CN106672634A - Aluminum profile automatic stacking system and control method thereof - Google Patents
Aluminum profile automatic stacking system and control method thereof Download PDFInfo
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- CN106672634A CN106672634A CN201611121653.0A CN201611121653A CN106672634A CN 106672634 A CN106672634 A CN 106672634A CN 201611121653 A CN201611121653 A CN 201611121653A CN 106672634 A CN106672634 A CN 106672634A
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- mechanical arm
- workpiece
- servomotor
- section bar
- aluminium section
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- 229910052782 aluminium Inorganic materials 0.000 title claims abstract description 59
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000004411 aluminium Substances 0.000 claims description 51
- 230000008569 process Effects 0.000 claims description 14
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000012545 processing Methods 0.000 abstract description 4
- 210000004247 hand Anatomy 0.000 description 22
- 238000004806 packaging method and process Methods 0.000 description 17
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229920000742 Cotton Polymers 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- -1 ferrous metals Chemical class 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an aluminum profile automatic stacking system and a control method thereof. The system comprises a conveyer belt for conveying aluminum profiles, an industrial camera for obtaining the cross-section images of the aluminum profiles, an image processor, a first guide rail, a first driving motor, a portal frame and stacking mechanical arms. The method mainly comprises the following steps that the cross-section images of workpieces are captured through the industrial camera, and data are transferred to the image processor; the stacking mechanical arms are started to snatch up the workpieces; the portal frame moves to a clamp on a next station; rotation angles are calculated by the image processor through the algorithm of scale-invariant feature transform, and the stored angles of the workpieces are adjusted according to processing results; the workpieces move leftwards for a section of distance, and the workpieces are laid down and released by the left side stacking mechanical arm; the workpieces are rightwards dragged out for a section of distance and then laid down by the right side stacking mechanical arm; and the workpieces are leftwards pushed by the right side stacking mechanical arm to enable the workpieces to be reset and released. The aluminum profile automatic stacking system and the control method thereof have the advantages that the structure and control principle are simple, implementation is convenient, manual intervention is little, and the automation degree is high.
Description
Technical field
The present invention relates to aluminium section bar stacking packing technique field, more particularly to a kind of aluminium section bar automatic piling system and its control
Method processed.
Background technology
In recent years, as the lasting health of Chinese national economy increases, as modern economy and hi-tech development
The aluminium section bar of post raw material is in great demand.China's aluminum i ndustry is particularly the whole non-ferrous metals industry one of aluminum processing industry and China
Sample, is always maintained at sustained and rapid development situation.China's aluminum i ndustry and non-ferrous metals industry overall strength are improved constantly, in the world
The power of influence and competitiveness in market increasingly manifests.But in order to reduce market risk, the synthesized competitiveness of further enterprise,
Extend the vivosphere of oneself, it is necessary to comprehensively improved at two aspects of equipment and technology.
At present way of stacking of China's aluminium section bar in packaging process fully relies on manual stacking, is also not carried out automatization
Stacking, this ancient, original way of stacking is continued for till now.The main body of wherein manual stacking is workman, stacking it is big
Part work or all work are all that, based on workman itself, the labor intensity of workman is very big, even if in society at a high speed
Today of the continuous progress of development and science and technology, still old many aluminium section bar manufacturing enterprises are still using this way of stacking, this heap
The shortcoming of the mode of pile is：
(1) high labor intensive of workman and dangerous in stacking procedure；
(2) aluminium section bar is easily damaged in stacking procedure, for example：Surface scratches, abrades, stacking is irregular, cave in；
(3) productive temp of this stacking is affected by workman, and the regularity master for causing inefficiency, piling receives workman's feelings
The interference of thread is possible to cave in, so as to cause personal safety hidden danger.
(4) speed of piling is easy to be affected by the muscle power and fatigue factor of workman.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of automatic heap of the aluminium section bar of high degree of automation
Pile system.
Another object of the present invention is to, there is provided a kind of control method based on above-mentioned stacking system.
