CN106672634B - Automatic aluminum profile stacking system and control method thereof - Google Patents
Automatic aluminum profile stacking system and control method thereof Download PDFInfo
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- CN106672634B CN106672634B CN201611121653.0A CN201611121653A CN106672634B CN 106672634 B CN106672634 B CN 106672634B CN 201611121653 A CN201611121653 A CN 201611121653A CN 106672634 B CN106672634 B CN 106672634B
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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
- 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
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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
- B65G47/74—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
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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
- 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
Abstract
The invention discloses an automatic aluminum profile stacking system and a control method thereof, wherein the system comprises a conveying belt for conveying aluminum profiles, an industrial camera for acquiring cross-section images of the aluminum profiles, an image processor, a first guide rail, a first driving motor, a portal frame and a stacking manipulator; the method mainly comprises the steps that an industrial camera captures a cross-sectional image of a workpiece and transmits data to an image processor; starting a stacking manipulator to grab the workpiece; the portal frame comes to the fixture of the next station; the image processor calculates a rotation angle by using an algorithm of scale invariant feature transformation, and adjusts the placing angle of the workpiece according to a processing result; the workpiece moves a certain distance to the left side, and the stacking manipulator on the left side puts down and releases the workpiece; the right stacking manipulator drags the workpiece out a distance to the right and puts down the workpiece; the right stacking manipulator pushes the workpiece to the left, so that the workpiece is reset and released. The invention has the advantages of simple structure and control principle, convenient implementation, less manual intervention and high automation degree.
Description
Technical Field
The invention relates to the technical field of aluminum profile stacking and packaging, in particular to an automatic aluminum profile stacking system and a control method thereof.
Background
In recent years, with the continuous and healthy growth of national economy in China, the demand for aluminum profiles as a supporting raw material for the development of modern economy and high and new technology is strong. The aluminum industry in China, particularly the aluminum processing industry, is the same as the whole nonferrous metal industry in China, and the continuous and rapid development situation is always kept. The whole strength of the aluminum industry and the nonferrous metal industry in China is continuously improved, and the influence and the competitiveness in the international market are increasingly shown. However, in order to reduce the market risk, further improve the comprehensive competitiveness of enterprises and expand the living space of the enterprises, the overall improvement in both equipment and technology is needed.
At present, the stacking mode of aluminum profiles in the packaging process of China completely depends on manual stacking, automatic stacking is not realized, and the old and original stacking mode continues to the present. The main body of the manual stacking is a worker, most of work or all work of the stacking is the worker, the labor intensity of the worker is very high, even in the current day of high-speed social development and continuous technological progress, many aluminum profile production enterprises still adopt the stacking mode, and the stacking mode has the defects that:
(1) the labor intensity of workers is high and the stacking process is unsafe;
(2) aluminum profiles are easily damaged during stacking, for example: scraping, scratching, irregular stacking, collapsing and the like on the surface;
(3) the production rhythm of the stacking is influenced by workers, so that the working efficiency is low, and the neatness of the stacking is possibly collapsed due to the interference of the mood of the workers, thereby causing the personal safety hidden trouble.
(4) The speed of palletizing is easily affected by physical strength and fatigue factors of workers.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic stacking system for aluminum profiles, which is high in automation degree.
Another object of the present invention is to provide a control method based on the above stacking system.
The purpose of the invention is realized by the following technical scheme:
the utility model provides an automatic stacking system of aluminium alloy, this stacking system is mainly used on the aluminium alloy production line, unifies automatic identification and packing to the aluminium alloy of various cross sectional shapes, reduces the manual operation step, improves automatic level to improve the efficiency of aluminium alloy production. The stacking system mainly comprises a conveying belt for conveying aluminum profiles, an industrial camera for acquiring cross-section images of the aluminum profiles, an image processor for processing image data, a first guide rail horizontally laid, a stacking manipulator for grabbing workpieces, a portal frame for conveying the workpieces, and a first driving motor for driving the portal frame to slide on the first guide rail.
Specifically, the industrial camera is arranged on one side of the conveying belt and is perpendicular to the cross section of the aluminum profile, and the image processor is connected with the industrial camera and used for receiving and processing cross-section image data fed back by the industrial camera. When the aluminum profile passes over the conveying belt, the industrial camera takes pictures and scans the cross section of the aluminum profile, and sends obtained image data to the image processor. The first guide rail is arranged at the tail end of the conveying belt, the portal frame is installed on the first guide rail, the first driving motor is in transmission connection with the portal frame, and the portal frame is driven to reciprocate on the first guide rail. The stacking mechanical arm is arranged on the portal frame and executes stacking operation according to the result of the image processor. When the aluminum profiles reach the tail end of the conveying belt, the stacking manipulator moves downwards to pick up the aluminum profiles and convey the aluminum profiles to a packaging station for stacking and packaging.
