CN102941290A - Steel bar bending machine and steel bar bending machine control method - Google Patents
Steel bar bending machine and steel bar bending machine control method Download PDFInfo
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- CN102941290A CN102941290A CN2012104640703A CN201210464070A CN102941290A CN 102941290 A CN102941290 A CN 102941290A CN 2012104640703 A CN2012104640703 A CN 2012104640703A CN 201210464070 A CN201210464070 A CN 201210464070A CN 102941290 A CN102941290 A CN 102941290A
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Abstract
The invention provides a steel bar bending machine, which comprises a steel bar transmission track, a twisting shaft, a bending servo shaft, a driving mechanism and a control unit. The control unit comprises an angle input subunit, an angle calculation subunit and a driving control subunit, wherein the angle input subunit is used for receiving an input steel bar bending angle; the angle calculation subunit is used for calculating the rotating angle of the bending servo shaft according to the steel bar bending angle; and the driving control subunit is used for controlling the driving mechanism to enable the bending servo shaft to move forwards for the rotating angle. The invention additionally provides a corresponding steel bar bending machine control method. By calculating the turning angle of the bending servo shaft according to the steel bar bending angle, the setting of a compensation value is avoided and the accurate bending of steel bars can be realized without needing a large storage space.
Description
Technical field
The present invention relates to the stirrup bender field, more particularly, relate to a kind of hoop bender and hoop bender control method.
Background technology
Hoop bender is a kind of machining tool to the reinforcing bar operation, is used for the bar bending predetermined angular, thereby reinforcing bar is used in different occasions.
Along with the development of technology, hoop bender develops into full-automatic numerical control equipment gradually by manual operating equipment, and namely operating personnel only need input angle of bend and can automatically reinforcing bar be processed into reservation shape.When existing hoop bender is controlled in the bar bending angle, the offset in the time of need to setting crooked different angles according to experiment.
Yet, will bring very large inconvenience to the user by testing to obtain the compensate for bend data, during use a lot of compensating parameters need to be set, and be difficult to accomplish the accuracy of each point of 0-180 degree scope.If need to guarantee that every bit is all accurate, then need a large amount of memory spaces to store offset.
Summary of the invention
The technical problem to be solved in the present invention is, needs the problem of a large amount of memory spaces when obtaining inconvenience and high accuracy for above-mentioned hoop bender angle of bend offset, and a kind of hoop bender and hoop bender control method are provided.
The technical scheme that the present invention solves the problems of the technologies described above is, a kind of hoop bender is provided, comprises the reinforcing bar transporting rail, be fixed on reinforcing bar transporting rail one side and periphery and this reinforcing bar transporting rail tangent turn round axle, running orbit and cross over the crooked axis servomotor of described reinforcing bar transporting rail, drive the driving mechanism that the center of circle of center outside this bending axis servomotor of described crooked axis servomotor rotates and the control module of controlling described driving mechanism; Described control module comprises angle input subelement, angle calculation subelement and drives the control subelement; Wherein: described angle input subelement is used for receiving the bar bending angle of inputting; Described angle calculation subelement is used for the rotational angle according to the crooked axis servomotor of described bar bending angle calculation; Described driving control subelement; Be used for the control driving mechanism and make the described crooked axis servomotor described rotational angle that moves ahead.
In hoop bender of the present invention, the described center of circle be positioned on the reinforcing bar transporting rail and this center of circle to the distance at crooked axis servomotor center and this center of circle to the difference of the distance of turning round the axle center greater than turning round axle radius and crooked axis servomotor radius sum.
In hoop bender of the present invention, the initial position of described crooked axis servomotor for the periphery of this bending axis servomotor tangent with the reinforcing bar transporting rail and be positioned at described reinforcing bar transporting rail turn round the relative side of axle.
In hoop bender of the present invention, described angle calculation subelement calculates the rotational angle β of crooked axis servomotor by following formula:
l1
2+l2
2-2×l1×l2×cos(β-β0)=l，
l1
2+l
2-2×l1×l×cos(β3)=l2，
cos(β2)×l=R1+R2，
α=2π-β3-β2-θ，
Wherein l1 is that the center of circle is to the distance of turning round the axle center, l2 be the center of circle arrive crooked axis servomotor center distance, center and the center of circle that β 0 is crooked axis servomotor from periphery and the tangent position movement of reinforcing bar transporting rail level to this bending axis servomotor, turn round axle and be centered close to the angle that same straight line rotates, l is the distance of turning round between axle center and the crooked axis servomotor center, β 3 for the center of circle and turn round axle center place straight line and turn round the axle center and place, crooked axis servomotor center straight line between angle, β 2 is the angle between the normal of the tangent line of the reinforcing bar after turning round axle center and crooked axis servomotor center place straight line and turning round axle center and bending, θ is the center of circle and turns round axle center place straight line and turn round angle between the normal of horizontal line tangent line of axle that α is the bar bending angle.