The purpose of the present invention is achieved through the following technical solutions：
A kind of aluminium section bar automatic piling system, the stacking system is mainly used on aluminium section bar production line, to various section shapes
The aluminium section bar unification of shape carries out automatic identification and packaging, reduces manual steps, automatization level is improved, so as to improve aluminium profiles
The efficiency of material production.The stacking system is mainly included for transporting the conveyer belt of aluminium section bar, obtaining aluminium section bar cross sectional image
Industrial camera, process the first laid guide rail of the image processor of view data, level, for the stacking machinery of grabbing workpiece
Handss, the portal frame of transmitting workpiece and the first motor for driving portal frame to slide on the first guide rail.
Specifically, the industrial camera is arranged on the side of conveyer belt, and perpendicular to the cross section of aluminium section bar, the figure
It is connected with industrial camera as processor, for receiving and processes the cross sectional image data that industrial camera is fed back.Work as aluminium profiles
When material is passed through from conveyer belt, industrial camera carries out scanning of taking pictures to its cross section, and the view data of acquisition is sent to
Image processor.First guide rail is arranged on the end of conveyer belt, and the portal frame is arranged on the first guide rail, and described first
Motor is connected with portal frame, drives portal frame to move back and forth on the first guide rail.The stack mechanical arm is arranged on
On portal frame, stacking operation is performed according to the result of image processor.When aluminium section bar reaches conveying end of tape, stack mechanical arm
Move downward that aluminium section bar is picked up and is transported on multiple package position and carry out stacking and packaging.
Specifically, the stack mechanical arm mainly includes hanging pawl, the first servomotor, the first machine for solid mechanical arm
Tool arm, the second servomotor, second mechanical arm, the 3rd servomotor, chuck, the 4th servomotor and Inner support.Described second leads
Rail is arranged on the crossbeam of portal frame, perpendicular to the direction of advance of portal frame, the pawl that hangs on the second guide rail, described the
Two motors are connected with pawl is hung, and driving is hung pawl and moved back and forth on the second guide rail.One end peace of the first mechanical arm
It is mounted in and hangs on pawl and as the first rotating fulcrum, first servomotor is connected with first mechanical arm, drives first
The other end of mechanical arm swings around the first rotating fulcrum.One end of the second mechanical arm is arranged on the other end of first mechanical arm
Upper and as the second rotating fulcrum, second servomotor is connected with second mechanical arm, driving second mechanical arm around
Second rotating fulcrum swings.The chuck is arranged on the other end of second mechanical arm, and the 3rd servomotor is passed with chuck
Dynamic connection, drives chuck to rotate, so as to reach the purpose of adjustment workpiece angles.The Inner supports are arranged on chuck, described
4th servomotor is connected with Inner supports, drives Inner to support inside motion clamping workpiece or move out release workpiece.
It is provided by the present invention in order to save equipment production cost and simplify control flow process as the preferred version of the present invention
Stack mechanical arm set at least to two groups, respectively positioned at the left and right sides of workpiece.
Used as the preferred version of the present invention, in order to improve the versatility and clamping effect of part of appliance, the chuck is set to
Three refer to chuck.
Used as the preferred version of the present invention, in order to improve the versatility and clamping effect of part of appliance, the Inner supports are set to
Three refer to Inner supports.
Used as the preferred version of the present invention, the 4th servomotor can be substituted for cylinder or hydraulic cylinder to drive Inner to support
Tighten up or released movement, the quantity of wherein cylinder is set to one or several, when Inner support be set to three fingers, cylinder is set to three
When, each cylinder correspondence control one refers to Inner supports, and three cylinders drive three to refer to Inner supports clamping or discharge workpiece simultaneously, piece-holder jail
Gu, it is not easy to drop, so as to obtain preferable clamping effect.
