CN104724467A - Aluminum ingot size-controlling and positioning method and aluminum ingot size-controlling and positioning device - Google Patents
Aluminum ingot size-controlling and positioning method and aluminum ingot size-controlling and positioning device Download PDFInfo
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- CN104724467A CN104724467A CN201310709427.4A CN201310709427A CN104724467A CN 104724467 A CN104724467 A CN 104724467A CN 201310709427 A CN201310709427 A CN 201310709427A CN 104724467 A CN104724467 A CN 104724467A
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- aluminium ingot
- stepper motors
- digital
- chain conveyer
- dsp microprocessor
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- 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
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- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an aluminum ingot size-controlling and positioning method and an aluminum ingot size controlling and positioning device. The aluminum ingot size-controlling and positioning method includes that size and position information of an aluminum ingot moving on a chain conveying device is acquired by the aid of an intelligent camera, the intelligent camera is connected with a rejecting mechanism and a correcting mechanism, the aluminum ingots unqualified in shape and size are rejected from the chain conveying device by the rejecting mechanism, the positions, on the chain conveying device, of the aluminum ingots are adjusted by the correcting mechanism, and accordingly, automatic stacking for the aluminum ingots is supported technically. The aluminum ingot size-controlling and positioning method and the aluminum ingot size controlling and positioning device have the advantages that the aluminum ingots unqualified in size can be rejected from the chain conveying device, automatic centering of the aluminum ingots deviating from the chain conveying device can be achieved in a chain conveying process, the problem that chaos is caused when a clamp of a stacking machine clamps the aluminum ingots due to the fact that the aluminum ingots are different in size and irregularly arranged is solved, automatic stacking of the stacking machine is supported technically at low cost, working efficiency of the stacking machine is guaranteed well, and workload and cost in maintenance of the stacking machine are reduced.
Description
Technical field
the present invention relates to a kind of aluminium ingot dimensional control and localization method and device, belong to aluminium ingot stacking transfer control technical field.
Background technology
aluminium industry processed, the finished product aluminium produced makes aluminium ingot usually.For the ease of metering, stock and transport, usually need aluminium ingot to be piled aluminium ingot buttress and carry out depositing or transporting.Along with the automation development of aluminium industry processed, the work of aluminium ingot stacking is generally completed by stacker of aluminium.Aluminium ingot to be picked up by specific fixture and is piled aluminium ingot buttress by stacker of aluminium.If the out-of-shape of aluminium ingot or the position of aluminium ingot on chain conveyer is inaccurate when there is deviation, then stacker of aluminium can be caused to grab ingot confusion, even can cause the problem that stacker of aluminium cisco unity malfunction is shut down.Have a strong impact on the work efficiency of stacker of aluminium.The level of the horizontal prolonged stay of aluminium ingot Stacking Technology domestic at present eighties in 20th century abroad, from production efficiency and the needs that all can not meet current demestic user and market qualitatively well, therefore need to carry out further automatic improving to aluminium ingot Stacking Technology.
Summary of the invention
the object of the invention is to, a kind of aluminium ingot dimensional control and localization method and device are provided.The problem of ingot confusion is grabbed due to the piler fixture that every block aluminium ingot size is different or the reason such as aluminium ingot irregular arrangement causes with what solve that prior art exists.
technical scheme of the present invention:
a kind of aluminium ingot dimensional control of the present invention and localization method are, the method obtains by intelligent video camera head the aluminium ingot size and location information run on chain conveyer, intelligent video camera head is connected with rejecting mechanism and aligning gear, by rejecting mechanism, inferior-quality for oad aluminium ingot is rejected from chain conveyer, by the aligning gear adjustment position of aluminium ingot on chain conveyer, for the stacking automation of aluminium ingot provides technical support.
in preceding method, described intelligent video camera head is embedded in a set of DSP microprocessor at camera; By DSP microprocessor to camera collection to aluminium ingot image judge, and drive rejecting mechanism or aligning gear to complete rejecting or the correction work of aluminium ingot according to judged result.
in preceding method, the arithmetic speed of described DSP microprocessor is not less than 1000M Hz; Possess at least 4 digital input/output points and SVGA video output interface, so that remote monitor and control.
