阅读说明：本技术 一种冷床的自动挑头系统及对应的自动挑头方法 (Automatic head picking system of cooling bed and corresponding automatic head picking method ) 是由 可明辉 周印昊 殷园 尹志香 于 2021-08-27 设计创作，主要内容包括：本申请提供了一种冷床的自动挑头系统及对应的自动挑头方法,包括：控制单元、倍尺钢材图像采集单元和挑头装置,挑头装置包括活动挡板和活动挡板驱动机构；控制单元分别与倍尺钢材图像采集单元、活动挡板驱动机构以及冷床步进齿条的驱动机构通信连接,用于确定尾倍尺钢材的位置,并确定尾倍尺钢材的对齐位置,并在确定尾倍尺钢材从对齐辊倒数第二个卡槽到最后一个卡槽时,控制活动挡板从正常倍尺钢材的对齐位置向尾倍尺钢材的对齐位置运动,在确定尾倍尺钢材离开对齐辊的最后一个卡槽时,控制活动挡板从尾倍尺钢材的对齐位置向正常倍尺的对齐位置运动。该方案中在倍尺钢材对齐过程中将尾倍尺钢材挑选出来。该方案既提高了效率,也减少了材料浪费。(The application provides an automatic head picking system of a cooling bed and a corresponding automatic head picking method, which comprise the following steps: the device comprises a control unit, a multiple length steel image acquisition unit and a head picking device, wherein the head picking device comprises a movable baffle and a movable baffle driving mechanism; the control unit is respectively in communication connection with the multiple length steel image acquisition unit, the movable baffle driving mechanism and the driving mechanism of the cold bed stepping rack and is used for determining the position of tail multiple length steel and determining the alignment position of the tail multiple length steel, controlling the movable baffle to move from the alignment position of normal multiple length steel to the alignment position of the tail multiple length steel when determining that the tail multiple length steel moves from the penultimate clamping groove to the last clamping groove of the alignment roller, and controlling the movable baffle to move from the alignment position of the tail multiple length steel to the alignment position of the normal multiple length steel when determining that the tail multiple length steel leaves the last clamping groove of the alignment roller. In the scheme, tail multiple length steel is selected in the multiple length steel aligning process. The scheme improves the efficiency and reduces the material waste.)

1. An automatic head picking system of a cooling bed is characterized by comprising: control unit, multiple length steel image acquisition unit and device of picking up, wherein:

the head picking device comprises a movable baffle and a movable baffle driving mechanism, wherein a first end face of the movable baffle is connected with the movable baffle driving mechanism, a second end face, opposite to the first end face, of the movable baffle is arranged opposite to the end face of the last clamping groove of the cold bed alignment roller, and the second end face is used as the alignment position of the last clamping groove of the alignment roller;

the control unit is respectively in communication connection with the multiple length steel image acquisition unit, the movable baffle driving mechanism and the driving mechanism of the cold bed stepping rack, and is used for determining the position of tail multiple length steel according to a feedback signal of the driving mechanism of the stepping rack, determining the specification of the tail multiple length steel according to the image of the multiple length steel acquired by the multiple length steel image acquisition unit, further determining the alignment position of the tail multiple length steel according to the specification of the tail multiple length steel, controlling the movable baffle driving mechanism to drive the movable baffle to move from the alignment position of normal multiple length steel to the alignment position of the tail multiple length steel when determining that the tail multiple length steel is from the last slot to the last slot of the alignment roller, and when determining that the tail multiple length steel leaves the last slot of the alignment roller, and controlling the movable baffle driving mechanism to drive the movable baffle to move from the alignment position of the tail multiple length steel to the alignment position of the normal multiple length.

2. The system according to claim 1, wherein the movable baffle driving mechanism comprises a gas supply mechanism, a rod cylinder, a cylinder support and a linear displacement sensor, the gas supply mechanism is respectively connected with a rod cavity and a rodless cavity of the rod cylinder through gas guide pipes, the linear displacement sensor is in communication connection with the control unit, the rod cylinder is mounted on a frame of the cooling bed through the cylinder support, a piston rod of the rod cylinder is connected with a first end face of the movable baffle through a pin shaft, a piston rod of the rod cylinder is connected with the linear displacement sensor through a connecting rod, a signal emission end face of the linear displacement sensor is arranged in parallel with a second end face, the direction of the linear sensor is arranged in parallel with the direction of the piston rod of the rod cylinder, and when the gas supply mechanism supplies gas to the rod cavity, the piston rod drives the movable baffle plate to be far away from the alignment position of the normal multiple ruler, the linear displacement sensor determines that the second end surface stops moving when reaching the alignment position of the tail multiple ruler steel, the air supply mechanism supplies air to the rodless cavity, and the piston rod drives the movable baffle plate to be close to the alignment position of the normal multiple ruler and stops moving when reaching the alignment position of the normal multiple ruler steel.

3. The system of claim 2, wherein the gas supply mechanism comprises a ball valve, a pneumatic triple piece, an electromagnetic gas valve and two gas pipes which are connected in sequence, and the electromagnetic gas valve is respectively connected with the rod cavity and the rodless cavity of the rod cylinder through the two gas pipes.

