Feeding device capable of automatically identifying steel arches

Abstract

The utility model relates to the technical field of steel arches, in particular to a feeding device capable of automatically identifying the steel arches. Comprising feeding equipment, camera recognition equipment and raw material placing frames, and the raw material placing frames are placed on the two sides of the feeding equipment; the feeding equipment comprises two sets of cantilever beam walking rails and feeding robots, the cantilever beam walking rails are arranged in parallel, the feeding robots are movably arranged on the cantilever beam walking rails, the camera recognition equipment is arranged on one sides of the cantilever beam walking rails, and the camera recognition equipment is arranged corresponding to the raw material containing frames on the two sides. The two feeding robots are symmetrically arranged on the cantilever beam walking track and face the raw material containing frames on the two sides correspondingly. By means of the device, efficient, accurate and automatic feeding of the steel arches from storage to a machining station can be achieved. The feeding device is mainly applied to feeding of steel arch machining.

Description

TECHNICAL FIELD

[0001] The utility model relates to steel arch technology field more specifically, relate to a kind of automatic identification of steel arch feeding device. BACKGROUND

[0002] In tunnel construction, underground engineering and large steel structure construction, steel arch is used as key support structure, and its quality and processing efficiency are directly related to project progress and safety. The traditional steel arch feeding process relies on manual handling and positioning, which not only consumes a lot of manpower and material resources, but also has safety hazards, and it is difficult to ensure the accuracy of feeding and processing efficiency. With the development of industrial automation technology, it is particularly important to develop a device that can automatically, efficiently and safely complete steel arch feeding.

[0003] Although some automatic feeding equipment exists in the current market, these devices often face many challenges when dealing with long, heavy and irregularly shaped workpieces such as steel arches. For example, low positioning accuracy may cause steel arches to deviate during processing, affecting processing quality and subsequent construction; unstable clamping may cause workpieces to slip or damage during conveying, causing production interruption and cost increase; low conveying efficiency may affect the rhythm of the entire production line, reducing overall production efficiency. In particular, during steel arch processing, due to the variety of workpiece sizes and complex shapes, higher requirements are placed on the flexibility, adaptability and intelligence of the feeding device. Traditional automatic feeding equipment often cannot meet these requirements simultaneously, resulting in certain limitations and deficiencies in actual application. SUMMARY

[0004] To overcome the deficiencies in the prior art, the present utility model provides an automatic steel arch feeding device. This device solves the problems of insufficient feeding accuracy, low efficiency and poor safety in the prior art, and through the integration of advanced automation control technology, precise mechanical structure design and intelligent sensing and recognition technology, it realizes efficient, accurate and automatic feeding of steel arches from storage to processing stations.

[0005] To solve the above technical problems, the technical solution adopted by the present utility model is as follows:

[0006] An automatic steel arch identification and feeding device, comprising a feeding device, a camera recognition device and a raw material placing rack, the raw material placing rack is placed on both sides of the feeding device; the feeding device comprises a cantilever beam walking track and a feeding robot, the cantilever beam walking track is provided in parallel with two groups, the feeding robot is movably arranged on the cantilever beam walking track, the camera recognition device is arranged on one side of the cantilever beam walking track, the camera recognition device is arranged corresponding to the two raw material placing racks, and the feeding robot is symmetrically arranged on the cantilever beam walking track in two groups.

[0007] The two groups of feeding robots on the cantilever beam walking track are fixedly connected.

[0008] The feeding robot comprises a walking trolley, a cantilever beam stand column track, a top frame and a lifting cantilever beam, the walking trolley is slidably arranged on the cantilever beam walking track, the cantilever beam stand column track is fixedly arranged on the walking trolley, the top frame is arranged on the top of the cantilever beam stand column track, the lifting cantilever beam is slidably arranged on the cantilever beam stand column track, and a magnetic attraction grabbing device is arranged on the side, away from the cantilever beam stand column track, of the lifting cantilever beam.