Another object of the present invention is achieved through the following technical solutions：
A kind of control method of aluminium section bar automatic piling system, the method principle is simple, simple operation, mainly includes as follows
Step：
Step S1:The aluminium section bar for processing enters conveyer belt, and conveyer belt is fed forward workpiece, and the industry positioned at one side is shone
The workpiece that cameras capture is passed through from conveyer belt, so as to obtain the cross-sectional image of workpiece, and sends view data to image procossing
Device.
Step S2:Portal frame reaches the end of conveyer belt under the control of the first motor, waits correspondence workpiece.
Step S3:Stacking machinery hand starting on portal frame, the workpiece on pipeline is picked up, and its crawl process is such as
Under：
Step S31:First servomotor and the second servomotor start, and control first mechanical arm and second mechanical arm are downward
Swing, the chuck for making the left and right sides is moved downward.
Step S32:3rd servomotor starts, and drives chuck to rotate, and adjusts the position of Inner supports, makes the folder of Inner supports and workpiece
Hold position alignment.
Step S33:4th servomotor starts, and drives in Inner support casees and tightens up, by Workpiece clamping.
Step S34:First servomotor and the second servomotor drive first mechanical arm and second mechanical arm to reset, by work
Part lifts.
Step S4:After workpiece grabbing, the first motor control portal frame comes next station (stacking multiple package position)
On fixture.
Step S5:Image processor according to obtain workpiece interface view data, using the calculation of Scale invariant features transform
Method calculates the cross section (real image that industrial camera is obtained) of aluminium section bar and the setting image (manner of packing of artificial setting
Or the way of stacking of aluminium section bar) angle difference, show that current aluminium section bar needs the angle of rotation, and control is gone according to result
The rotation of the 3rd servomotor is made, so as to adjust the angles of workpiece, makes the position of workpiece identical with the disposing way of setting.
Step S6:After the anglec of rotation adjustment of workpiece, left side stack mechanical arm and right side mechanical handss start simultaneously, by the
The driving of two motors is hung pawl and one end distance is moved to the left on the second guide rail, and now workpiece is also shifted to the left a segment distance,
Left side mechanical handss are located at outside stacking packaging fixture and (avoid when left side mechanical handss are moved downward, chuck and Inner are supportted and stacking bag
The fixture of dress collides), left side mechanical handss move downward and discharge workpiece.
Step S7:Workpiece hauled out to the right and (avoided when right side mechanical handss after a segment distance by the stack mechanical arm positioned at right side
When moving downward, chuck and Inner supports collide with the fixture of stacking packaging), move downward and put down workpiece.
Step S8:Now the right-hand member of workpiece is protruded in the outside of fixture, and right side stack mechanical arm to the left pushes away workpiece, makes work
Part resets and discharges workpiece, completes the stacking of a workpiece.
Working process and principle of the invention are：Industrial camera provided by the present invention is pointed to the workpiece on conveyer belt
Section is caught, and is obtained cross-sectional image Data Concurrent and is given image processor；Image processor according to obtain view data,
And calculate the angle that current workpiece needs to rotate using Scale invariant features transform algorithm；Stack mechanical arm is according to image procossing
The result that device is calculated rotates the workpiece to the angles of setting controlling the rotation of chuck；In order to avoid stack mechanical arm with
Packaging fixture collides, and the control of the second motor is hung pawl and wants to move left a segment distance, makes left side mechanical handss protrusion in packaging
Outside fixture, left side mechanical handss move downward and discharge workpiece；Right side mechanical hand starting and to the right by workpiece drag one section away from
From, make right side mechanical handss protrusion outside packaging fixture, right side mechanical handss move downward and put down workpiece；When workpiece puts down completely
Afterwards, right side mechanical handss push away to the left workpiece, make workpiece reset, and so far complete the stacking operation of single workpiece.The present invention has structure
, easy to implement, manual intervention simple with control principle is few, high degree of automation advantage.
Compared with prior art, the present invention has further the advantage that：
(1) simple structure, the low cost of manufacture of aluminium section bar automatic piling system provided by the present invention, it is artificial with traditional
Mode is compared, its process time is short, efficiency high, workman labor intensity it is little.