4. The system of claim 3, wherein the solenoid gas valve is in communication with the control unit, wherein when the solenoid gas valve is energized, the gas supply mechanism delivers gas to the rod-containing chamber through the solenoid gas valve, and when the solenoid gas valve is de-energized, the gas supply mechanism delivers gas to the rodless chamber through the solenoid gas valve.

5. The system according to claim 2, wherein the flapper driving mechanism further comprises a flapper guiding mechanism, the flapper guiding mechanism comprises a bottom plate, a first side plate and a second side plate, the bottom plate, the first side plate and the second side plate are connected to form a concave groove, a guide groove is arranged on the first side plate, the flapper is sleeved in the guide groove through a side guide rod and a nut of the flapper, and the flapper is always positioned in the concave groove when the piston rod drives the flapper to move.

6. An automatic picking method for a cooling bed, which is characterized in that the automatic picking system for the cooling bed is adopted, and the method comprises the following steps:

for a batch of multiple-length steel corresponding to each section of steel billet, tracking the position of the tail multiple-length steel through the control unit, determining the specification of the tail multiple-length steel according to the image of the multiple-length steel acquired by the multiple-length steel image acquisition unit, and further determining the alignment position of the tail multiple-length steel according to the specification of the tail multiple-length steel;

when the tail multiple length steel is determined to be from the penultimate clamping groove to the last clamping groove of the aligning roller, sending a first control instruction to the movable baffle driving mechanism through the control unit, so that the movable baffle driving mechanism drives the movable baffle to move to the aligning position of the tail multiple length steel in response to the first control instruction, and driving the tail of the tail multiple length steel to move to the aligning position of the tail multiple length steel through the aligning roller after the tail multiple length steel reaches the last clamping groove of the aligning roller;

and when the tail multiple length steel leaves the last clamping groove of the aligning roller, sending a second control instruction to the movable baffle driving mechanism through the control unit, so that the movable baffle driving mechanism drives the movable baffle to move to the aligning position of the normal multiple length steel in response to the second control instruction.

7. The method of claim 6, wherein said tracking the position of the tail multiple length steel by said control unit comprises:

for a section of steel billet, after all the multiple-length steel materials after being cut by multiple lengths are loaded to each tooth socket of the stepping rack according to the sequence of the multiple-length cutting, writing a first mark value into a register corresponding to the tooth socket where each normal multiple-length steel material is located, and writing a second mark value into a register corresponding to the tooth socket where the tail multiple-length steel material is located;

in the process that the stepping rack drives the double-length steel to move forwards in a stepping mode, when the stepping rack moves forwards one step, the mark value in the register corresponding to the previous tooth socket is used for replacing the mark value of the register corresponding to the next tooth socket;

and acquiring the mark value of each register through the control unit, and determining the tooth socket corresponding to the register with the mark value as the second mark value as the position of the tail multiple length steel.

8. The method of claim 7, wherein said determining said tail multiple length steel from a penultimate pocket to a last pocket of said registration roller comprises:

and if the mark value in the register of the tooth space of the stepping rack corresponding to the penultimate slot of the alignment roller is the second mark value and the stepping rack starts to move forwards in a stepping manner, determining that the tail double-length steel material moves from the penultimate slot to the last slot of the alignment roller.

9. The method of claim 7, wherein said determining a last pocket where the tail multiple length steel exits the registration roller comprises:

and if the mark value in the register of the tooth space of the stepping rack corresponding to the last clamping groove of the aligning roller is a second mark value and the stepping rack starts to move forwards in a stepping mode, determining that the tail double-length steel leaves the last clamping groove of the aligning roller.

Technical Field

The application relates to the technical field of automatic control, in particular to an automatic head picking system of a cooling bed and a corresponding automatic head picking method.

Background

In the process of rolling a steel billet, a steel billet is generally required to be subjected to multiple-length shearing according to production specifications, then the obtained multiple-length steel is unloaded to a cooling bed to be cooled and aligned, and finally each multiple-length steel is unloaded to a cold shearing position to be subjected to fixed-length shearing, so that the fixed-length steel suitable for delivering customers is obtained. The steel billet is cut by multiple lengths to obtain a plurality of multiple-length steel materials, the tail size, the straightness and the like of the last multiple-length steel material (namely the tail multiple-length steel material) are not consistent with the product quality requirements, and therefore the tail multiple-length steel material needs to be selected before cut-to-length cutting (the selection process can be called as a picking head), and then the unqualified section of the tail is cut off.

At present, one scheme is that heads are picked manually, and unqualified tail parts of the picked tail multiple length steel are cut off, so that the scheme is high in labor intensity and low in efficiency; the other scheme is that the tail of a batch of multi-length steel is cut off directly before cut-to-length without picking head, and the qualified part of the normal multi-length steel is cut off, so that material waste is caused.