in preceding method, described DSP microprocessor adopts Windows98/2000/XP/7 operating system, prestores DSP graphic processing storehouse, carry out red tape operation by Visual C++6.0 and qt to DSP microprocessor in DSP microprocessor.
in preceding method, described rejecting mechanism drives rejecting push pedal to be released from chain conveyer by inferior-quality for oad aluminium ingot according to the judging result signal of DSP microprocessor by rejecting digital stepper motors.
in preceding method, described aligning gear comprises left digital stepper motors and right digital stepper motors, and left digital stepper motors and right digital stepper motors will depart from the aluminium ingot centering of chain conveyer center line according to the judging result signal of DSP microprocessor by left push pedal and right push pedal.
in preceding method, described digital stepper motors is driven by digital DM stepper motor driver.
the of the present invention a kind of aluminium ingot dimensional control formed as stated above and registration device be, this device comprises the intelligent video camera head that is located near chain conveyer and is located at the rejecting mechanism of chain conveyer side and is located at the aligning gear of chain conveyer both sides.
in aforementioned means, be provided with DSP microprocessor in described intelligent video camera head, DSP microprocessor is connected with rejecting mechanism and aligning gear through digital I/O interface; Rejecting mechanism comprises rejecting digital stepper motors, rejects digital stepper motors and is connected with rejecting push pedal reciprocal transmission; Aligning gear comprises the left digital stepper motors and right digital stepper motors that are located at chain conveyer both sides, and left digital stepper motors and right digital stepper motors are connected with left push pedal and right push pedal reciprocal transmission respectively.
owing to have employed technique scheme, compared with prior art, out-of-size aluminium ingot can be rejected from chain conveyer by the present invention, can make the aluminium ingot automatic centering departing from chain conveyer in Chain conveyer process simultaneously.What completely avoid that prior art exists grabs the problem of ingot confusion due to the piler fixture that every block aluminium ingot size is different or the reason such as aluminium ingot irregular arrangement causes, substantially increase the production efficiency of piler, technical support is provided with the automatic piling that less cost is piler, well ensure that the work efficiency of piler, also reduce maintenance workload and the maintenance cost of piler simultaneously.
Accompanying drawing explanation
fig. 1 is the structural representation of apparatus of the present invention.
being labeled as in accompanying drawing: 1-intelligent video camera head, 2-rejects digital stepper motors, the left digital stepper motors of 3-, the right digital stepper motors of 4-, and 5-rejects push pedal, the left push pedal of 6-, the right push pedal of 7-, 8-chain conveyer, 9-aluminium ingot.
Detailed description of the invention
below in conjunction with accompanying drawing, the present invention is described in further detail, but not as any limitation of the invention.
a kind of aluminium ingot dimensional control and localization method, as shown in Figure 1.The method obtains by intelligent video camera head 1 the aluminium ingot size and location information run on chain conveyer 8, intelligent video camera head 1 is connected with rejecting mechanism and aligning gear, by rejecting mechanism, inferior-quality for oad aluminium ingot is rejected from chain conveyer 8, by the aligning gear adjustment position of aluminium ingot 9 on chain conveyer 8, for the stacking automation of aluminium ingot provides technical support.Described intelligent video camera head 1 is embedded in a set of DSP microprocessor at camera; By DSP microprocessor to camera collection to aluminium ingot image judge, and drive rejecting mechanism or aligning gear to complete rejecting or the correction work of aluminium ingot according to judged result.The arithmetic speed of described DSP microprocessor is not less than 1000M Hz; Possess at least 4 digital input/output points and SVGA video output interface, so that remote monitor and control.Described DSP microprocessor adopts Windows98/2000/XP/7 operating system, prestores DSP graphic processing storehouse, carry out red tape operation by Visual C++6.0 and qt to DSP microprocessor in DSP microprocessor.Described rejecting mechanism drives rejecting push pedal 5 to be released from chain conveyer 8 by inferior-quality for oad aluminium ingot according to the judging result signal of DSP microprocessor by rejecting digital stepper motors 2.Described aligning gear comprises left digital stepper motors 3 and right digital stepper motors 4, and left digital stepper motors 3 and right digital stepper motors 4 will depart from aluminium ingot 9 centering of chain conveyer 8 center line according to the judging result signal of DSP microprocessor by left push pedal 6 and right push pedal 7.Described digital stepper motors is driven by digital DM stepper motor driver.
