WO2015062450A1 - 一种自动布料机及自动布料机控制方法 - Google Patents

一种自动布料机及自动布料机控制方法 Download PDF

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Publication number
WO2015062450A1
WO2015062450A1 PCT/CN2014/089439 CN2014089439W WO2015062450A1 WO 2015062450 A1 WO2015062450 A1 WO 2015062450A1 CN 2014089439 W CN2014089439 W CN 2014089439W WO 2015062450 A1 WO2015062450 A1 WO 2015062450A1
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sensor
distributing machine
signal
area
automatic
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PCT/CN2014/089439
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English (en)
French (fr)
Inventor
徐鑫
陈国柱
李兆龙
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三一汽车制造有限公司
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Priority to RU2016114496A priority Critical patent/RU2016114496A/ru
Publication of WO2015062450A1 publication Critical patent/WO2015062450A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B28B17/0063—Control arrangements
    • B28B17/0081—Process control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
    • B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
    • B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
    • B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
    • B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
    • B28B13/0225—Feeding specific quantities of material at specific locations in the mould

Definitions

  • the invention relates to the field of engineering machinery, in particular to an automatic distributing machine for watering concrete precast parts and a control method of the automatic distributing machine.
  • the automatic cloth machine is a device installed on the concrete prefabrication production line to pour concrete on the mold table of the concrete precast production line.
  • the mold table is provided with a plurality of side molds and steel meshes, and the steel mesh is located in a plurality of side molds. within the area.
  • the mold table casting area is designed according to the shape of the concrete preform.
  • the casting area of the mold table is to automatically feed the cloth by manually inputting graphic information to the distributing machine; the other is to directly import the drawing through the upper computer, and the distributing machine receives the sending from the upper computer.
  • the data information of the prefabricated parts of the fabric to be delivered is realized by automatic cloth.
  • the automatic cloth machine adopting the manual input graphic information method completely relies on the manually input graphic information. When the input information is deviated, the prefabricated parts will be scrapped and the work efficiency is low; the upper machine is used to import the drawing mode, when the upper computer and the distributing machine When the communication fails, automatic fabric cannot be performed.
  • the present invention provides an automatic cloth machine and an automatic cloth machine control method to solve the problem that the automatic cloth machine has strong dependence on the person and the upper machine.
  • the present invention provides an automatic cloth machine control method for obtaining a signal of a region under the cloth machine in real time through a sensor. After the signal processing, the controller determines whether the underside of the cloth machine is a region to be poured, and controls the corresponding unloading on the cloth host. The door is opened and closed.
  • the area signal under the distributing machine is obtained by the distance measuring sensor.
  • the ranging sensor is an ultrasonic sensor or a laser sensor.
  • the area signal under the distributing machine is acquired by the imaging sensor.
  • the area signal includes a die stage signal, a side mode signal, and a reinforcing mesh signal under the distributing machine.
  • controller controls the opening and closing time, the opening and closing size of the discharge door according to the area signal, and/or the controller further controls the start and stop of the distributing machine according to the area signal, Moving speed.
  • An automatic distributing machine comprising a controller and a cloth main body and at least one discharging door, the discharging door is opened under the cloth main body, and further comprises a sensor for acquiring a signal in a lower area of the distributing machine; the controller is used for real time Get the signal from the sensor and control the opening and closing of the discharge door.
  • the senor is a distance measuring sensor, and the distance measuring sensor is installed on one side of the cloth machine to be clothed, and each of the discharging doors is correspondingly provided with at least one distance measuring sensor.
  • the ranging sensor is an ultrasonic sensor or a laser sensor.
  • the senor is an imaging sensor
  • the imaging sensor is mounted under the cloth machine
  • the imaging sensor is a camera.
  • the area signal includes a mold stage signal, a side mode signal, and a reinforcing mesh signal.
  • controller is configured to control an opening and closing time, an opening and closing size of the discharge door according to the area signal, and/or the controller is further configured to control the cloth machine according to the area signal Start and stop, move speed.
  • the invention provides an automatic distributing machine and an automatic distributing machine control method, which can obtain real-time underneath the distributing machine by the sensor, and control the opening and closing of the discharging door to realize automatic cloth, without relying on manual input or upper machine importing.
  • the graphic information has high work efficiency and reduces the working intensity of the operator, and also avoids the problems caused by the deviation of the manual input information.
  • the sensor may be a ranging sensor or an imaging sensor. After the imaging sensor acquires the image of the template, it is processed by the image processing software to obtain shape data information of the area to be poured.
  • FIG. 1 is a schematic view showing a control method of an automatic distributing machine according to the present invention
  • FIG. 2 is a schematic structural view of an automatic distributing machine of the present invention.
  • the automatic distributing machine is a device for installing concrete on a concrete prefabricated part production line, and a plurality of side molds are arranged on the mold table, and a plurality of side molds are enclosed in a to-be-cast area, usually a pouring area.
  • a steel mesh is arranged inside, and the steel mesh is located in an area surrounded by a plurality of side molds, and the arrangement of the steel mesh can increase the structural strength of the preform.
  • the casting area on the die table is designed according to the shape of the concrete preform.
  • the automatic cloth machine control method includes real-time acquisition of the signal of the area under the distributing machine through the sensor 3, and after the signal processing, the controller determines whether the underside of the distributing machine is the area to be poured, and controls the corresponding discharging door on the cloth host. Opening and closing.