(2) the control method principle of automatic piling system provided by the present invention is simple, it is clear to implement convenient, control logic
Clear, system operation reliability.
(3) automatic piling system provided by the present invention can effectively reduce artificial participation, significantly improve aluminium section bar heap
The gentle efficiency of Automated water of pile, reduces error probability, obtains preferably packaging effect.
(4) automatic piling system provided by the present invention is not only saved artificial due to eliminating the link of manual stacking
Cost, it is thus also avoided that the generation of security incident, has ensured the personal safety of workman.
Description of the drawings
Fig. 1 is the structural representation of aluminium section bar automatic piling system provided by the present invention.
Fig. 2 is the structural representation of stack mechanical arm provided by the present invention.
Fig. 3 is provided by the present invention three structural representations for referring to Inner supports.
Fig. 4 is the schematic diagram of way of stacking provided by the present invention.
Fig. 5 is the schematic diagram of way of stacking provided by the present invention two.
Fig. 6 is the schematic diagram of way of stacking provided by the present invention three.
Fig. 7 is the schematic diagram of way of stacking provided by the present invention four.
Fig. 8 is the schematic diagram of way of stacking provided by the present invention five.
Fig. 9 is automatic piling schematic flow sheet provided by the present invention.
Figure 10 is the flow chart of automatic piling system control method provided by the present invention.
Figure 11 is the flow chart of Scale invariant features transform algorithm provided by the present invention.
Label declaration in above-mentioned accompanying drawing：
1- laminators, 2- conveyer belts, 3- industrial cameras, 4- stack mechanical arms, 41- hangs pawl, 42- first mechanical arms, 43-
Second mechanical arm, 44- chucks, 45- Inner supports, 5- stackings folder cotton, 6- fixtures.
Specific embodiment
To make the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously referring to the drawings embodiment pair
The present invention is described further.
Embodiment 1：
As shown in Figure 1, Figure 2 and Figure 3, the invention discloses a kind of aluminium section bar automatic piling system, the stacking system is main
For aluminium section bar production line, the aluminium section bar unification to various cross sectional shapes carries out automatic identification and packaging (such as Fig. 4, Fig. 5, figure
6th, shown in Fig. 7 and Fig. 8), manual steps are reduced, automatization level is improved, so as to improve the efficiency of aluminium section bar production.The heap
Pile system mainly includes conveyer belt 2, the industrial camera 3 of acquisition aluminium section bar cross sectional image, the process for transporting aluminium section bar
The first laid guide rail of the image processor of view data, level, for the stack mechanical arm 4, transmitting workpiece of grabbing workpiece
Portal frame and the first motor for driving portal frame to slide on the first guide rail.
Specifically, the industrial camera 3 is arranged on the side of conveyer belt 2, and perpendicular to the cross section of aluminium section bar, it is described
Image processor is connected with industrial camera 3, for receiving and process industrial camera 3 feedback cross sectional image data.When
When aluminium section bar is passed through from conveyer belt 2, industrial camera 3 carries out scanning of taking pictures, and the view data that will be obtained to its cross section
It is sent to image processor.First guide rail is arranged on the end of conveyer belt 2, and the portal frame is arranged on the first guide rail,
First motor is connected with portal frame, drives portal frame to move back and forth on the first guide rail.The stacking machinery
Handss 4 are arranged on portal frame, and according to the result of image processor stacking operation is performed.When aluminium section bar reaches 2 end of conveyer belt,
Stack mechanical arm 4 moves downward that aluminium section bar is picked up and is transported on multiple package position carries out stacking and packaging.