[0009] A placing platform is arranged on the cantilever beam stand column track, a lifting winch is arranged on the placing platform, a top roller is arranged in the top frame, a cantilever beam pulley is arranged on the upper surface of the lifting cantilever beam, and the steel wire ropes, which are extended from the lifting winch, are connected to the top frame after passing through the top roller and the cantilever beam pulley.

[0010] A cantilever lifting sliding table is arranged at the end, away from the magnetic attraction grabbing device, of the lifting cantilever beam, and the cantilever lifting sliding table is slidably arranged on the cantilever beam stand column track.

[0011] Chain wheels are arranged on both sides of the cantilever beam walking track, chains are arranged on the two chain wheels, the two ends of the chains are fixedly connected to the walking trolley, and a walking speed reducer is connected to one side of the chain wheel.

[0012] The camera recognition device comprises a T-shaped shooting frame and a detection camera, the T-shaped shooting frame is fixedly arranged on the ground, telescopic cylinders are arranged on both sides of the top of the T-shaped shooting frame, and the detection camera is arranged at the outer side end of the telescopic cylinders.

[0013] Compared with the prior art, the automatic steel arch identification and feeding device has the beneficial effects that:

[0014] The device can accurately identify steel arches of different sizes and shapes, and realize stable clamping through precise mechanical clamping mechanism, ensure accurate placement of steel arches during feeding process, avoid processing errors caused by positioning deviation. It can realize stable and continuous conveying of steel arches, and can flexibly adjust the conveying speed according to the actual needs of the production line, reduce the waiting time, and improve the overall production efficiency; through the recognition of the detection camera, the feeding path is automatically planned, the position, state and conveying process of the steel arch are monitored in real time, and measures are taken immediately once the abnormality is found, to ensure the safety of production. The feeding robot moves on the cantilever beam walking track to realize the transfer of the arch, improve the versatility and flexibility of the equipment, and reduce the maintenance cost. Through technical innovation, many problems existing in the traditional feeding mode are effectively solved, not only the machining efficiency and precision of the steel arch are improved, but also the safety and intelligent level of the production line are significantly enhanced, which has important significance for promoting the automation process of tunnel construction, underground engineering and large steel structure construction field. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model;

[0016] Figure 2 It is a front view of the utility model;

[0017] Figure 3 It is a side view of the utility model;

[0018] Figure 4 It is a top view of the utility model;

[0019] Figure 5 It is a camera recognition equipment schematic diagram in the utility model;

[0020] Figure 6 It is a feeding equipment schematic diagram in the utility model;

[0021] Figure 7 It is a connection schematic diagram of the chain wheel and chain part in the utility model;

[0022] In the figure: 1 is a cantilever beam walking track, 2 is a camera recognition equipment, 3 is a raw material placing rack, 4 is a walking trolley, 5 is a cantilever beam column track, 6 is a top frame, 7 is a lifting cantilever beam, 8 is a cantilever lifting slide table, 9 is a magnetic attraction grabbing equipment, 10 is a placing platform, 11 is a top roller, 12 is a cantilever beam pulley, 13 is a chain wheel, 14 is a chain, 15 is a walking speed reducer, 16 is a T-shaped shooting frame, 17 is a detection camera, 18 is a telescopic cylinder. DETAILED DESCRIPTION

[0023] In order to enable the above-mentioned purposes, features and advantages of the present application to be more clearly understood, the present application will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0024] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be practiced without employing some of the specific details described below, and therefore, the scope of the present application is not limited to the specific embodiments disclosed below.