as shown in Figure 1, this device comprises and is located at intelligent video camera head near chain conveyer 81 and is located at the rejecting mechanism of chain conveyer 8 side and is located at the aligning gear of chain conveyer 8 both sides for the of the present invention a kind of aluminium ingot dimensional control built as stated above and the structural representation of registration device.Be provided with DSP microprocessor in described intelligent video camera head 1, DSP microprocessor is connected with rejecting mechanism and aligning gear through digital I/O interface; Rejecting mechanism comprises rejects digital stepper motors 2, rejects digital stepper motors 2 and is connected with rejecting push pedal 5 reciprocal transmission; Aligning gear comprises the left digital stepper motors 3 and right digital stepper motors 4 that are located at chain conveyer 8 both sides, and left digital stepper motors 3 is connected with left push pedal 6 and right push pedal 7 reciprocal transmission respectively with right digital stepper motors 4.
Embodiment
as shown in Figure 1.Intelligent video camera head 1 is connected with rejecting digital stepper motors 2, left digital stepper motors 3 and right digital stepper motors 4 by its embedded digital I/O interface, rejects digital stepper motors 2, left digital stepper motors 3 and right digital stepper motors 4 and drives rejecting push pedal 5, left push pedal 6 and right push pedal 7 to do linear reciprocating motion respectively.The rejecting operation after inaccuracy of dimensions aluminium ingot is judged is completed by rejecting push pedal 5.Realize operating the centering of the aluminium ingot of offset track by left push pedal 6 and right push pedal 7.Left push pedal 6 and right push pedal 7 are carried out adjusting perpendicular to the position of chain conveyer 8 towards both direction to aluminium ingot 9 respectively.The kinematic velocity of all push pedals and move distance, by the DSP microprocessor in intelligent video camera head 1 according to digital image processing algorithm as judgement.
its working process as shown in Figure 1, first the operation picture of aluminium ingot 9 on chain conveyer 8 is taken by intelligent video camera head 1, by the built-in DSP microprocessor of intelligent video camera head 1 to the dimensional parameters of aluminium ingot 9, whether parameter makes real-time judgement in the middle of chain conveyer 8 etc.And formulate corresponding control policy.
if the inaccuracy of dimensions of aluminium ingot 9, then drive rejecting push pedal 5 that nonconformity aluminium ingot is released chain conveyer 8 by rejecting digital stepper motors 2.
if the center of aluminium ingot 9 offset track, if aluminium ingot 9 is to the left, then drive accurate center aluminium ingot 9 being shifted onto chain conveyer 8 left of left push pedal 6 by left digital stepper motors 3.If aluminium ingot 9 is to the right, then drive accurate center aluminium ingot 9 being shifted onto chain conveyer 8 to the right of right push pedal 7 by right digital stepper motors 4.If aluminium ingot size qualification and do not depart from chain conveyer 8 center, all digital stepper motors are failure to actuate.
each block aluminium ingot automatically triggers by intelligent video camera head 1 and performs above step.
intelligent video camera head of the present invention chooses the VC Optimum type camera that German Vision Components company produces.This camera is embedded in the DSP microprocessor of stable performance, and the arithmetic speed of DSP microprocessor is not less than 1000M Hz; There is the video output interfaces such as at least 4 digital input/output interfaces and SVGA, be convenient to remote monitor and control.
reject digital stepper motors 2, left digital stepper motors 3 and right digital stepper motors 4 and all select digital DM stepper motor driver.
the present invention has following characteristics:
1) parameter of electric machine identifies and controling parameters automatic adjusting automatically.
2) communication between actuator and debugging software is realized by RS-232 communication interface.