  • a die table is arranged under the cloth machine, a plurality of side molds are placed on the die table, and a steel mesh is installed in the side mold, and the sensor platform 3 can obtain the mold table signal, the steel mesh signal and the side mode signal under the cloth machine in real time.
  • the signal may also include other regional signals.
  • the area to be poured is the area of the steel mesh in the side mold.
  • the area to be poured may also be in the side mold.
  • the sensor 3 may be a distance measuring sensor, and the distance measuring sensor obtains the height data information of the die table area under the distributing machine to the distributing machine in real time, and then determines whether the underside of the sensor is a to-be-cast area by data information processing, specifically, according to the ranging sensor.
  • the length of the signal can determine the die area and the side mode area.
  • the mesh area can be judged according to the magnitude and frequency of the change of the distance sensor signal. Because the side mold is located on the die table, the height is higher than the die table, and the distance between the two is large.
  • the width of the side mode is wider, the frequency of the change of the range sensor is low, and the frequency of the change of the signal of the distance measuring sensor is high, and the signal changes greatly. According to the characteristics of different areas, different areas can be determined.
  • the sensor 3 may be an ultrasonic sensor or a laser sensor to acquire an area signal under the distributing machine.
  • the controller is controlled to open and close the discharge door 2 to be poured Note area casting.
  • the automatic cloth machine control method can control the opening and closing of the discharge door 2 according to the area signal under the cloth machine, and the key point is that the opening and closing of the discharge door is no longer dependent on the input of the graphic information by the person and the upper computer. Since the cloth machine needs to move along the guide rail when working, so that the cloth can be carried out in the entire die table area, further, the opening and closing of the discharge door 2 can be combined with the movement of the distributing machine, for example, the controller is also based on the area.
  • the signal simultaneously controls the opening and closing time of the discharge door 2, the opening and closing size, and/or the start and stop, the moving speed of the distributing machine, etc., so that the fabric of the distributing machine can be more precise, and the working efficiency and the intelligence degree are higher.
  • a preferred automatic distributing machine of the present invention comprises a controller and a cloth main body and a plurality of discharge doors 2, and the discharge door 2 is opened under the cloth main body, specifically on the bottom or the side, and includes A sensor 3 for acquiring a casting area of the die table, the controller is for acquiring the signal of the sensor 3 and controlling the opening and closing of the discharge door 2.
  • the controller can determine whether it is the area to be poured according to the area signal, thereby controlling the opening and closing of the discharge door.
  • the area signal includes the die table signal, the steel mesh signal and the side mode signal under the distributing machine. According to the requirements of different prefabricated parts production, other area signals may also be included.
  • the area to be poured is the reinforcing mesh area in the side mold, for the prefabricated parts.
  • the area to be poured may also be the die table area in the side mold.
  • the sensor 3 can be a distance measuring sensor, and the distance measuring sensor can be installed on the distributing machine at any position where the distance between the distributing machine and the die table can be detected, preferably installed on the side of the cloth machine to be clothed, so that the measuring distance is not affected by the cloth.
  • Each of the discharge doors 2 is correspondingly provided with at least one ranging sensor 3, and how many of the discharging doors 2 have at least a plurality of ranging sensors.
  • the distance measuring sensor measures the distance from the main body of the fabric to the object below, and then determines whether the underside of the distributing machine is the area to be poured through the signal processing. Finally, the discharge door 2 is controlled to open and close by the controller, and only the pouring area is poured, specifically, according to The length of the distance obtained by the ranging sensor can determine the die area and the side mode area.
  • the mesh area can be judged according to the magnitude and frequency of the change of the range sensor signal, because the side mold is located on the die table and the height is higher than the die stage. The distance difference is large, and the width of the side mode is wide, the frequency of the range sensor signal is low, and the frequency of the change of the signal of the distance measuring sensor is high, and the signal changes greatly.
  • the sensor 3 may be a distance measuring sensor such as an ultrasonic sensor or a laser sensor, and acquires distance information of the distributing machine to the object below.
  • the controller is controlled to open and close the discharge door 2 to realize pouring in the pouring area.
  • the distributing machine of the present invention can control the opening and closing of the discharging door 2 according to the area signal under the distributing machine, and the emphasis is that the opening and closing of the discharging door is no longer dependent on the input of graphic information by the person and the upper computer. Since the cloth machine needs to move along the guide rail when working, so that the cloth can be carried out in the entire die table area, further, the opening and closing of the discharge door 2 can be combined with the movement of the distributing machine, for example, the controller is also used according to the area.
  • the signal simultaneously controls the opening and closing time of the discharge door 2, the opening and closing size, and/or the start and stop, the moving speed of the distributing machine, etc., so that the fabric of the distributing machine can be more precise, and the working efficiency and the intelligence degree are higher.
  • the invention provides an automatic distributing machine and an automatic distributing machine control method, and the sensor 3 is used to obtain the to-be-casting area, and does not need to rely on the manually input or the graphical information imported by the upper computer, the working efficiency is high, and the working strength of the operator is reduced. In addition, it also avoids the problem that when the manual input information is deviated, the prefabricated parts are scrapped or the communication between the upper computer and the distributing machine cannot be automatically clothed.
  • the sensor 3 may be a distance measuring sensor or an imaging sensor such as a camera. After the camera acquires an image, the camera processes the image to obtain information about whether the underside of the distributing machine is a region to be poured.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)
  • Continuous Casting (AREA)
  • Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)

