot transfers the flexible steel bar to the threading station for threading and then transfers it to the grinding station for grinding; S4, when marking is required, the sorting robot transfers the flexible steel bar to the laser marking station for end marking; S5, transferring and placing it into different component bins through the sorting robot; S6, continuously repeating the process actions of S1 - S5 until the processing and warehousing of a certain specification of flexible steel bar in this batch are completed; S7, the movable raw material bin moves, transfers another specification of flexible steel bar to directly below the electromagnetic material suction device, and then continuously repeats the process actions of S1 - S6 until the processing and warehousing of all specifications of flexible steel bars in the same batch are completed; S8, conveying the flexible steel bar component to below the handling robot truss through the component conveyor belt; S9, the handling robot transfers and places the flexible steel bar component on the component temporary storage rack; S10, manually pick out a single piece to the visual recognition station; S11, the visual recognition camera takes a photo of the end of the flexible steel bar to recognize the end code; S12, if a laser code is recognized at the end, after the bending head walks to the specified position, the flexible steel bar is transferred to the bending die head by the material transfer manipulator for bending. After bending, the push plate is raised to turn the flexible steel bar over into the bin; S13, if no laser code is recognized at the end, the flexible steel bar is directly turned over into the bin; S14, repeat the processing actions of S10 - 13 until the production of a flexible steel bar is completed; S15, repeat the processing actions of S9 - 14 until the production of all flexible steel bars in the same batch is completed.

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