Disclosure of Invention

The purpose of this application is to solve at least one of the above technical defects, and the technical solution provided by this application embodiment is as follows:

in a first aspect, an embodiment of the present application provides an automatic picking head system for a cooling bed, including: control unit, multiple length steel image acquisition unit and device of picking up, wherein:

the head picking device comprises a movable baffle and a movable baffle driving mechanism, wherein a first end face of the movable baffle is connected with the movable baffle driving mechanism, a second end face, which is opposite to the first end face, in the movable baffle is arranged opposite to the end face of the last clamping groove of the cold bed alignment roller, and the second end face is used as the alignment position of the last clamping groove of the alignment roller;

the control unit is respectively in communication connection with the multiple-length steel image acquisition unit, the movable baffle driving mechanism and the driving mechanism of the cold bed stepping rack and is used for determining the position of the tail multiple-length steel according to the feedback signal of the driving mechanism of the stepping rack, determining the specification of the tail multiple length steel according to the image of the multiple length steel acquired by the multiple length steel image acquisition unit, further determining the alignment position of the tail multiple length steel according to the specification of the tail multiple length steel, and when determining that the tail multiple length steel is from the penultimate clamping groove to the last clamping groove of the alignment roller, the driving mechanism of the movable baffle is controlled to drive the steel material to move from the alignment position of the normal multiple length steel material to the alignment position of the tail multiple length steel material, and when the fact that the tail multiple length steel leaves the last clamping groove of the aligning roller is determined, the movable baffle driving mechanism is controlled to drive the movable baffle to move from the aligning position of the tail multiple length steel to the aligning position of the normal multiple length steel.

In an optional embodiment of the application, the driving mechanism of the movable baffle plate comprises a gas supply mechanism, a rod cylinder, a cylinder support and a linear displacement sensor, the gas supply mechanism is respectively connected with a rod cavity and a rodless cavity of the rod cylinder through gas guide pipes, the linear displacement sensor is in communication connection with the control unit, the rod cylinder is installed on a frame of the cooling bed through the cylinder support, a piston rod of the rod cylinder is connected with a first end face of the movable baffle plate through a pin shaft, the piston rod of the rod cylinder is connected with the linear displacement sensor through a connecting rod, a signal emission end face of the linear displacement sensor is arranged in parallel with a second end face, when the gas supply mechanism supplies gas to the rod cavity, the piston rod drives the movable baffle plate to be away from an alignment position of a normal multiple ruler, the movable baffle plate stops moving when the linear displacement sensor determines that the second end face reaches the alignment position of a tail multiple ruler steel material, and the direction of the linear sensor is arranged in parallel with the direction of the piston rod of the rod cylinder, when the air supply mechanism supplies air to the rodless cavity, the piston rod drives the movable baffle to be close to the alignment position of the normal multiple length steel, and the second end face stops moving when reaching the alignment position of the normal multiple length steel.

In an optional embodiment of the present application, the gas supply mechanism includes a ball valve, a pneumatic triple piece, an electromagnetic gas valve and two gas pipes connected in sequence, and the electromagnetic gas valve is connected with the rod cavity and the rodless cavity of the rod cylinder through the two gas pipes respectively.

In an optional embodiment of the present application, the electromagnetic gas valve is in communication with the control unit, the gas supply mechanism supplies gas to the rod chamber through the electromagnetic gas valve when the electromagnetic gas valve is powered on, and supplies gas to the rodless chamber through the electromagnetic gas valve when the electromagnetic gas valve is powered off.

In an optional embodiment of the application, the flapper driving mechanism further comprises a flapper guiding mechanism, the flapper guiding mechanism comprises a bottom plate, a first side plate and a second side plate, the bottom plate, the first side plate and the second side plate are connected to form a concave groove, a guide groove is arranged on the first side plate, the flapper is sleeved in the guide groove through a side guide rod and a nut of the flapper, and when the piston rod drives the flapper to move, the flapper is always positioned in the concave groove.

In a second aspect, an embodiment of the present application provides an automatic head picking method for a cooling bed, where the cooling bed head picking system provided in the embodiment of the first aspect is adopted, and the method includes:

for a batch of multiple-length steel corresponding to each section of steel billet, tracking the position of the tail multiple-length steel through a control unit, determining the specification of the tail multiple-length steel according to the image of the multiple-length steel acquired by a multiple-length steel image acquisition unit, and further determining the alignment position of the tail multiple-length steel according to the specification of the tail multiple-length steel;

when the tail multiple length steel is determined to be from the penultimate clamping groove to the last clamping groove of the aligning roller, a first control instruction is sent to the movable baffle driving mechanism through the control unit, so that the movable baffle driving mechanism responds to the first control instruction to drive the movable baffle to move to the aligning position of the tail multiple length steel, and after the tail multiple length steel reaches the last clamping groove of the aligning roller, the tail of the tail multiple length steel is driven to move to the aligning position of the tail multiple length steel through the aligning roller;

and when the tail multiple length steel leaves the last clamping groove of the aligning roller, sending a second control instruction to the movable baffle driving mechanism through the control unit so that the movable baffle driving mechanism responds to the second control instruction to drive the movable baffle to move to the aligning position of the normal multiple length steel.