Abstract

一种自动布料机，包括控制器、传感器（3）、布料主机及设置在布料主机下方的至少一个卸料门（2）。该自动布料机的控制方法，通过传感器（3）实时获取布料机下方区域信号，控制器经过信号处理后，确定布料机下方是否为待浇注区域，并控制布料主机上的相应卸料门（2）开闭。该布料机操作精准、自动化程度高。

Description

一种自动布料机及自动布料机控制方法
本申请要求于2013年10月30日提交中国专利局、申请号为201310526218.6、发明名称为“一种自动布料机及自动布料机控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及工程机械领域，特别涉及混凝土预制件浇灌的一种自动布料机及自动布料机控制方法。
背景技术
自动布料机是安装在混凝土预制件生产线上，对混凝土预制件生产线上的模台进行浇灌混凝土的设备，模台上设置有多个边模和钢筋网，钢筋网位于多个边模围成的区域内。模台浇注区域是根据混凝土预制件形状来设计的。
目前，混凝土预制件生产线的自动布料机主要有两种：一种是模台浇注区域是通过人工输入图形信息到布料机实现自动布料；另外是通过上位机直接导入图纸，布料机接收上位机发送过来的将要进行布料的预制件的数据信息实现自动布料。采用人工输入图形信息方式的自动布料机完全依赖于人工输入的图形信息，当输入信息出现偏差时，将造成预制件报废，且作业效率低；采用上位机导入图纸方式，当上位机与布料机通讯出现故障时，将无法进行自动布料。
发明内容
有鉴于此，本发明提出一种自动布料机及自动布料机控制方法，以解决自动布料机对人和上位机依赖性强的问题。
一方面，本发明提供了一种自动布料机控制方法，通过传感器实时获取布料机下方区域信号，控制器经过信号处理后，确定布料机下方是否为待浇注区域，并控制布料主机上的相应卸料门开闭。
进一步地，通过测距传感器获取布料机下方区域信号。
进一步地，测距传感器为超声波传感器或激光传感器。
进一步地，通过成像传感器获取布料机下方区域信号。
进一步地，所述区域信号包括布料机下方的模台信号、边模信号和钢筋网信号。
进一步地，所述控制器根据所述区域信号控制所述卸料门的开闭时间、开闭大小，和/或，所述控制器还根据所述区域信号控制所述布料机的启停、移动速度。
另外还提供了一种自动布料机，包括控制器和布料主机及至少一个卸料门，卸料门开设在布料主机的下方，还包括用于获取布料机下方区域信号的传感器；控制器用于实时获取传感器的信号，并控制卸料门开闭。
进一步地，传感器为测距传感器，测距传感器安装在布料机待布料方向一侧，每个卸料门相对应设置有至少一个测距传感器。
进一步地，测距传感器为超声波传感器或激光传感器。
进一步地，传感器为成像传感器，成像传感器安装在布料机下方，成像传感器为摄像机。
进一步地，所述区域信号包括模台信号、边模信号和钢筋网信号。
进一步地，所述控制器用于根据所述区域信号控制所述卸料门的开闭时间、开闭大小，和/或，所述控制器还用于根据所述区域信号控制所述布料机的启停、移动速度。
本发明提供的一种自动布料机及自动布料机控制方法，通过传感器实时获取布料机下方是否为待浇注区域，并控制卸料门开闭实现自动布料，不需要依赖于人工输入或上位机导入的图形信息，作业效率高，且减轻了操作手的工作强度，另外还避免了手工输入信息出现偏差所引起的问题。传感器可以是测距传感器，也可以是成像传感器，成像传感器获取模台图像后，经过图像处理软件处理，得到待浇注区域的形状数据信息。
附图说明
图1为本发明自动布料机控制方法示意图；
图2为本发明自动布料机结构示意图。
具体实施方式
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。
自动布料机是安装在混凝土预制件生产线上，对混凝土预制件生产线上的模台进行浇灌混凝土的设备，模台上放置有多个边模，多个边模围成待浇注区域，通常浇注区域内设置有钢筋网，钢筋网位于多个边模围成的区域内，钢筋网的设置可以增加预制件的结构强度。模台上的浇注区域是根据混凝土预制件形状来设计的。