In hoop bender of the present invention, described hoop bender also comprises steel bar traction mechanism, is used for the reinforcing bar on the reinforcing bar transporting rail is drawn to the precalculated position.
The present invention also provides a kind of hoop bender control method, and described hoop bender comprises the reinforcing bar transporting rail, be fixed on reinforcing bar transporting rail one side and periphery and this reinforcing bar transporting rail tangent turn round axle, running orbit crosses over the crooked axis servomotor of described reinforcing bar transporting rail, drives the driving mechanism that the center of circle of center outside this bending axis servomotor of described crooked axis servomotor rotates and the control module of controlling described driving mechanism; The method may further comprise the steps:
(a) control module receives the bar bending angle of input;
(b) control module is according to the rotational angle of the crooked axis servomotor of described bar bending angle calculation;
(c) control module control driving mechanism makes the described crooked axis servomotor described rotational angle that moves ahead.
In hoop bender control method of the present invention, the described center of circle be positioned on the reinforcing bar transporting rail and this center of circle to the distance of turning round the axle center and this center of circle to crooked axis servomotor center the difference of distance greater than turning round axle radius and crooked axis servomotor radius sum.
In hoop bender control method of the present invention, the initial position of described crooked axis servomotor for the periphery of this bending axis servomotor tangent with the reinforcing bar transporting rail and be positioned at described reinforcing bar transporting rail turn round the relative side of axle.
In hoop bender control method of the present invention, calculate the rotational angle β of crooked axis servomotor in the described step (b) by following formula:
l1
2+l2
2-2×l1×l2×cos(β-β0)=l，
l1
2+l
2-2×l1×l×cos(β3)=l2，
cos(β2)×l=R1+R2，
α=2π-β3-β2-θ，
Wherein l1 is that the center of circle is to the distance of turning round the axle center, l2 be the center of circle arrive crooked axis servomotor center distance, center and the center of circle that β 0 is crooked axis servomotor from periphery and the tangent position movement of reinforcing bar transporting rail level to this bending axis servomotor, turn round axle and be centered close to the angle that same straight line rotates, l is the distance of turning round between axle center and the crooked axis servomotor center, β 3 for the center of circle and turn round axle center place straight line and turn round the axle center and place, crooked axis servomotor center straight line between angle, β 2 is the angle between the normal of the tangent line of the reinforcing bar after turning round axle center and crooked axis servomotor center place straight line and turning round axle center and bending, θ is the center of circle and turns round axle center place straight line and turn round angle between the normal of horizontal line tangent line of axle that α is the bar bending angle.
In hoop bender control method of the present invention, described step (c) comprises before: the reinforcing bar on the reinforcing bar transporting rail is drawn to the precalculated position.
Hoop bender of the present invention and hoop bender control method are calculated crooked axis servomotor operation angle by angle of bend, thereby have been avoided the offset setting, need not the accurate bending that large memory space can be realized reinforcing bar.
Description of drawings
Fig. 1 is the schematic diagram of hoop bender embodiment of the present invention.
Fig. 2 is the high-level schematic functional block diagram of the control module of hoop bender.
Fig. 3 is the control principle drawing of hoop bender of the present invention.
Fig. 4 is the schematic flow sheet of hoop bender control method embodiment of the present invention.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, be the schematic diagram of hoop bender embodiment of the present invention.Hoop bender in the present embodiment comprises reinforcing bar transporting rail 11, turns round axle 12, crooked axis servomotor 13, driving mechanism and control module, wherein: turn round that axle 12 is fixed on reinforcing bar transporting rail 11 1 sides and this periphery and reinforcing bar transporting rail 11 of turning round axle 12 is tangent: crooked axis servomotor 13 can be movable in the both sides of reinforcing bar transporting rail 15, and running orbit 15 that namely should bending axis servomotor 13 centers (axle) is crossed over reinforcing bar transporting rails 11; Driving mechanism is positioned at outside the crooked axis servomotor 13 around this center of circle 16 of center of circle 16(for the center that drives crooked axis servomotor 13) rotate; Control module is used for the control driving mechanism.