In an alternative embodiment of the present application, tracking the position of the tail multiple length steel by the control unit comprises:

for a section of steel billet, after all the multiple-length steel materials after being cut by multiple lengths are loaded to each tooth socket of the stepping rack according to the sequence of the multiple-length cutting, writing a first mark value into a register corresponding to the tooth socket where each normal multiple-length steel material is located, and writing a second mark value into a register corresponding to the tooth socket where the tail multiple-length steel material is located;

in the process that the stepping rack drives the double-length steel to move forwards in a stepping mode, when the stepping rack moves forwards one step, the mark value in the register corresponding to the previous tooth socket is used for replacing the mark value of the register corresponding to the next tooth socket;

and acquiring the mark value of each register through the control unit, and determining the tooth socket corresponding to the register with the mark value as the second mark value as the position of the tail multiple length steel.

In an alternative embodiment of the present application, determining the tail multiple length steel from the penultimate pocket to the last pocket of the registration roller comprises:

and if the mark value in the register of the tooth space of the stepping rack corresponding to the penultimate slot of the alignment roller is the second mark value and the stepping rack starts to move forwards in a stepping mode, determining that the tail double-length steel material moves from the penultimate slot to the last slot of the alignment roller.

In an alternative embodiment of the present application, determining the last pocket for the tail multiple length steel to exit the registration roller comprises:

and if the mark value in the register of the tooth space of the stepping rack corresponding to the last clamping groove of the aligning roller is the second mark value and the stepping rack starts to move forwards in a stepping mode, determining that the tail double-length steel leaves the last clamping groove of the aligning roller.

The beneficial effect that technical scheme that this application provided brought is:

the movable baffle is arranged on the end face of the last clamping groove of the cold bed aligning roller, the aligning position of the tail multiple length steel is determined through the control unit, the tail multiple length steel is tracked, the movable baffle driving mechanism is controlled to drive the movable baffle to switch between the aligning position of the tail multiple length steel and the aligning position of the normal multiple length steel, the tail multiple length steel is aligned at the aligning position of the last clamping groove of the aligning roller at the tail multiple length steel, the normal multiple length steel is aligned at the aligning position of the last clamping groove of the aligning roller at the normal multiple length steel, the tail of the aligned tail multiple length steel extends for a certain distance relative to the tail of the normal multiple length steel, and then the tail multiple length steel is selected in the aligning process. This scheme need not artifical the participation, also need not to cut the afterbody of normal multiple length steel, has both improved efficiency, has also reduced the material waste.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

FIG. 1 is a top view of a cooling bed in an example of an embodiment of the present application;

FIG. 2 is a detailed view of a flapper drive mechanism and a flapper guide mechanism in one example of an embodiment of the present application;

FIG. 3 is a schematic diagram of a gas supply mechanism in one example of an embodiment of the present application;

fig. 4 is a schematic flow chart of an automatic head picking method for a cooling bed according to an embodiment of the present disclosure;

reference numerals:

1-a cylinder support; 2-a rod cylinder;

3-a piston rod; 4-a pin shaft;

5-a first side plate; 6-a movable baffle;

7-a second side plate; 8-a bottom plate;

9-a connecting rod; 10-linear displacement sensors;

11-a ball valve; 12-a pneumatic triplet;

13-an electromagnetic gas valve; 14-trachea;

15-multiple length steel; 16-a front baffle;

17-a guide bar; 18-a screw cap;

19-guide groove.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when in use, and are used only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The embodiment of the application provides an automatic system of picking head of cold bed, includes: the device comprises a control unit, a multiple length steel image acquisition unit and a picking device.

The cold shearing machine comprises a cold bed, a double-length steel, a stepping rack and an aligning roller, wherein the cold bed is provided with the stepping rack and the aligning roller, the stepping rack is used for conveying the double-length steel towards the cold shearing direction, specifically, the double-length steel is placed in a tooth groove of the stepping rack, and the double-length steel is conveyed to the next tooth groove by one step of action of the stepping rack until the double-length steel is conveyed to the aligning roller. The clamping groove of the aligning roller is arranged corresponding to part of tooth grooves of the stepping rack, and the aligning roller conveys the multiple-length steel in the clamping groove to the aligning baffle plate through rotation, so that the tail part of the multiple-length steel is aligned at the aligning baffle plate. It can be understood that the advancing direction of the multi-length steel transported by the stepping rack is perpendicular to the advancing direction of the multi-length steel transported by the aligning roller, that is, when the multi-length steel is transported to the section provided with the aligning roller by the stepping rack, the multi-length steel advances to the cold shearing position and also advances to the aligning baffle plate. The key of the scheme of this application lies in the position that control unit follows tail multiple length steel through the actuating mechanism's of step-by-step rack feedback information promptly to through the image of the multiple length steel that multiple length steel image acquisition unit gathered, determine the alignment position of tail multiple length steel among a batch multiple length steel, confirm the length that the afterbody of tail multiple length steel stretches out for the afterbody of normal multiple length steel promptly. When tail multiple length steel is at the last draw-in groove of alignment roller, adjustable fender is in the alignment position of tail multiple length steel, tail multiple length steel aligns at this alignment position, when normal multiple length steel is at the last draw-in groove of alignment roller, adjustable fender is in the alignment position of normal multiple length steel, normal multiple length steel aligns at this alignment position, because the alignment position of tail multiple length steel is different with the alignment position of normal multiple length, make the tip of tail multiple length steel outwards stretch out certain length for the steel of normal multiple length steel in cold-shearing department, realized selecting tail multiple length steel from a batch of multiple length steel promptly.

