Vehicle wheel steel ingot carrying manipulator distance measurement compensation device and use method thereof

Abstract

The invention discloses a distance measurement compensation device for a wheel steel ingot carrying manipulator and a use method of the distance measurement compensation device. The discharging trolley can convey the steel ingots to the rack; the carrying robot arm is movably mounted on the rack, and the carrying robot arm can pick up the steel ingots on the discharging trolley; the carrying manipulator can place the picked steel ingots on the transfer tray; and the distance measuring sensor is installed on the rack and can detect the position of the steel ingot on the discharging trolley. The distance to the end face of a wheel steel ingot is measured through a laser distance measuring sensor, a manipulator control program automatically calculates to obtain the X-axis compensation distance of the manipulator, the manipulator is controlled to be in the center when grabbing the wheel steel ingot, automatic distance measuring compensation is completed, and the problems that the steel ingot inclines and falls off and is not placed in an RGV transfer tray are solved. The device has the characteristics of simple structure, low cost, high reliability and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of train wheel processing, and in particular relates to a distance measuring and compensating device for a wheel steel ingot handling manipulator and a use method thereof. Background Art

[0002] In the process of implementing the present invention, the inventors discovered that the prior art has at least the following problems:

[0003] The wheel ingot handling robot unloads the ingots from the wheel ingot sawing machines. It utilizes a Siemens TIA Portal S7-1200 PLC and servo motion control. The horizontal X and Y axes are driven by servo motors, and the vertical Z axis is driven by a hydraulic cylinder. The wheel ingots are picked up and placed using permanent magnets with a lifting capacity of 1,200 kg. Each robot unloads the ingots from two wheel ingot cutting saws. Each sawing machine has a loading trolley. During unloading, the trolleys carry the ingots and rotate them to the central loading station. The wheel ingots are placed end-on against the trolleys, where they are then removed by the robot and transported to 12 loading stations on four sets of pallets. Due to the diverse lengths and specifications of wheel steel ingots and their frequent changes, the placement of the steel ingots on the two sawing machine trolleys has a large deviation. The horizontal X-axis position of the robot cannot be automatically adjusted when grabbing each steel ingot. As a result, the suction cup will not be in the middle of the steel ingot, resulting in serious problems such as front and rear gravity skew or even falling during transportation. Or when placed on the RGV transfer pallet, it will not be placed in the middle position, posing risks to subsequent logistics handling and three-dimensional warehouse storage. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a distance measurement compensation device for a wheel steel ingot handling robot and a method of using the same, so as to eliminate the problems and risks of steel ingots falling crookedly and being placed incorrectly in RGV transfer trays. The device has a simple structure, low cost and high reliability.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a distance measurement and compensation device for a wheel steel ingot handling manipulator, having:

[0006] frame;

[0007] The unloading trolley can transport the steel ingots to the rack;

[0008] A transport robot arm is movably mounted on the frame, and the transport robot arm is capable of picking up the steel ingots on the unloading trolley;

[0009] A transfer pallet, on which the handling robot can place the picked-up steel ingots;

[0010] A distance measuring sensor is installed on the frame, and the distance measuring sensor can detect the position of the steel ingot on the unloading trolley.

[0011] The distance measuring sensor is a laser distance measuring sensor.

[0012] The transfer tray is arranged on the RGV trolley, and the RGV trolley can move the steel ingot away from the support.

[0013] The method for using the above-mentioned wheel ingot handling robot distance measurement and compensation device comprises the following steps:

[0014] 1) Set the manipulator distance measuring device and material parameters before work;

[0015] 2) The unloading trolley transports the steel ingot to the unloading position, and a laser distance sensor is installed at the fixed point of the material removal position;

[0016] 3) The manipulator moves to the waiting point for material collection;

[0017] 4) The manipulator automatically calculates the ranging compensation value through the control program;

[0018] 5) The manipulator moves according to the ranging compensation value, and then the Z axis drops. At this time, the manipulator suction cup grasps the position at the midpoint of the ingot;

[0019] 6) The suction cup grabs the steel ingot and lifts it to the discharge position.

[0020] In step 1) above, it is known that the distance from the X-axis origin of the robot to the fixed point of the distance sensor is 10,000 mm, and the length L of the steel ingot is set as a fixed parameter on the screen.