Above-mentioned driving mechanism can comprise motor, and it drives crooked axis servomotor 13 by structures such as gear, chain and/or transmission support arms and rotates around the center of circle.Correspondingly, control module can be integrated into the equipment such as the control frequency converter of motor rotation or servo-driver.
As shown in Figure 2, be the schematic diagram of control module embodiment.This control module 14 comprises angle input subelement 141, angle calculation subelement 142 and drives control subelement 143.When control module was positioned at frequency converter or servo-driver, above-mentioned angle input subelement 141, angle calculation subelement 142 and driving control subelement 143 can be realized by the element that operates on frequency converter or the servo-driver.
The rotational angle that angle calculation subelement 142 is used for according to the crooked axis servomotor 13 of bar bending angle calculation.The utilization of angle calculation subelement 142 in the present embodiment is turned round the relations such as the size, position of axle 12, crooked axis servomotor 13, and the bar bending angle is converted into the angle of crooked axis servomotor 13 required rotations, controls thereby avoided the using compensation value to carry out bending.
By the way, control module need not to store offset with large memory space, and need not to obtain by experiment offset under the prerequisite of the control accuracy that guarantees angle of bend.
Especially, in the above-mentioned hoop bender, the center of circle 16(that crooked axis servomotor 13 rotates is the center of the center running orbit 15 of crooked axis servomotor 13) be positioned on the reinforcing bar transporting rail 11, and this center of circle 16 is to the distance at the center of crooked axis servomotor 13 and this center of circle 16 to the difference of the distance at the center of the turning round axle 12 radius sum greater than the radius of turning round axle 12 and crooked axis servomotor 13, namely turn round axle 12 between crooked axis servomotor 13 and the center of circle 16, and crooked axis servomotor 13 can not touch in rotation process and turns round axle 12.
The initial position of above-mentioned crooked axis servomotor 13 as shown in Figure 3, at this initial position, the periphery of crooked axis servomotor 13 and reinforcing bar transporting rail 11 tangent and should bending axis servomotor 13 with turn round the both sides that axle is positioned at reinforcing bar transporting rail 11.
Below illustrate the rotational angle Computing Principle of angle calculation subelement 142.As shown in Figure 3, crooked axis servomotor 13 is its initial position, and crooked axis servomotor 13 ' is finished position behind the bar bending for it, then in the triangle that the center by the center of circle 16, the center of turning round axle 12, crooked axis servomotor 13 ' consists of, decides Li Kede by cosine:
l1
2+l2
2-2×l1×l2×cos(β-β0)=l （1）
l1
2+l
2-2×l1×l×cos(β3)=l2 （2）
Wherein l1 is that the center of circle 16 is to the distance at the center of turning round axle 12, l2 is that the center of circle 16 is to the distance at the center of crooked axis servomotor 13 ', β 0 for crooked axis servomotor from initial position (being periphery and the tangent position of reinforcing bar transporting rail level) move to this bending axis servomotor center and the center of circle, turn round axle and be centered close to the angle that same straight line rotates, l is the distance of turning round between the center of the center of axle 12 and crooked axis servomotor 13 ', and β is that crooked axis servomotor 13 is from initial position to the rotational angle of finishing bar bending.
In addition, according to the similar triangles theorem, can get:
cos(β2)×l=R1+R2 （3）
α=2π-β3-β2-θ （4）
Wherein β 3 for the center of circle 16 and turn round place, the center straight line of axle 12 and turn round the center of axle 12 and place, the center straight line of crooked axis servomotor 13 ' between angle, β 2 for place, the center straight line of the center of turning round axle 12 and crooked axis servomotor 13 ' and turn round the center of axle 12 and the normal of the tangent line of the reinforcing bar after its bending between angle, θ is the angle between the normal of the center of circle 16 and place, the center straight line of turning round axle 12 and the horizontal line tangent line of turning round axle 12, and α is the bar bending angle.
In four above-mentioned formula, owing to turn round that axle 12 is fixedly installed and the initial position of crooked axis servomotor 13 is fixed, so θ and β 0 are determined value.Thus, can according to formula (1)-(4), can find the solution and obtain rotational angle β corresponding to crooked axis servomotor corresponding to bar bending angle [alpha].