The control unit may be a PLC (Programmable Logic Controller).

Specifically, the head picking device comprises a movable baffle and a movable baffle driving mechanism, wherein a first end face of the movable baffle is connected with the movable baffle driving mechanism, a second end face, opposite to the first end face, of the movable baffle is arranged opposite to the end face of the last clamping groove of the cold bed aligning roller, and the second end face is used as the aligning position of the last clamping groove of the aligning roller.

As shown in fig. 1, which is a top view of the cooling bed, in the section where the cooling bed is provided with the alignment rollers, the multi-length steel 15 is carried in the first several pockets of the alignment rollers to move and align the front baffle 16. A movable baffle 6 is arranged right opposite to the last clamping groove of the aligning roller, a first end face of the movable baffle 6 is connected with a movable baffle driving mechanism, and a second end face of the movable baffle 6 is right opposite to the end face of the last clamping groove of the aligning roller. The movable baffle driving mechanism can drive the movable baffle 6 to be far away from the end face of the last clamping groove of the aligning roller or to be close to the end face of the last clamping groove of the aligning roller, and the aligning position of the multiple length steel is based on the position of the second end face of the movable baffle 6. For a batch of multi-length steel, the alignment position of the normal multi-length is determined, and the alignment position of the tail multi-length is determined according to the specification of the multi-length steel, namely the alignment positions of tail multi-length of different specifications are different. Then, when the multiple length steel to be aligned in the last slot of the aligning roller is tail multiple length steel, the second end surface of the movable baffle 6 should be located at the aligning position of the tail multiple length steel, and when the multiple length steel to be aligned in the last slot of the aligning roller is normal multiple length steel, the second end surface of the movable baffle 6 should be located at the aligning position of the normal multiple length steel.

Specifically, in order to select the tail multiple-length steel from the multiple-length steels, the control unit is respectively in communication connection with the multiple-length steel image acquisition unit, the movable baffle driving mechanism and the driving mechanism of the cooling bed stepping rack and is used for determining the position of the tail multiple-length steel according to a feedback signal of the driving mechanism of the stepping rack, determining the specification of the tail multiple length steel according to the image of the multiple length steel acquired by the multiple length steel image acquisition unit, further determining the alignment position of the tail multiple length steel according to the specification of the tail multiple length steel, and when determining that the tail multiple length steel is from the penultimate clamping groove to the last clamping groove of the alignment roller, the driving mechanism of the movable baffle is controlled to drive the steel material to move from the alignment position of the normal multiple length steel material to the alignment position of the tail multiple length steel material, and when the fact that the tail multiple length steel leaves the last clamping groove of the aligning roller is determined, the movable baffle driving mechanism is controlled to drive the movable baffle to move from the aligning position of the tail multiple length steel to the aligning position of the normal multiple length steel.

Referring again to fig. 1, for a plurality of multiple length steel materials a, b, c, d, e, f, g from the same billet, wherein a, b, c, d, e, f are normal multiple length steel materials, and g is tail multiple length steel materials. In order to select the tail multiple length steel g, firstly, according to the image of the batch of multiple length steel obtained by the multiple length steel image acquisition unit, image recognition is carried out to obtain the specification of the batch of multiple length steel, so as to determine the alignment position of the tail multiple length steel in the batch of multiple length steel and simultaneously track the position of the tail multiple length steel g. When the control unit determines that the tail multiple length steel g moves from the penultimate clamping groove to the last clamping groove of the aligning roller, the movable baffle driving mechanism is controlled to drive the movable baffle 6 to move to the determined aligning position of the tail multiple length steel, the moving distance is determined by the fixed value obtained by the linear displacement sensor, and then when the tail multiple length steel g reaches the last clamping groove of the aligning roller, the tail multiple length steel g is aligned on the second end face of the movable baffle 6, namely, aligned on the corresponding aligning position of the tail multiple length steel. When the previous normal multiple length steel materials, a, b, c, d, e and f are in the last clamping groove of the aligning roller, the movable baffle 6 is in the aligning position of the normal multiple length steel materials, and the normal multiple length steel materials are aligned on the second end face of the movable baffle 6, namely, aligned on the aligning position of the normal multiple length steel materials. Due to the above change of the position of the movable baffle 6, the tail multiple length steel material g extends a certain length relative to the normal multiple lengths a, b, c, d, e and f after being aligned.