[0021] In the above step 2), the laser sensor measures the distance L1 from the fixed point to the tail end face of the wheel ingot; the measurement range of the laser ranging sensor is: 0.2 to 10 meters, and the output analog signal is 4 to 20 mA. After passing through the PLC analog input module, a 553 to 27648 integer data is obtained. After being processed by the program instructions of NORM_X normalization, SCALE_X scaling, and ADD_DINT integer addition, the engineering quantity measurement value L1 of the distance from the fixed point to the tail end face of the wheel ingot is obtained.

[0022] In step 3) above, the robot first moves an absolute distance X1 to the waiting point 8300 mm.

[0023] In the above step 4), X2 is calculated by measuring the distance L1 from the rear end face of the wheel ingot and then plugging it into the formula: X2 = 10000 - X1 - L1 - (L / 2).

[0024] In step 5) above, if the calculated distance compensation value X2 is positive, the manipulator moves in the forward direction relative to the ingot; if the calculated distance compensation value X2 is negative, the manipulator is controlled to move in the reverse direction relative to the ingot; then the Z axis descends, and the manipulator suction cup grasping position is at the midpoint of the ingot; for example, the ingot length is 450 mm, and the measured value L1 is 1523 mm. After the assignment calculation, the compensation value X2 = 10000 - 8300 - 1523 - (450 / 2) = -48 is obtained, and the manipulator is controlled to move in the reverse direction relative to the ingot by 48 mm.

[0025] One of the above technical solutions has the following advantages or beneficial effects: it eliminates the problems and risks of steel ingots falling askew and being improperly placed in the RGV transfer tray; it has a simple structure, low cost and high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a structural schematic diagram of a distance measurement and compensation device for a wheel steel ingot handling robot provided in an embodiment of the present invention;

[0027] Figure 2 for Figure 1 Schematic diagram of the distance measurement and compensation device of the wheel ingot handling robot;

[0028] Figure 3 for Figure 1 The control principle diagram of the distance measurement and compensation device of the wheel steel ingot handling robot;

[0029] The marks in the above figure are: 1. Frame, 2. Unloading trolley, 3. Transport robot, 4. Transfer pallet, 5. Laser ranging sensor. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Example 1

[0032] See also Figures 1 to 3A distance measurement and compensation device for a wheel steel ingot handling robot comprises: a frame 1; a feeding trolley 2 capable of conveying steel ingots onto the frame 1; a handling robot 3 movably mounted on the frame 1 and capable of picking up steel ingots from the feeding trolley 2; a transfer tray 4 on which the handling robot 3 can place the picked-up steel ingots; and a distance sensor mounted on the frame 1 and capable of detecting the position of the steel ingots on the feeding trolley 2. The distance measurement sensor is a laser distance sensor 5. The laser distance sensor 5 is fixedly mounted at the middle material pickup position of the sawing machine feeding trolley 2. The laser sensor measures the distance from a fixed point to the rear end face of the wheel steel ingot. The laser distance sensor 5 measures the distance to the end face of the wheel steel ingot. The robot control program automatically calculates the X-axis compensation distance for the robot, controlling the robot to be centered when grasping the wheel steel ingot, completing automatic distance measurement and compensation, thereby resolving the problems of steel ingots skewing and falling and misplacement on the RGV transfer tray 4. This device features a simple structure, low cost, and high reliability.

[0033] The robot first moves an absolute distance X1 to the waiting position for material removal, then moves relative to the compensated material removal position X2. The X1 distance and the ingot length L are fixed parameters set on the screen, while X2 is calculated by measuring the distance L1 from the wheel's tail end face. The robot's control program automatically calculates the X-axis travel distance and automatically adjusts the horizontal X-axis position as it grasps each ingot, ensuring that the robot grasps the ingot at its midpoint and places it in the center when placed on the RGV transfer tray 4.

[0034] The transfer tray 4 is mounted on the RGV trolley, which can remove the ingots from the support. The addition of a laser rangefinder compensator solves the problems of ingots tilting and falling during wheel handling, as well as misalignment on the RGV transfer tray 4. After more than a year of operation, the system has proven to be operational and effective.

[0035] Example 2

[0036] The method for using the above-mentioned wheel ingot handling robot distance measurement and compensation device comprises the following steps:

[0037] 1) Set the manipulator distance measuring device and material parameters before work;

[0038] 2) The unloading trolley transports the steel ingot to the unloading position, and a laser distance sensor is installed at the fixed point of the material removal position;

[0039] 3) The manipulator moves to the waiting point for material collection;

[0040] 4) The manipulator automatically calculates the ranging compensation value through the control program;

[0041] 5) The manipulator moves according to the ranging compensation value, and then the Z axis drops. At this time, the manipulator suction cup grasps the position at the midpoint of the ingot;

[0042] 6) The suction cup grabs the steel ingot and lifts it to the discharge position.