Specifically, the stack mechanical arm 4 mainly include for solid mechanical arm hang pawl 41, the first servomotor,
One mechanical arm 42, the second servomotor, second mechanical arm 43, the 3rd servomotor, chuck 44, the 4th servomotor and Inner support
45.Second guide rail is arranged on the crossbeam of portal frame, and perpendicular to the direction of advance of portal frame, the pawl 41 that hangs is arranged on the
On two guide rails, second motor is connected with pawl 41 is hung, and driving is hung pawl 41 and moved back and forth on the second guide rail.It is described
One end of first mechanical arm 42 is arranged on and hangs on pawl 41 and as the first rotating fulcrum, first servomotor and the first machine
Tool arm 42 is connected, and the other end for driving first mechanical arm 42 swings around the first rotating fulcrum.The second mechanical arm 43
One end is arranged on the other end of first mechanical arm 42 and as the second rotating fulcrum, second servomotor and the second machine
Tool arm 43 is connected, and drives second mechanical arm 43 to swing around the second rotating fulcrum.The chuck 44 is arranged on second mechanical arm
On 43 other end, the 3rd servomotor is connected with chuck 44, drives chuck 44 to rotate, so as to reach adjustment workpiece
The purpose of angles.The Inner supports 45 are arranged on chuck 44, and the 4th servomotor is connected with Inner supports 45, drives
Inner supports 45 inside motion clamping workpieces or moves out release workpiece.
It is provided by the present invention in order to save equipment production cost and simplify control flow process as the preferred version of the present invention
Stack mechanical arm 4 set at least to two groups, respectively positioned at the left and right sides of workpiece.
Used as the preferred version of the present invention, in order to improve the versatility and clamping effect of part of appliance, the chuck 44 sets
Refer to chuck 44 for three.
Used as the preferred version of the present invention, in order to improve the versatility and clamping effect of part of appliance, the Inner supports 45 set
Refer to Inner supports 45 for three.
Used as the preferred version of the present invention, the 4th servomotor can be substituted for cylinder or hydraulic cylinder to drive Inner to support
45 tighten up or released movement, and the quantity of wherein cylinder is set to one or several, and when Inner supports 45 are set to three fingers, cylinder is set to three
When individual, each cylinder correspondence control one refers to Inner supports 45, and three cylinders drive three to refer to the clamping of Inner supports 45 or discharge workpiece, workpiece simultaneously
Firm grip, it is not easy to drop, so as to obtain preferable clamping effect.
With reference to shown in Fig. 9, Figure 10 and Figure 11, the invention also discloses a kind of controlling party of aluminium section bar automatic piling system
Method, the method principle is simple, implement convenient, mainly comprises the steps：
Step S1:The aluminium section bar for processing enters conveyer belt 2, and conveyer belt 2 is fed forward workpiece, positioned at the industry of one side
Photographing unit 3 catches the workpiece passed through from conveyer belt 2, so as to obtain the cross-sectional image of workpiece, and sends view data to image
Processor.
Step S2:Portal frame reaches the end of conveyer belt 2 under the control of the first motor, waits correspondence workpiece.
Step S3:Stack mechanical arm 4 on portal frame starts, and the workpiece on pipeline is picked up, its crawl process
It is as follows：
Step S31:First servomotor and the second servomotor start, and control first mechanical arm 42 and second mechanical arm 43
To lower swing, the chuck 44 for making the left and right sides is moved downward.
Step S32:3rd servomotor starts, and drives chuck 44 to rotate, and adjusts the position of Inner supports 45, makes Inner supports 45 and work
The clip position alignment of part.
Step S33:4th servomotor starts, and drives Inner to support and tightens up in 45 casees, by Workpiece clamping.
Step S34:First servomotor and the second servomotor drive first mechanical arm 42 and second mechanical arm 43 to reset,
Workpiece is lifted.
Step S4:After workpiece grabbing, the first motor control portal frame comes next station (stacking multiple package position)
Stacking is pressed from both sides on cotton 5 and fixture 6.
Step S5:Image processor according to obtain workpiece interface view data, using the calculation of Scale invariant features transform
Method calculates the cross section (real image that industrial camera 3 is obtained) and setting image (the packaging side of artificial setting of aluminium section bar
The way of stacking of formula or aluminium section bar) angle difference, show that current aluminium section bar needs the angle of rotation, and go according to result
The rotation of the 3rd servomotor is controlled, so as to adjust the angles of workpiece, makes the position of workpiece identical with the disposing way of setting.