[0025] As shown in Figures 1 to 7 A kind of automatic identification of steel arch and loading device for steel arch, including feeding equipment, camera identification equipment 2 and raw material placing rack 3, raw material placing rack 3 is placed in feeding equipment both sides;Feeding equipment includes cantilever beam walking track 1 and feeding robot, cantilever beam walking track 1 is provided with two groups in parallel, feeding robot is movably arranged on cantilever beam walking track 1, camera identification equipment 2 is arranged on the side of cantilever beam walking track 1, camera identification equipment 2 is arranged on the two sides of raw material placing rack 3, and feeding robot is symmetrically arranged on cantilever beam walking track 1 with two groups, and the two feeding robots are respectively arranged towards the two sides of raw material placing rack 3.Steel arch raw materials are stacked on raw material placing rack 3, image data is collected by camera identification equipment 2, feeding robot moves on cantilever beam walking track 1, and steel arch raw materials are grabbed, then the steel arch raw materials are fed from raw material placing rack 3.

[0026] Preferably, the two groups of feeding robots on the cantilever beam walking track 1 are fixedly connected. The two groups of feeding robots are synchronized and have moved, and only the steel arch feeding operation of the raw material placing rack 3 on one side can be completed in the same time period.

[0027] Preferably, the feeding robot includes a walking trolley 4, a cantilever beam column track 5, a top frame 6 and a lifting cantilever beam 7, the walking trolley 4 is slidably arranged on the cantilever beam walking track 1, the cantilever beam column track 5 is fixedly arranged on the walking trolley 4, the top frame 6 is arranged on the top of the cantilever beam column track 5, the lifting cantilever beam 7 is slidably arranged on the cantilever beam column track 5, and the side of the lifting cantilever beam 7 away from the cantilever beam column track 5 is provided with a magnetic attraction grabbing device 9. By moving the lifting cantilever beam 7 on the cantilever beam column track 5, the magnetic attraction grabbing device 9 is lowered and lifted, and the grabbing operation of the steel arch is completed.

[0028] Preferably, the cantilever beam upright track 5 is provided with a placing platform 10, the placing platform 10 is provided with a lifting winch, the top frame 6 is provided with a top roller 11, the lifting cantilever beam 7 is provided with a cantilever beam pulley 12 on the upper surface, and the steel wire rope of the lifting winch is wound around the top roller 11 and the cantilever beam pulley 12 and connected to the top frame 6. The height of the lifting cantilever beam 7 is controlled by the lifting winch, the top roller 11 and the cantilever beam pulley 12.

[0029] Preferably, the lifting cantilever beam 7 is provided with a cantilever lifting sliding table 8 away from the magnetic grabbing device 9, and the cantilever lifting sliding table 8 is slidingly arranged on the cantilever beam upright track 5. The cantilever beam lifting sliding table 8 is provided with pulleys on both sides, and the pulleys are slidingly connected with the cantilever beam upright track 5.

[0030] Preferably, the cantilever beam walking track 1 is provided with chain wheels 13 on both sides, the chain wheels 13 are provided with chains 14, the chains 14 are fixedly connected to the walking trolley 4 at both ends, and one side of the chain wheel 13 is connected with a walking reduction motor 15. The walking reduction motor 15 controls the rotation of the one side of the chain wheel 13, and drives the walking trolley 4 to slide on the cantilever beam walking track 1 under the driving of the chain 14, so as to realize the position of the feeding robot and complete the displacement operation between the two raw material placing frames 3.

[0031] Preferably, the camera recognition device 2 comprises a T-shaped shooting frame 16 and a detection camera 17, the T-shaped shooting frame 16 is fixedly arranged on the ground, the T-shaped shooting frame 16 is provided with telescopic cylinders 18 on both sides of the top, and the detection camera 17 is arranged on the outer side end of the telescopic cylinder 18. The telescopic cylinder can drive the detection camera 17 to move in the horizontal direction, so as to facilitate image collection of different positions of the raw material placing frame 3, and control the lifting cantilever beam 7 to complete the grabbing and feeding operation according to different positions of the steel arch frame raw material to be grabbed.