And circulating the process to select the tail multiple length steel in each batch of multiple length steel. Then, because the tail multiple length steel selected each time extends outwards a little compared with the normal multiple length steel, the extended part of the tail multiple length steel can be cut off at the cold shearing position without cutting the tail part of the normal multiple length steel.

Further, the multiple-length steel materials separated from the aligning roller are arranged in order on the arrangement chain, are conveyed to a roller way before shearing through a trolley, are conveyed to a cold shearing position, the tail part of the multiple-length steel materials at the tail part is sheared to be a longer part, then are aligned at a baffle plate of the sizing machine, and the specified fixed-length steel materials are sheared through the cold shearing.

The control unit performs corresponding image processing and analysis processing according to the image acquired by the multiple-length steel image acquisition unit, so as to obtain the specification of the multiple-length steel, wherein the specification can be determined through comparative analysis of the rib diameter, the rib spacing, the transverse rib height, the transverse rib diameter and the like of the multiple-length steel. For example, if the specifications of different batches of multiple length steel materials are distinguished by the rib diameter, different alignment positions can be set for different specifications of tail multiple length steel materials, as shown in table 1 below.

Standard (Unit mm)	Alignment position of tail multiple length steel (unit mm)
		25	80
28	75
		32	70
36	65
		40	60

The alignment position of the tail multiple length steel can be the distance between the second end face of the movable baffle plate and the end face of the last clamping groove of the alignment roller when the movable baffle plate is located at the alignment position, and it can be understood that the alignment distances of normal multiple length steel with different specifications can be considered to be 0. Then, for a batch of 25mm gauge double length steel, after the completion of the heading, the tail of the tail double length steel is extended by a distance of 80mm with respect to the tail of the normal double length steel.

Furthermore, the alignment position of tail multiple length steel can be selected at will in the range of motion of adjustable fender in this application, can realize tail multiple length and stretch out electrodeless regulation of length, can set for the alignment position of tail multiple length steel of different specifications according to the demand in practical application.

The utility model provides a scheme, through setting up adjustable fender at the last draw-in groove terminal surface of cold bed alignment roller, confirm the alignment position of tail multiple length steel and trail tail multiple length steel through the control unit, control adjustable fender actuating mechanism drives adjustable fender and switches between the alignment position of alignment position and normal multiple length steel of tail multiple length steel, make tail multiple length steel align at the alignment position of the last draw-in groove of alignment roller at tail multiple length steel, normal multiple length steel aligns at the alignment position of the last draw-in groove of alignment roller in order to align at normal multiple length steel, make the afterbody of tail multiple length steel after the alignment extend certain distance for the afterbody of normal multiple length steel, and then select tail multiple length steel in the alignment process. This scheme need not artifical the participation, also need not to cut the afterbody of normal multiple length steel, has both improved efficiency, has also reduced the material waste.

In an alternative embodiment of the present application, referring again to fig. 1, the driving mechanism of the movable baffle includes a gas supply mechanism, a rod cylinder 2, a cylinder support 1 and a linear displacement sensor 10, the gas supply mechanism is connected with the rod cavity and the rodless cavity of the rod cylinder 2 through gas conduits, the linear displacement sensor 10 is connected with a control unit in communication, the rod cylinder 2 is installed on the frame of the cooling bed through the cylinder support 1, a piston rod 3 of the rod cylinder 2 is connected with a first end face of the movable baffle 6 through a pin 4, a piston rod 3 of the rod cylinder 2 is connected with the linear displacement sensor 10 through a connecting rod 9, and the center of the linear displacement sensor 10 is arranged in parallel with the center of the rod cylinder 2, when the gas supply mechanism supplies gas to the rod cavity, the piston rod 3 drives the movable baffle 6 to move away from the alignment position of the normal multiple ruler, and stops moving when the linear displacement sensor 10 determines that the second end face reaches the alignment position of the tail multiple ruler steel, when the air supply mechanism supplies air to the rodless cavity, the piston rod 3 drives the movable baffle 6 to be close to the alignment position of the normal multiple length steel, and the second end surface stops moving when reaching the alignment position of the normal multiple length steel.

In an alternative embodiment of the present application, referring again to fig. 1, and referring to fig. 2, the flapper driving mechanism further includes a flapper guiding mechanism, the flapper guiding mechanism includes a bottom plate 8, a first side plate 5 and a second side plate 7, the bottom plate 8, the first side plate 5 and the second side plate 7 are connected to form a concave groove, a guiding groove 19 is provided on the first side plate 5, the flapper 6 is sleeved in the guiding groove through a side guiding rod 17 and a nut 18, when the piston rod 3 drives the flapper to move, the flapper 6 is always located in the concave groove.

Particularly, the guide mechanism is arranged, so that the position of the movable baffle 6 can be ensured to be stable in the movement process, and the movable baffle does not rotate or deviate.

Further, as shown in fig. 3, the air supply mechanism includes a ball valve 11, a pneumatic triple piece 12, an electromagnetic air valve 13 and two air pipes 14, which are connected in sequence, and the electromagnetic air valve 13 is connected with the rod cavity and the rodless cavity of the rod cylinder 2 through the two air pipes 14 respectively.