Step S6:After the anglec of rotation adjustment of workpiece, left side stack mechanical arm 4 and right side mechanical handss start simultaneously, pass through
Second motor drives and hangs pawl 41 one end distance is moved to the left on the second guide rail, now workpiece be also shifted to the left one section away from
From left side mechanical handss are located at outside stacking packaging fixture 6 and (avoid when left side mechanical handss are moved downward, chuck 44 and Inner support 45
Collide with the fixture 6 of stacking packaging), left side mechanical handss move downward and discharge workpiece.
Step S7:Workpiece hauled out to the right and (avoided when right side mechanical handss after a segment distance by the stack mechanical arm 4 positioned at right side
When moving downward, chuck 44 and Inner supports 45 collide with the fixture 6 of stacking packaging), move downward and put down workpiece.
Step S8:Now the right-hand member of workpiece is protruded in the outside of fixture 6, and workpiece is pushed away to the left, made by right side stack mechanical arm 4
Workpiece resets and discharges workpiece, completes the stacking of a workpiece.
Wherein, Scale invariant features transform algorithm is existing algorithm, and its calculating process is as follows：
The first step：The SIFT feature of piece image is calculated, while extracting characteristic point principal stresses angle angle value；
Second step：The SIFT feature of the second width image is calculated, while extracting characteristic point principal stresses angle angle value；
3rd step：Carry out SIFT feature Point matching；
4th step：The anglec of rotation of the SIFT feature point that calculating is mutually matched；
5th step：The pivoting angle data of characteristic point is analyzed using iteration Self-organization clustering algorithm；
6th step：Choose correct sample class；
7th step：To choose the average of sample class as the final anglec of rotation of object.
Working process and principle of the invention are：The aluminium section bar that laminator 1 pair is produced carries out pad pasting, and the present invention is carried
For the workpiece interface that is pointed on conveyer belt 2 of industrial camera 3 caught, obtain cross-sectional image Data Concurrent and give image
Processor；Image processor calculates current workpiece according to the view data for obtaining using Scale invariant features transform algorithm
Need the angle of rotation；The result that stack mechanical arm 4 is calculated according to image processor revolves workpiece controlling the rotation of chuck 44
Go to the angles of setting；In order to avoid stack mechanical arm 4 collides with packaging fixture 6, the control of the second motor is hung
Pawl 41 is wanted to move left a segment distance, makes left side mechanical handss protrusion outside packaging fixture 6, and left side mechanical handss are moved downward and discharged
Workpiece；Right side mechanical hand starting and to the right by workpiece drag a segment distance, make right side mechanical handss protrusion packaging fixture 6 it
Outward, right side mechanical handss move downward and put down workpiece；After workpiece puts down completely, right side mechanical handss push away to the left workpiece, make workpiece
Reset, so far complete the stacking operation of single workpiece.The present invention has structure and control principle simple, easy to implement, artificial dry
It is pre- less, the advantage of high degree of automation.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention not by above-described embodiment
Limit, other any spirit without departing from the present invention and the change, modification, replacement made under principle, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (6)
1. a kind of aluminium section bar automatic piling system, it is characterised in that conveyer belt including transport aluminium section bar, to obtain aluminium section bar transversal
The industrial camera of face image, image processor, the first guide rail, the first motor, portal frame and stack mechanical arm；The work
Industry photographing unit is arranged on the side of conveyer belt, and perpendicular to the cross section of aluminium section bar, described image processor connects with industrial camera
Connect, receive and process cross sectional image；First guide rail is arranged on the end of conveyer belt, and the portal frame is led installed in first
On rail, first motor is connected with portal frame, drives portal frame to move back and forth on the first guide rail；The stacking
Mechanical hand is arranged on portal frame, and according to the result of image processor stacking operation is performed；
The stack mechanical arm mainly include the second guide rail, the second motor, hang pawl, the first servomotor, first mechanical arm,
Second servomotor, second mechanical arm, the 3rd servomotor, chuck, the 4th servomotor and Inner support；Second guide rail is arranged
On the crossbeam of portal frame, on the second guide rail, second motor is connected the pawl that hangs with pawl is hung, and drives
Hang pawl to move back and forth on the second guide rail；The first mechanical arm is arranged on and hangs on pawl, first servomotor and the first machine
Tool arm is connected, and drives first mechanical arm to swing；The second mechanical arm is arranged in first mechanical arm, second servo
Motor is connected with second mechanical arm, drives second mechanical arm to swing；The chuck is arranged in second mechanical arm, and described the
Three servomotors are connected with chuck, drive chuck to rotate；Inner support is arranged on chuck, the 4th servomotor with
Inner supports are connected, and drive Inner support clampings or release workpiece.