如图1所示，自动布料机控制方法包括通过传感器3实时获取布料机下方区域信号，控制器经过信号处理后，确定布料机下方是否为待浇注区域，并控制布料主机上的相应卸料门开闭。一般布料机下方设置有模台，模台上放置有多个边模，边模内安装有钢筋网，通过传感器3可以实时获取布料机下方的模台信号、钢筋网信号和边模信号等区域信号，根据不同预制件生产的需求，还可能包括其它区域信号，通常待浇注区域为边模内的钢筋网区域，对于预制件不使用钢筋网的情形，待浇注区域也可能为边模内的模台区域。传感器3可以是测距传感器，测距传感器实时获取布料机下方的模台区域到布料机的高度数据信息，然后通过数据信息处理确定传感器下方是否为待浇注区域，具体地，根据测距传感器获得信号的距离长度可以判定模台区域和边模区域，根据测距传感器信号变化的大小和频率可以判断钢筋网区域，因为边模位于模台上，高度比模台高，二者距离相差较大，同时边模的宽度较宽，测距传感器信号变化频率低，而钢筋网区域，测距传感器的信号变化频率高，且信号变化较大，根据不同区域的特点，可以判定不同区域。最后通过控制器控制卸料门2开闭实现布料机自动布料。传感器3可以是超声波传感器或激光传感器，获取布料机下方的区域信号。另外，也可以通过摄像机等成像传感器获取布料机下方图片后，通过图像处理确定布料机下方是否为待浇注区域，通过图像识别方法可以准确快速地判断各种区域。最后通过控制器控制卸料门2开闭在待浇 注区域浇注。
不论通过什么传感器3获取模台浇注区域都在本发明的保护范围。
需要说明的是，前述自动布料机控制方法可以根据布料机下方的区域信号控制卸料门2的开闭，重点在于使卸料门的开闭不再依赖于人和上位机对图形信息的输入，由于布料机工作时还需要沿着导轨移动，以使布料能够在整个模台区域进行，进一步地，卸料门2的开闭可以与布料机的移动相结合，如，控制器还根据区域信号，同时控制卸料门2的开闭时间、开闭大小和/或布料机的启停、移动速度等，这样，布料机的布料可以更加精确，作业效率和智能化程度更高。
如图2所示，本发明优选的一种自动布料机包括控制器和布料主机及多个卸料门2，卸料门2开设在布料主机的下方，具体可以在底部或侧面上，还包括用于获取模台浇注区域的传感器3，控制器用于获取传感器3的信号，并控制卸料门2开闭。控制器根据区域信号，可以判定是否为待浇注区域，从而控制卸料门的开闭。区域信号包括布料机下方的模台信号、钢筋网信号和边模信号，根据不同预制件生产的需求，还可能包括其它区域信号，通常待浇注区域为边模内的钢筋网区域，对于预制件不使用钢筋网的情形，待浇注区域也可能为边模内的模台区域。传感器3可以为测距传感器，测距传感器可以安装在布料机上任意可检测布料机与模台距离的位置，优选地安装在布料机待布料方向一侧，这样测距不会受到布料的影响，每个卸料门2相对应设置有至少一个测距传感器3，有多少个卸料门2，就有至少多少个测距传感器。测距传感器实时测量布料主机至下方物体的距离，然后经过信号处理确定布料机下方是否为待浇注区域，最后通过控制器控制卸料门2开闭，只在待浇注区域浇注，具体地，根据测距传感器获得信号的距离长度可以判定模台区域和边模区域，根据测距传感器信号变化的大小和频率可以判断钢筋网区域，因为边模位于模台上，高度比模台高，二者距离相差较大，同时边模的宽度较宽，测距传感器信号变化频率低，而钢筋网区域，测距传感器的信号变化频率高，且信号变化较大，根据不同区域的特点，可以判定不同区域。传感器3可以是超声波传感器或激光传感器等测距传感器，获取布料机到下方物体的距离信息。另外，也可以通过摄像机等成像传感器获取布料机下方物体图片后，通过图像处 理技术处理，确定待浇注区域。最后通过控制器控制卸料门2开闭实现在浇注区域浇注。
需要说明的是，本发明的布料机可以根据布料机下方的区域信号控制卸料门2的开闭，重点在于使卸料门的开闭不再依赖于人和上位机对图形信息的输入，由于布料机工作时需要沿着导轨移动，以使布料能够在整个模台区域进行，进一步地，卸料门2的开闭可以与布料机的移动相结合，如，控制器还用于根据区域信号，同时控制卸料门2的开闭时间、开闭大小和/或布料机的启停、移动速度等，这样，布料机的布料可以更加精确，作业效率和智能化程度更高。
本发明提供的一种自动布料机及自动布料机控制方法，通过传感器3获取待浇注区域，不需要依赖于人工输入的或上位机导入的图形信息，作业效率高，且减轻了操作手工作强度，另外还避免了当手工输入信息出现偏差时，而造成预制件报废或上位机与布料机通讯故障时无法自动布料的问题。传感器3可以是测距传感器，也可以是摄像机等成像传感器，摄像机获取图像后，经过图像处理软件处理，得到布料机下方是否为待浇注区域的信息。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (12)