3) adopt light-coupled isolation technology, there is high reliability.
system development platform: development platform operating system: Windows98/2000/XP/7, developing instrument: DSP graphic processing storehouse, Visual C++6.0, qt.
principle of work of the present invention
embedded intelligence camera makes Logic judgment by built-in DSP microprocessor to image procossing, and then by the digital I/O interface driver motor of built-in DSP microprocessor, push pedal is had to the dynamic adjustments of target, finally performed by push pedal and reject nonconformity aluminium ingot or perform the action that aluminium ingot arranges.The process of the image that DSP microprocessor photographs as camera and decision element, the digital I/O interface of the DSP microprocessor that intelligent video camera head is built-in as control command output module, and drives multiple actuating unit (digital stepper motors) to realize the rejecting of nonconformity aluminium ingot and the dynamic conditioning of aluminium ingot position with this.The present invention is a whole set of signal feedback, signal transacting, and signal judges, controls the holonomic system performed.The further work capacity liberating site operation personnel, substantially increases the industrial automatization of piler, adds the production efficiency of piler.Make when only increasing a small amount of investment, the intelligent level of piler to be got a qualitative improvement.
the present invention by the application of result of image recognition on the aluminium ingot dimensional control of piler.On the basis of the ripe image recognition algorithm of the visual development platform of DSP microprocessor, can easily the function of intelligent video camera head be solidificated in the chip of DSP microprocessor.And different control overflow can be realized further on the basis that this controls.
Claims (9)
1. an aluminium ingot dimensional control and localization method, it is characterized in that: the method obtains by intelligent video camera head the aluminium ingot size and location information run on chain conveyer, intelligent video camera head is connected with rejecting mechanism and aligning gear, by rejecting mechanism, inferior-quality for oad aluminium ingot is rejected from chain conveyer, by the aligning gear adjustment position of aluminium ingot on chain conveyer, for the stacking automation of aluminium ingot provides technical support.
2. method according to claim 1, is characterized in that: described intelligent video camera head is embedded in a set of DSP microprocessor at camera; By DSP microprocessor to camera collection to aluminium ingot image judge, and drive rejecting mechanism or aligning gear to complete rejecting or the correction work of aluminium ingot according to judged result.
3. method according to claim 2, is characterized in that: the arithmetic speed of described DSP microprocessor is not less than 1000M Hz; Possess at least 4 digital input/output points and SVGA video output interface, so that remote monitor and control.
4. method according to claim 3, it is characterized in that: described DSP microprocessor adopts Windows98/2000/XP/7 operating system, prestore DSP graphic processing storehouse in DSP microprocessor, by Visual C++6.0 and qt, red tape operation is carried out to DSP microprocessor.
5. method according to claim 1, is characterized in that: described rejecting mechanism drives according to the judging result signal of DSP microprocessor and rejects push pedal by rejecting digital stepper motors and released from chain conveyer by inferior-quality for oad aluminium ingot.
6. method according to claim 1, it is characterized in that: described aligning gear comprises left digital stepper motors and right digital stepper motors, left digital stepper motors and right digital stepper motors will depart from the aluminium ingot centering of chain conveyer center line according to the judging result signal of DSP microprocessor by left push pedal and right push pedal.
7. method according to claim 6, is characterized in that: described digital stepper motors is driven by digital DM stepper motor driver.
8. the aluminium ingot dimensional control formed by method described in the arbitrary claim of claim 1-7 and a registration device, is characterized in that: comprise the intelligent video camera head (1) that is located near chain conveyer (8) and be located at the rejecting mechanism of chain conveyer (8) side and be located at the aligning gear of chain conveyer (8) both sides.
9. device according to claim 8, it is characterized in that: described intelligent video camera head is provided with DSP microprocessor in (1), DSP microprocessor is connected with rejecting mechanism and aligning gear through digital I/O interface; Rejecting mechanism comprises rejects digital stepper motors (2), rejects digital stepper motors (2) and is connected with rejecting push pedal (5) reciprocal transmission; Aligning gear comprises the left digital stepper motors (3) and right digital stepper motors (4) that are located at chain conveyer (8) both sides, and left digital stepper motors (3) is connected with left push pedal (6) and right push pedal (7) reciprocal transmission respectively with right digital stepper motors (4).
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| CN201310709427.4A CN104724467B (en) | 2013-12-21 | 2013-12-21 | A kind of aluminium ingot size Control and localization method and device |
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| CN105379818A (en) * | 2015-12-22 | 2016-03-09 | 福建游家酒业有限公司 | Puncture machine and using method thereof |
| CN106054805A (en) * | 2016-07-07 | 2016-10-26 | 上海邮政科学研究院 | Error correction control system for sorter |
| CN113148671A (en) * | 2021-04-01 | 2021-07-23 | 北新建材(天津)有限公司 | Panel goes out buttress transportation integrative device |
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| CN104724467B (en) | 2017-07-11 |
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