[0043] In step 1) above, it is known that the distance from the X-axis origin of the robot to the fixed point of the distance sensor is 10,000 mm, and the length L of the steel ingot is set as a fixed parameter on the screen.

[0044] In the above step 2), the laser sensor measures the distance L1 from the fixed point to the tail end face of the wheel ingot; the measurement range of the laser ranging sensor is: 0.2 to 10 meters, and the output analog signal is 4 to 20 mA. After passing through the PLC analog input module, a 553 to 27648 integer data is obtained. After being processed by the program instructions of NORM_X normalization, SCALE_X scaling, and ADD_DINT integer addition, the engineering quantity measurement value L1 of the distance from the fixed point to the tail end face of the wheel ingot is obtained.

[0045] In step 3) above, the robot first moves an absolute distance X1 to the waiting point 8300 mm.

[0046] In the above step 4), X2 is calculated by measuring the distance L1 from the rear end face of the wheel ingot and then plugging it into the formula: X2 = 10000 - X1 - L1 - (L / 2).

[0047] In step 5) above, if the calculated distance compensation value X2 is positive, the manipulator moves in the forward direction relative to the ingot; if the calculated distance compensation value X2 is negative, the manipulator is controlled to move in the reverse direction relative to the ingot; then the Z axis descends, and the manipulator suction cup grasping position is at the midpoint of the ingot; for example, the ingot length is 450 mm, and the measured value L1 is 1523 mm. After the assignment calculation, the compensation value X2 = 10000 - 8300 - 1523 - (450 / 2) = -48 is obtained, and the manipulator is controlled to move in the reverse direction relative to the ingot by 48 mm.

[0048] A laser ranging sensor measures the distance to the wheel ingot's end face. The robot control program automatically calculates the X-axis compensation distance for the robot, controlling the robot to center the wheel ingot when grasping it. This automatic distance compensation solves the problem of skewed ingots falling and misaligned placement on the RGV transfer tray. This device features a simple structure, low cost, and high reliability.

[0049] Example 3

[0050] The method for using the above-mentioned wheel ingot handling robot distance measurement and compensation device comprises the following steps:

[0051] 1) Before work, set the robot distance measuring device and material parameters. It is known that the distance from the robot X-axis origin to the distance sensor fixed point is 10,000 mm, and the steel ingot length L is set as a fixed parameter on the screen.

[0052] 2) Any one of the two sawing machines transports the steel ingot to the unloading position and installs a laser distance sensor at the fixed point of the material position measurement ( Figure 1 ), the laser sensor measures the distance L1 from the fixed point to the tail end of the wheel ingot ( Figure 2 The laser ranging sensor has a measurement range of 0.2 to 10 meters, and outputs an analog signal of 4 to 20 mA. The PLC analog input module generates a 553 to 27648 integer value. This is processed using program instructions such as NORM_X normalization, SCALE_X scaling, and ADD_DINT integer addition to obtain the engineering measurement value L1 of the distance from the fixed point to the tail end of the wheel ingot.

[0053] 3) The robot first moves an absolute distance X1 to the waiting point for material collection, 8300 mm.

[0054] 4) The robot automatically calculates the distance compensation value X2 through the control program. This is calculated by measuring the distance L1 to the tail end of the wheel ingot and then plugging it into the formula: X2 = 10000 - X1 - L1 - (L / 2).

[0055] 5) If the calculated distance compensation value X2 is positive, the manipulator moves in the forward direction. If the calculated distance compensation value X2 is negative, the manipulator moves in the reverse direction. The Z axis then descends, and the manipulator's suction cup grips the ingot at its midpoint. For example, if the ingot is 450 mm long and the measured value L1 is 1523 mm, the calculated compensation value X2 = 10000 - 8300 - 1523 - (450 / 2) = -48, causing the manipulator to move in the reverse direction by 48 mm.

[0056] 6) The permanent magnet suction cup grabs and lifts it, moves it to the discharge position, and places it in the middle position when it is placed on the RGV transfer tray.