[0032] The worker puts the I-beam or H-beam to be processed into the raw material placing frames 3 on the left and right sides, the detection camera 17 takes a photo of the raw material, calculates the grabbing position, the walking trolley 4 moves, the lifting cantilever beam 7 is moved to the grabbing position, the lifting winch cooperates with the top roller 11 and the cantilever beam pulley 12 to lower the magnetic grabbing device 9 to the grabbing position, the I-beam is attracted, the lifting cantilever beam 7 is lifted to lift the I-beam, the walking trolley 4 continues to walk and moves to the unloading position, the lifting cantilever beam 7 is lowered to place the I-beam to the set position, the magnet is disconnected, and the automatic feeding of the I-beam is completed.

[0033] The above only details the preferred embodiments of the present application, but the present application is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application, and all the changes shall be included in the protection scope of the present application.

Claims

1. An automatic identification and feeding device for steel arch frames, characterized in that: The utility model provides a kind of raw material feeding device, including feeding equipment, camera identification equipment (2) and raw material rack (3), the raw material rack (3) is placed in the feeding equipment both sides;The feeding equipment includes cantilever beam walking track (1) and feeding robot, the cantilever beam walking track (1) is provided with two groups in parallel, the feeding robot is movably arranged on the cantilever beam walking track (1), the camera identification equipment (2) is arranged on the cantilever beam walking track (1) side, the camera identification equipment (2) is set to two sides raw material rack (3), and feeding robot is symmetrically provided with two groups on the cantilever beam walking track (1), and two feeding robots are respectively arranged towards two sides raw material rack (3).

2. The automatic identification and feeding device for steel arches according to claim 1, characterized in that: Two groups of feeding robots on the cantilever beam walking track (1) are fixedly connected.

3. The automatic identification and feeding device for steel arches according to claim 1, characterized in that: The feeding robot includes walking trolley (4), cantilever beam upright column track (5), top frame (6) and lifting cantilever beam (7), the walking trolley (4) is slidably arranged on the cantilever beam walking track (1), the cantilever beam upright column track (5) is fixedly arranged on the walking trolley (4), the top frame (6) is arranged on the top of the cantilever beam upright column track (5), the lifting cantilever beam (7) is slidably arranged on the cantilever beam upright column track (5), and the side, away from the cantilever beam upright column track (5), of the lifting cantilever beam (7) is provided with a magnetic suction grabbing device (9).

4. The automatic identification and feeding device for steel arches according to claim 3, characterized in that: The cantilever beam upright column track (5) is provided with a placing platform (10), the placing platform (10) is provided with a lifting winch, the top frame (6) is provided with a top roller (11) in the inside, the upper surface of the lifting cantilever beam (7) is provided with a cantilever beam pulley (12), and the steel wire rope, which is stretched out by the lifting winch, is connected to the top frame (6) after passing through the top roller (11) and the cantilever beam pulley (12) respectively.

5. The automatic identification and feeding device for steel arches according to claim 3, characterized in that: The end, away from the magnetic suction grabbing device (9), of the lifting cantilever beam (7) is provided with a cantilever lifting sliding table (8), and the cantilever lifting sliding table (8) is slidably arranged on the cantilever beam upright column track (5).

6. The automatic identification and feeding device for steel arches according to claim 3, characterized in that: Both sides of the cantilever beam walking track (1) are provided with a chain wheel (13), a chain (14) is wound around the two chain wheels (13), the two ends of the chain (14) are fixedly connected to the walking trolley (4), and the chain wheel (13) on one side is connected with a walking speed reducer (15).

7. The automatic identification and feeding device for steel arches according to claim 1, characterized in that it comprises: The camera identification equipment (2) includes a T-shaped shooting frame (16) and a detection camera (17), the T-shaped shooting frame (16) is fixedly arranged on the ground, the T-shaped shooting frame (16) is provided with a telescopic cylinder (18) on both sides of the top, and the detection camera (17) is arranged on the outer side end of the telescopic cylinder (18).

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