Certainly, in concrete the application, also can make crooked axis servomotor 13 in the center of circle 16 and turn round between the axle 12, and the rotational angle by crooked axis servomotor 13 corresponding to similar size and position relationship calculating angle of bend.
In above-mentioned hoop bender, also can comprise a steel bar traction mechanism, be used for the reinforcing bar on the reinforcing bar transporting rail is drawn to the precalculated position.
As shown in Figure 4, be the schematic flow sheet of hoop bender control method embodiment of the present invention, wherein hoop bender comprises the reinforcing bar transporting rail, is fixed on reinforcing bar transporting rail one side and periphery and this reinforcing bar transporting rail tangent turn round axle, running orbit and crosses over the driving mechanism that rotates in the center of circle of center outside this bending axis servomotor of the crooked axis servomotor of reinforcing bar transporting rail, the crooked axis servomotor of driving and the control module of control driving mechanism; The method may further comprise the steps:
Step S41: control module receives the bar bending angle of input.
Step S42: control module is according to the rotational angle of the crooked axis servomotor of described bar bending angle calculation.
Step S43: control module control driving mechanism makes the described crooked axis servomotor described rotational angle that moves ahead.
In above-mentioned hoop bender control method, the center of circle be positioned on the reinforcing bar transporting rail and this center of circle to the distance of turning round the axle center and this center of circle to crooked axis servomotor center the difference of distance greater than turning round axle radius and crooked axis servomotor radius sum.The initial position of crooked axis servomotor for the periphery of this bending axis servomotor tangent with the reinforcing bar transporting rail and be positioned at described reinforcing bar transporting rail turn round the relative side of axle.
Calculate the rotational angle β of crooked axis servomotor among the step S42 by following formula:
l1
2+l2
2-2×l1×l2×cos(β-β0)=l，
l1
2+l
2-2×l1×l×cos(β3)=l2，
cos(β2)×l=R1+R2，
α=2π-β3-β2-θ，
Wherein l1 is that the center of circle is to the distance of turning round the axle center, l2 be the center of circle arrive crooked axis servomotor center distance, center and the center of circle that β 0 is crooked axis servomotor from periphery and the tangent position movement of reinforcing bar transporting rail level to this bending axis servomotor, turn round axle and be centered close to the angle that same straight line rotates, l is the distance of turning round between axle center and the crooked axis servomotor center, β 3 for the center of circle and turn round axle center place straight line and turn round the axle center and place, crooked axis servomotor center straight line between angle, β 2 is the angle between the normal of the tangent line of the reinforcing bar after turning round axle center and crooked axis servomotor center place straight line and turning round axle center and bending, θ is the center of circle and turns round axle center place straight line and turn round angle between the normal of horizontal line tangent line of axle that α is the bar bending angle.
Before step S43, also can comprise: the reinforcing bar on the reinforcing bar transporting rail is drawn to the precalculated position.
The above; only for the better specific embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (10)
1. hoop bender is characterized in that: comprise the reinforcing bar transporting rail, be fixed on reinforcing bar transporting rail one side and periphery and this reinforcing bar transporting rail tangent turn round axle, running orbit and cross over the crooked axis servomotor of described reinforcing bar transporting rail, drive the driving mechanism that the center of circle of center outside this bending axis servomotor of described crooked axis servomotor rotates and the control module of controlling described driving mechanism; Described control module comprises angle input subelement, angle calculation subelement and drives the control subelement; Wherein: described angle input subelement is used for receiving the bar bending angle of inputting; Described angle calculation subelement is used for the rotational angle according to the crooked axis servomotor of described bar bending angle calculation; Described driving control subelement; Be used for the control driving mechanism and make the described crooked axis servomotor described rotational angle that moves ahead.
2. hoop bender according to claim 1 is characterized in that: the described center of circle be positioned on the reinforcing bar transporting rail and this center of circle to the distance at crooked axis servomotor center and this center of circle to the difference of the distance of turning round the axle center greater than turning round axle radius and crooked axis servomotor radius sum.
3. hoop bender according to claim 2 is characterized in that: the initial position of described crooked axis servomotor for the periphery of this bending axis servomotor tangent with the reinforcing bar transporting rail and be positioned at described reinforcing bar transporting rail turn round the relative side of axle.