  1. 一种自动布料机控制方法，其特征在于，通过传感器(3)实时获取布料机下方区域信号，控制器经过信号处理后，确定布料机下方是否为待浇注区域，并控制布料主机上的相应卸料门(2)开闭。
  2. 根据权利要求1所述的自动布料机控制方法，其特征在于，通过测距传感器获取布料机下方区域信号。
  3. 根据权利要求2所述的自动布料机控制方法，其特征在于，测距传感器为超声波传感器或激光传感器。
  4. 根据权利要求1所述的自动布料机控制方法，其特征在于，通过成像传感器获取布料机下方区域信号。
  5. 根据权利要求1至4任意一项所述的自动布料机控制方法，其特征在于，所述区域信号包括布料机下方的模台信号、边模信号和钢筋网信号。
  6. 根据权利要求1至4任意一项所述的自动布料机控制方法，其特征在于，所述控制器根据所述区域信号控制所述卸料门(2)的开闭时间、开闭大小，和/或，所述控制器还根据所述区域信号控制所述布料机的启停、移动速度。
  7. 一种自动布料机，包括控制器和布料主机及至少一个卸料门(2)，卸料门(2)开设在布料主机的下方，其特征在于，还包括用于获取布料机下方区域信号的传感器(3)，控制器用于实时获取传感器(3)的信号，并控制卸料门(2)开闭。
  8. 根据权利要求7所述自动布料机，其特征在于，传感器(3)为测距传感器，测距传感器安装在布料机待布料方向一侧，每个卸料门(2)相对应设置有至少一个测距传感器。
  9. 根据权利要求8所述的自动布料机，其特征在于，测距传感器为超声波传感器或激光传感器。
  10. 根据权利要求7所述自动布料机，其特征在于，传感器(3)为成像传感器，成像传感器安装在布料机下方，成像传感器为摄像机。
  11. 根据权利要求7至10任意一项所述的自动布料机，其特征在于，所述区域信号包括模台信号、边模信号和钢筋网信号。
  12. 根据权利要求7至10任意一项所述的自动布料机，其特征在于，所述控制器用于根据所述区域信号控制所述卸料门(2)的开闭时间、开闭大小，和/或，所述控制器还用于根据所述区域信号控制所述布料机的启停、移动速度。
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