The ball valve 11 is used as a main valve for gas inlet and outlet, and can be manually controlled. The pneumatic triplet 12 is used for air filtration, pressure regulation, air lubrication, etc. of the gas. The solenoid valve 13 is used to feed air to the rod cylinder 2 in response to commands from the control unit.

Wherein, the electromagnetic air valve 13 is connected with the control unit in a communication way, when the electromagnetic air valve 13 is powered on, the air supply mechanism supplies air to the rod cavity through the electromagnetic air valve 13, and when the electromagnetic air valve 13 is powered off, the air supply mechanism supplies air to the rodless cavity through the electromagnetic air valve 13. Specifically, when the control unit determines that the tail multiple length steel material is from the penultimate clamping groove to the last clamping groove of the aligning roller, the electromagnetic air valve 13 is controlled to be powered on, and when the control unit determines that the tail multiple length steel material is away from the last clamping groove of the aligning roller, the electromagnetic air valve 13 is controlled to be powered off.

Fig. 4 is a flowchart of a method for performing automatic picking by using a cold bed automatic picking system according to an embodiment of the present application, and as shown in fig. 4, the method may include:

step 401, for a batch of multiple-length steel corresponding to each section of steel billet, tracking the position of the tail multiple-length steel through the control unit, determining the specification of the tail multiple-length steel according to the image of the multiple-length steel acquired by the multiple-length steel image acquisition unit, and further determining the alignment position of the tail multiple-length steel according to the specification of the tail multiple-length steel.

Specifically, each steel billet is cut and sheared into a plurality of multiple-length steel products through multiple-length shearing, a tail multiple-length steel product can be obtained, and in order to subsequently select the tail multiple-length steel product, the obtained tail multiple-length steel product needs to be subjected to material basis after the multiple-length shearing, so that the position of the tail multiple-length steel product can be determined at any time. Meanwhile, the specification of the tail multiple length steel is determined according to the image of the multiple length steel acquired by the multiple length steel image acquisition unit, and the alignment position of the tail multiple length steel is further determined according to the specification of the tail multiple length steel so as to be used for subsequently controlling the position of the movable baffle.

Step 402, when it is determined that the tail multiple length steel material moves from the penultimate slot to the last slot of the aligning roller, sending a first control instruction to the movable baffle driving mechanism through the control unit, so that the movable baffle driving mechanism drives the movable baffle to move to the aligning position of the tail multiple length steel material in response to the first control instruction, and driving the tail of the tail multiple length steel material to move to the aligning position of the tail multiple length steel material through the aligning roller after the tail multiple length steel material reaches the last slot of the aligning roller.

Specifically, the movable baffle needs to be driven to the alignment position of the tail multiple length steel before the tail multiple length steel reaches the last clamping groove of the alignment roller, so as to ensure that the tail multiple length steel is aligned at the alignment position of the tail multiple length steel when the tail multiple length steel is aligned with the last clamping groove of the alignment roller. Therefore, when the tail multiple length steel is determined to be from the penultimate clamping groove to the last clamping groove of the aligning roller, a first control instruction is sent to the movable baffle driving mechanism through the control unit, so that the movable baffle driving mechanism drives the movable baffle to move to the aligning position of the tail multiple length steel in response to the first control instruction. In the process, when the linear displacement sensor detects that the second end face of the movable baffle reaches the alignment position of the tail double-length steel, the linear displacement sensor feeds back an in-place signal to the control unit, the control unit responds to the in-place signal to send a stop signal to the movable baffle driving mechanism, and the movable baffle driving mechanism responds to the stop signal to drive the movable baffle to stop moving. And the tail multiple length steel comes from the normal multiple length steel of a steel billet, passes through the last clamping groove of the aligning roller before the tail multiple length steel and is aligned at the aligning position of the normal multiple length steel. In summary, for each batch of multiple-length steel, the alignment position of the last slot of the alignment roller is switched, so that the tail of the tail multiple-length steel extends outwards for a part compared with the tail of the normal multiple-length steel, and the tail multiple-length steel can be selected.

Specifically, the control unit determines the alignment position of the tail multiple length steel in a batch of multiple length steel according to the specification of the batch of multiple length steel, then when the tail multiple length steel in the batch of multiple length steel moves from the penultimate clamping groove of the alignment roller to the last clamping groove, the control center controls the movable baffle driving mechanism to drive the movable baffle to move to the alignment position of the tail multiple length steel, the linear displacement sensor can feed back the position value of the second end face of the movable baffle to the control center in real time in the moving process, when the position value fed back by the linear displacement sensor is consistent with the alignment position of the tail multiple length steel determined by the control center, namely the movable baffle is in place to reach the alignment position of the tail multiple length steel, then the control unit sends a stop signal to the movable baffle, and the movable baffle stops moving. It can be understood that the position of the movable baffle can be adjusted steplessly within the movement range of the movable baffle, and only the control center needs to determine the alignment position of the tail multiple length steel in advance.