4. hoop bender according to claim 3, it is characterized in that: described angle calculation subelement calculates the rotational angle of crooked axis servomotor by following formula
:
，
Wherein l1 be the center of circle to the distance of turning round the axle center, l2 be the center of circle arrive crooked axis servomotor center distance,
For center and the center of circle of crooked axis servomotor from periphery and the tangent position movement of reinforcing bar transporting rail level to this bending axis servomotor, turn round axle and be centered close to the angle that same straight line rotates, l is the distance of turning round between axle center and the crooked axis servomotor center,
For the center of circle and turn round axle center place straight line and turn round the axle center and place, crooked axis servomotor center straight line between angle,
Be the angle between the normal of the tangent line of the reinforcing bar after turning round axle center and crooked axis servomotor center place straight line and turning round axle center and bending,
For the center of circle and turn round axle center place straight line and turn round angle between the normal of horizontal line tangent line of axle,
Be the bar bending angle.
5. hoop bender according to claim 4, it is characterized in that: described hoop bender also comprises steel bar traction mechanism, is used for the reinforcing bar on the reinforcing bar transporting rail is drawn to the precalculated position.
6. hoop bender control method is characterized in that: described hoop bender comprises the reinforcing bar transporting rail, be fixed on reinforcing bar transporting rail one side and periphery and this reinforcing bar transporting rail tangent turn round axle, running orbit crosses over the crooked axis servomotor of described reinforcing bar transporting rail, drives the driving mechanism that the center of circle of center outside this bending axis servomotor of described crooked axis servomotor rotates and the control module of controlling described driving mechanism; The method may further comprise the steps:
(a) control module receives the bar bending angle of input;
(b) control module is according to the rotational angle of the crooked axis servomotor of described bar bending angle calculation;
(c) control module control driving mechanism makes the described crooked axis servomotor described rotational angle that moves ahead.
7. hoop bender control method according to claim 6 is characterized in that: the described center of circle be positioned on the reinforcing bar transporting rail and this center of circle to the distance of turning round the axle center and this center of circle to crooked axis servomotor center the difference of distance greater than turning round axle radius and crooked axis servomotor radius sum.
8. hoop bender control method according to claim 7 is characterized in that: the initial position of described crooked axis servomotor for the periphery of this bending axis servomotor tangent with the reinforcing bar transporting rail and be positioned at described reinforcing bar transporting rail turn round the relative side of axle.
9. hoop bender control method according to claim 8 is characterized in that: the rotational angle that calculates crooked axis servomotor in the described step (b) by following formula
:
，
，
Wherein l1 be the center of circle to the distance of turning round the axle center, l2 be the center of circle arrive crooked axis servomotor center distance,
For center and the center of circle of crooked axis servomotor from periphery and the tangent position movement of reinforcing bar transporting rail level to this bending axis servomotor, turn round axle and be centered close to the angle that same straight line rotates, l is the distance of turning round between axle center and the crooked axis servomotor center,
For the center of circle and turn round axle center place straight line and turn round the axle center and place, crooked axis servomotor center straight line between angle,
Be the angle between the normal of the tangent line of the reinforcing bar after turning round axle center and crooked axis servomotor center place straight line and turning round axle center and bending,
For the center of circle and turn round axle center place straight line and turn round angle between the normal of horizontal line tangent line of axle,
Be the bar bending angle.
10. hoop bender control method according to claim 6, it is characterized in that: described step (c) comprises before: the reinforcing bar on the reinforcing bar transporting rail is drawn to the precalculated position.
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|---|---|---|---|
| CN201210464070.3A CN102941290B (en) | 2012-11-16 | 2012-11-16 | Steel bar bending machine and steel bar bending machine control method |
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|---|---|---|---|
| CN201210464070.3A CN102941290B (en) | 2012-11-16 | 2012-11-16 | Steel bar bending machine and steel bar bending machine control method |
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| CN103778523A (en) * | 2014-01-09 | 2014-05-07 | 武汉猎隼科技有限公司 | Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof |
| CN111346990A (en) * | 2020-03-13 | 2020-06-30 | 山东超同步智能装备有限公司 | Hoop bending machine for butterfly-shaped bending structure and control method |
| CN112958724A (en) * | 2021-03-03 | 2021-06-15 | 中国十七冶集团有限公司 | Simple bending method for non-standard stirrup |
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| CN112958724A (en) * | 2021-03-03 | 2021-06-15 | 中国十七冶集团有限公司 | Simple bending method for non-standard stirrup |
| CN112958724B (en) * | 2021-03-03 | 2022-07-29 | 中国十七冶集团有限公司 | Simple bending method for non-standard stirrup |
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|---|---|
| CN102941290B (en) | 2015-01-28 |
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