[0057] A laser rangefinder is fixedly installed at the center pick-up position of the saw's unloading trolley. The laser sensor measures the distance from the fixed point to the rear end of the wheel ingot. The robot first moves an absolute distance X1 to the waiting position for pick-up, and then moves relative distance X2 to the compensated pick-up position. The X1 distance and the ingot length L are fixed parameters set on the screen, while X2 is calculated according to a formula after measuring the distance L1 to the rear end of the wheel ingot. The robot automatically calculates the X-axis running distance through the control program and controls the robot to automatically adjust its horizontal X-axis position when grabbing each ingot, ensuring that the robot grabs the ingot at its midpoint and places it in the center when placed on the RGV transfer tray.

[0058] A laser ranging sensor measures the distance to the wheel ingot's end face. The robot control program automatically calculates the X-axis compensation distance for the robot, controlling the robot to center the wheel ingot when grasping it. This automatic distance compensation solves the problem of skewed ingots falling and misaligned placement on the RGV transfer tray. This device features a simple structure, low cost, and high reliability.

[0059] After adopting the above solution, the problems and risks of steel ingots falling askew and being improperly placed in the RGV transfer tray are eliminated. The structure is simple, the cost is low and the reliability is high.

[0060] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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.

[0061] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0062] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A distance measurement and compensation device for a wheel steel ingot handling manipulator, characterized in that: have: frame; The unloading trolley can transport the steel ingots to the rack; A transport robot arm is movably mounted on the frame, and the transport robot arm is capable of picking up the steel ingots on the unloading trolley; A transfer pallet, on which the handling robot can place the picked-up steel ingots; A distance measuring sensor is installed on the frame, and the distance measuring sensor can detect the position of the steel ingot on the unloading trolley.

2. The distance measurement and compensation device for a wheel steel ingot handling robot according to claim 1, characterized in that: The distance measuring sensor is a laser distance measuring sensor.

3. The distance measurement and compensation device for a wheel steel ingot handling robot according to claim 1, characterized in that: The transfer tray is arranged on the RGV trolley, and the RGV trolley can move the steel ingot away from the support.

4. The method for using the distance measurement and compensation device for a wheel steel ingot handling robot according to any one of claims 1 to 3, characterized in that: The steps include: 1) Set the manipulator distance measuring device and material parameters before work; 2) The unloading trolley transports the steel ingot to the unloading position, and a laser distance sensor is installed at the fixed point of the material removal position; 3) The manipulator moves to the waiting point for material collection; 4) The manipulator automatically calculates the ranging compensation value through the control program; 5) The manipulator moves according to the ranging compensation value, and then the Z axis descends. At this time, the manipulator suction cup grasps the position at the midpoint of the ingot; 6) The suction cup grabs the steel ingot and lifts it to the discharge position.

5. The method for using the distance measuring and compensating device for a wheel ingot handling robot according to claim 4, characterized in that: In step 1) above, it is known that the distance from the X-axis origin of the robot to the fixed point of the ranging sensor is 10,000 mm, and the length L of the steel ingot is set as a fixed parameter on the screen.

6. The method for using the distance measurement and compensation device for a wheel steel ingot handling robot according to claim 5, characterized in that: In the above step 2), the laser sensor measures the distance L1 from the fixed point to the tail end face of the wheel ingot; the measurement range of the laser ranging sensor is: 0.2 to 10 meters, and the output analog signal is 4 to 20 mA. After passing through the PLC analog input module, a 553 to 27648 integer data is obtained. After being processed by the program instructions of NORM_X normalization, SCALE_X scaling, and ADD_DINT integer addition, the engineering quantity measurement value L1 of the distance from the fixed point to the tail end face of the wheel ingot is obtained.

7. The method for using the distance measurement and compensation device for a wheel steel ingot handling robot according to claim 6, characterized in that: In step 3) above, the robot first moves an absolute distance X1 to the waiting point 8300 mm.

8. The method for using the distance measurement and compensation device for a wheel steel ingot handling robot according to claim 7, characterized in that: In the above step 4), X2 is calculated by measuring the distance L1 from the rear end face of the wheel ingot and then plugging it into the formula: X2 = 10000 - X1 - L1 - (L / 2).

9. The method for using the distance measurement and compensation device for a wheel steel ingot handling robot according to claim 8, characterized in that: In the above step 5), if the calculated distance compensation value X2 is positive, the manipulator moves in the forward direction relative to the ingot. If the calculated distance compensation value X2 is negative, the manipulator moves in the reverse direction relative to the ingot. Then the Z axis descends, and the manipulator suction cup grasping position is at the midpoint of the ingot.

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