Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Batch full-automatic binding control system and method thereof
The embodiment of the invention discloses a batch full-automatic binding control system and a method thereof. The system is characterized in that a control unit calculates the placement position of a reinforcing steel bar by constructing a coordinate system with the upper left corner of a platform as the original point, the ground plane as the horizontal plane, the x-axis parallel to a portal frame, the y-axis perpendicular to the portal frame and the z-axis perpendicular to the ground; and the fixing groove system provides a groove position for fixing the transverse bar according to the calculated placing position. The grabbing sensing subsystem identifies the reinforcing steel bars and determines the three-dimensional coordinates of the reinforcing steel bars; the grabbing subsystem sequentially grabs all the transverse ribs and places the transverse ribs in the groove positions, and then grabs the vertical ribs and places the vertical ribs in the designated positions. The binding sensing subsystem identifies the cross knot and determines the position of the cross knot after the vertical rib is placed each time; and the binding subsystem binds the reinforcing steel bars according to the position of the cross knot and the coordinates of the cross point. By means of the system, full-automatic steel bar grabbing and binding and finished product moving can be achieved, and the steel bar binding efficiency and precision are improved.
本发明实施例公开了一种批量全自动绑扎控制系统及其方法。所述系统包括：控制单元通过构建以平台左上角为原点，地平面为水平面，x轴平行于龙门架，y轴垂直于龙门架，z轴垂直于地面的坐标系，计算钢筋摆放位置；固定槽系统根据计算的摆放位置提供固定横筋的槽位。抓取感知子系统识别钢筋并确定其三维坐标；抓取子系统依序抓取所有横筋并放置到槽位，然后抓取竖筋并放置到指定位置。绑扎感知子系统在每次放置竖筋后识别十字结并确定其位置；绑扎子系统根据十字结位置和交叉点坐标对钢筋进行绑扎。通过本发明实施例的系统可实现全自动进行钢筋抓取、绑扎以及移动成品，提高钢筋绑扎效率以及精度。
Batch full-automatic binding control system and method thereof
The embodiment of the invention discloses a batch full-automatic binding control system and a method thereof. The system is characterized in that a control unit calculates the placement position of a reinforcing steel bar by constructing a coordinate system with the upper left corner of a platform as the original point, the ground plane as the horizontal plane, the x-axis parallel to a portal frame, the y-axis perpendicular to the portal frame and the z-axis perpendicular to the ground; and the fixing groove system provides a groove position for fixing the transverse bar according to the calculated placing position. The grabbing sensing subsystem identifies the reinforcing steel bars and determines the three-dimensional coordinates of the reinforcing steel bars; the grabbing subsystem sequentially grabs all the transverse ribs and places the transverse ribs in the groove positions, and then grabs the vertical ribs and places the vertical ribs in the designated positions. The binding sensing subsystem identifies the cross knot and determines the position of the cross knot after the vertical rib is placed each time; and the binding subsystem binds the reinforcing steel bars according to the position of the cross knot and the coordinates of the cross point. By means of the system, full-automatic steel bar grabbing and binding and finished product moving can be achieved, and the steel bar binding efficiency and precision are improved.
本发明实施例公开了一种批量全自动绑扎控制系统及其方法。所述系统包括：控制单元通过构建以平台左上角为原点，地平面为水平面，x轴平行于龙门架，y轴垂直于龙门架，z轴垂直于地面的坐标系，计算钢筋摆放位置；固定槽系统根据计算的摆放位置提供固定横筋的槽位。抓取感知子系统识别钢筋并确定其三维坐标；抓取子系统依序抓取所有横筋并放置到槽位，然后抓取竖筋并放置到指定位置。绑扎感知子系统在每次放置竖筋后识别十字结并确定其位置；绑扎子系统根据十字结位置和交叉点坐标对钢筋进行绑扎。通过本发明实施例的系统可实现全自动进行钢筋抓取、绑扎以及移动成品，提高钢筋绑扎效率以及精度。
Batch full-automatic binding control system and method thereof
批量全自动绑扎控制系统及其方法
ZHENG DONG (Autor:in) / ZHUANG QINGYUN (Autor:in) / ZHU XIANG (Autor:in) / XU YUJIE (Autor:in) / LIU HAO (Autor:in) / JIAO KELIANG (Autor:in)
31.12.2024
Patent
Elektronische Ressource
Chinesisch
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