Research On Adjustment Control System Of Conveying Robot For Round Steel Bar

Before cold shearing in the finishing process of round steel bar production line in steel plant,it is necessary to distribute round steel bars evenly to facilitate the cold shearing machine to cut as required.So,the positions of round steel bars on the roller table need to be adjusted by worker in advance.This work called spacing and positioning of steel bar.Traditional labor operations not only slow down the pace of production and enhance labor intensity in high temperature environment,but also have certain safety hazards caused by improper manual adjustment.To realize the automation of spacing and positioning of steel bar,this paper proposes an automatic handling method on round steel roller table,which adopts a conveying robot and studies its task assignment and path planning,to achieve the goal of uniform adjustment of the position of round steel on the roller table before cold shearing in finishing process.The research content of this paper includes the following parts.Part I: According to the on-site production requirements of three types of pass cutting edges and roller tables of circular steel cold shearing machine,the positioning method of changing one of the four-roll to another is analyzed and proposed.The system is carried out to define the spatial layout of the four-roll changing positioning device,visual rotation positioning device,and two-degree-of-freedoms conveying robots based on mature CAE software.Consider of the dust-proof light source of the visual rotary positioning device and the cooling requirements of the visual camera,the machine visual positioning of the round steel bars would have been ensured.Part II: Analyze the random arrangement condition of round steel on the roll table,and the best arrangement of round steel on the roller table is given,so the method of sorting planning of round steel on roller table is proposed.According to three conveying robots on two handling tracks,the optimal motion planning of round steel handling time sequence based on artificial fish swarm algorithm is constructed to guide the conveying robots to move round steel to the best position on different tracks.Part III: The conveying robot is adopted to realize the uniform adjustments of the round steel bars on the roller table.The lift forces of different round steel bars are determined,so the corresponding hydraulic system is definite.The appropriate hydraulic cylinder and hydraulic components are designed and selected,so a two-degree-of-freedom hydraulic conveying robot is integrated.The system schematic diagram of jacking hydraulic cylinder and transverse hydraulic cylinder is designed to realize that each two-degree-of-freedom hydraulic handling machine can produce fast transverse steel moving and vertical steel taking and unloading.Part IV: Combined with the work flow of the conveying robot system on the steel roller table,the programmable control design of circular steel handling is completed based on the mature industrial control platform.By using the human-computer interaction interface and touch screen technology,the on-line setting of input and output parameters of the control system is realized,and the working state of the round steel roller table conveying robot and other equipment can be monitored in real time.The online operation of the system shows that the conveying robot can complete the steel moving operation in 8.6 seconds,and the handling accuracy is within 5 millimeters.The successful development of the system provides a practical case for the automatic finishing of the whole process of round steel,and is of great significance to the intelligent development of the iron and steel industry.