And 403, when it is determined that the tail multiple length steel leaves the last clamping groove of the aligning roller, sending a second control instruction to the movable baffle driving mechanism through the control unit, so that the movable baffle driving mechanism drives the movable baffle to move to the aligning position of the normal multiple length steel in response to the second control instruction.

Specifically, when the tail multiple length steel leaves the last clamping groove of the aligning roller, which indicates that the selection of the tail multiple length steel in one batch of multiple length steel is completed, the movable baffle is switched to the aligning position of the normal multiple length steel again to select the tail multiple length steel in the next batch of multiple length steel. And circulating the position switching process of the movable baffle plate, and continuously selecting the tail multiple length steel in multiple batches of multiple length steel.

The utility model provides a scheme, through setting up adjustable fender at the last draw-in groove terminal surface of cold bed alignment roller, confirm the alignment position of tail multiple length steel and trail tail multiple length steel through the control unit, control adjustable fender actuating mechanism drives adjustable fender and switches between the alignment position of alignment position and normal multiple length steel of tail multiple length steel, make tail multiple length steel align at the alignment position of the last draw-in groove of alignment roller at tail multiple length steel, normal multiple length steel aligns at the alignment position of the last draw-in groove of alignment roller in order to align at normal multiple length steel, make the afterbody of tail multiple length steel after the alignment extend certain distance for the afterbody of normal multiple length steel, and then select tail multiple length steel in the alignment process. This scheme need not artifical the participation, also need not to cut the afterbody of normal multiple length steel, has both improved efficiency, has also reduced the material waste.

In an alternative embodiment of the present application, tracking the position of the tail multiple length steel by the control unit comprises:

for a section of steel billet, after all the multiple-length steel materials after being cut by multiple lengths are loaded to each tooth socket of the stepping rack according to the sequence of the multiple-length cutting, writing a first mark value into a register corresponding to the tooth socket where each normal multiple-length steel material is located, and writing a second mark value into a register corresponding to the tooth socket where the tail multiple-length steel material is located;

in the process that the stepping rack drives the double-length steel to move forwards in a stepping mode, when the stepping rack moves forwards one step, the mark value in the register corresponding to the previous tooth socket is used for replacing the mark value of the register corresponding to the next tooth socket;

and acquiring the mark value of each register through the control unit, and determining the tooth socket corresponding to the register with the mark value as the second mark value as the position of the tail multiple length steel.

The control unit may set a corresponding register for each tooth space of the stepping rack, where each register is used to store a mark value of the multiple length steel material loaded on the tooth space corresponding to the memory, and the mark value is recorded as a first mark value if the mark value is a normal multiple length steel material, and is recorded as a second mark value if the mark value is a tail multiple length steel material. Because the number of tooth grooves on the stepping rack of the cooling bed is certain, the number of clamping grooves of the aligning roller is also certain, and part of the tooth grooves correspond to the clamping grooves, the control unit can determine whether the multi-length steel loaded by the penultimate clamping groove is tail multi-length steel as long as the control unit knows the mark value in the register of the tooth groove corresponding to the penultimate clamping groove.

Specifically, in the process that the stepping rack drives the double-length steel to move forwards in a stepping mode, each time the stepping rack moves forwards, the mark value of the register corresponding to the next tooth socket is replaced by the mark value of the register corresponding to the previous tooth socket, the mark value of each register is obtained through the control unit, the tooth socket corresponding to the register with the mark value being the second mark value is determined as the position of the tail double-length steel, and whether the tail double-length steel reaches the clamping groove of the aligning roller is further determined.

Specifically, a batch of multiple-length steel is obtained after a billet is subjected to multiple-length shearing, a hot metal detector is arranged at the position of the multiple-length shearing, and when a detection signal is lost (anti-interference protection is provided), the tail multiple-length steel in the batch of multiple-length steel is considered to be obtained, so that multiple-length cutting is completed. According to the length and the production specification of the steel billet, the number of the batch of the multiple-length steel can be calculated, next, the multiple-length cutting sequence (finally, the tail multiple-length steel is obtained by cutting) is used for loading each multiple-length steel into the tooth socket of the stepping rack, a first mark value (such as 1) is written into a register of the tooth socket loaded with the normal multiple-length steel, and a second mark value (such as 2) is written into a register of the tooth socket loaded with the tail multiple-length steel.

Further, determining that the tail multiple length steel material is from the penultimate clamping groove to the last clamping groove of the aligning roller comprises the following steps:

and if the mark value in the register of the tooth space of the stepping rack corresponding to the penultimate slot of the alignment roller is the second mark value and the stepping rack starts to move forwards in a stepping mode, determining that the tail double-length steel material moves from the penultimate slot to the last slot of the alignment roller.

Further, determining the last slot for the tail multiple length steel to leave the aligning roller comprises:

and if the mark value in the register of the tooth space of the stepping rack corresponding to the last clamping groove of the aligning roller is the second mark value and the stepping rack starts to move forwards in a stepping mode, determining that the tail double-length steel leaves the last clamping groove of the aligning roller.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.