2. aluminium section bar automatic piling system according to claim 1, it is characterised in that the stack mechanical arm at least provided with
For two groups.
3. aluminium section bar automatic piling system according to claim 1, it is characterised in that the chuck is set to three finger chucks.
4. aluminium section bar automatic piling system according to claim 1, it is characterised in that the Inner supports are set to three finger Inner supports.
5. a kind of control method of aluminium section bar automatic piling system as claimed in claim 1, it is characterised in that including following step
Suddenly：
Step S1:Conveyer belt is fed forward workpiece, and industrial camera catches workpiece interface image, and transfers data to image
Processor；
Step S2:First motor starts, and control portal frame comes conveying end of tape；
Step S3:Stacking machinery hand starting, the workpiece on pipeline is picked up；
Step S4:First motor control portal frame is come on the fixture of next station；
Step S5:Image processor obtains the view data of workpiece interface, and is calculated according to the algorithm of Scale invariant features transform
Go out the angle difference of cross section real image and setting image, obtain the anglec of rotation specified, image processor is according to process knot
Fruit adjusts the angles of workpiece；
Step S6:The workpiece segment distance of side shifting one to the left, makes left side stack mechanical arm in vertical direction and stacking multiple package position
Clamping does not produce interference, and workpiece is put down and discharged by left side stack mechanical arm；
Step S7:Right side stack mechanical arm workpiece is hauled out to the right a segment distance and put down；
Step S8:Right side stack mechanical arm to the left pushes away workpiece, makes workpiece reset and discharges workpiece.
6. the control method of aluminium section bar automatic piling system according to claim 5, it is characterised in that step S3 is also
Comprise the steps：
Step S31:First servomotor and the second servomotor start, and the chuck for controlling the left and right sides is moved downward；
Step S32:3rd servomotor starts, and drives chuck to rotate, and adjusts the position of Inner supports；
Step S33:4th servomotor starts, and drives in Inner support casees and tightens up, by Workpiece clamping；
Step S34:First servomotor and the second servomotor drive first mechanical arm and second mechanical arm to reset, and workpiece is carried
Rise.
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| CN108791993A (en) * | 2018-06-25 | 2018-11-13 | 浙江长兴鼎昌金属制品有限公司 | A kind of aluminium alloy extrusions packaging and storage device |
| CN108792412A (en) * | 2018-06-29 | 2018-11-13 | 福州大学 | A kind of overlong sectional material automatic conveying device |
| CN112429535A (en) * | 2020-11-09 | 2021-03-02 | 苏州罗伯特木牛流马物流技术有限公司 | Control system and method for multi-layer accurate stacking of ground piled cargos |
| CN114348586A (en) * | 2021-12-31 | 2022-04-15 | 苏州富纳智能科技有限公司 | Four-axis manipulator equipment for industrial automatic processing |
| CN114906607A (en) * | 2022-05-30 | 2022-08-16 | 西门子（中国）有限公司 | Control method of transmission type stacker crane and transmission type stacker crane |
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