Specifically, the stacking manipulator mainly comprises a lifting claw for fixing the manipulator, a first servo motor, a first manipulator, a second servo motor, a second manipulator, a third servo motor, a chuck, a fourth servo motor and an inner support. The second guide rail is arranged on a cross beam of the portal frame and is perpendicular to the advancing direction of the portal frame, the lifting claw is arranged on the second guide rail, and the second driving motor is in transmission connection with the lifting claw and drives the lifting claw to reciprocate on the second guide rail. One end of the first mechanical arm is mounted on the lifting claw and is used as a first rotating fulcrum, and the first servo motor is in transmission connection with the first mechanical arm and drives the other end of the first mechanical arm to swing around the first rotating fulcrum. One end of the second mechanical arm is arranged at the other end of the first mechanical arm and is used as a second rotating fulcrum, and the second servo motor is in transmission connection with the second mechanical arm and drives the second mechanical arm to swing around the second rotating fulcrum. The chuck is installed on the other end of second arm, third servo motor is connected with the chuck transmission, drives the chuck and rotates to reach the purpose of adjustment work piece angle of putting. The inner support is installed on the chuck, the fourth servo motor is in transmission connection with the inner support and drives the inner support to move inwards to clamp the workpiece or move outwards to release the workpiece.
As a preferred scheme of the invention, in order to save the production cost of equipment and simplify the control flow, the stacking manipulators provided by the invention are at least arranged into two groups which are respectively positioned at the left side and the right side of the workpiece.
In a preferred embodiment of the present invention, the chuck is a three-finger chuck in order to improve versatility and a clamping effect of the device member.
In a preferred embodiment of the present invention, the inner brace is a three-finger inner brace in order to improve versatility and a clamping effect of the equipment member.
As a preferable scheme of the present invention, the fourth servo motor may be replaced with an air cylinder or a hydraulic cylinder to drive the tightening or releasing movement of the inner support, wherein the number of the air cylinders is set to one or several, when the inner support is set to three fingers and the number of the air cylinders is set to three, each air cylinder correspondingly controls one finger inner support, the three air cylinders simultaneously drive the three finger inner supports to clamp or release the workpiece, and the workpiece is firmly clamped and is not easy to drop, so as to obtain an ideal clamping effect.
The other purpose of the invention is realized by the following technical scheme:
the control method of the automatic aluminum profile stacking system is simple in principle and convenient and fast to operate, and mainly comprises the following steps:
step S1, the processed aluminum profile enters a conveyor belt, the conveyor belt conveys the workpiece forward, and an industrial camera located aside captures the workpiece passing by the conveyor belt, thereby obtaining a cross-sectional image of the workpiece, and transmits the image data to an image processor.
And step S2, the gantry frame reaches the tail end of the conveying belt under the control of the first driving motor and waits for a corresponding workpiece.
Step S3, starting the stacking manipulator on the portal frame to grab the workpieces on the conveying line, wherein the grabbing process is as follows:
and step S31, starting the first servo motor and the second servo motor, and controlling the first mechanical arm and the second mechanical arm to swing downwards to enable the chucks on the left side and the right side to move downwards.
And step S32, starting a third servo motor to drive the chuck to rotate, and adjusting the position of the inner support to align the inner support with the clamping position of the workpiece.
And step S33, starting a fourth servo motor to drive the inner supporting box to tighten and clamp the workpiece.
And step S34, the first servo motor and the second servo motor drive the first mechanical arm and the second mechanical arm to reset, and the workpiece is lifted.
And step S4, after the workpiece is grabbed, the first driving motor controls the portal frame to come to a clamp of the next station (stacking and packaging station).
And step S5, calculating the angle difference between the cross section of the aluminum profile (the actual image acquired by the industrial camera) and the set image (the manually set packaging mode or the aluminum profile stacking mode) by using an algorithm of scale invariant feature transformation according to the acquired image data of the cross section of the workpiece by using an image processor to obtain the angle at which the aluminum profile needs to rotate currently, and controlling a third servo motor to rotate according to the processing result, so that the placing angle of the workpiece is adjusted, and the position of the workpiece is the same as the set placing mode.
And step S6, after the rotation angle of the workpiece is adjusted, the left stacking mechanical arm and the right stacking mechanical arm are started simultaneously, the lifting claw is driven by the second driving motor to move a distance leftwards on the second guide rail, the workpiece is translated leftwards at the moment, the left mechanical arm is positioned outside the stacking and packaging clamp (the phenomenon that when the left mechanical arm moves downwards, a chuck and an inner support collide with the stacking and packaging clamp is avoided), and the left mechanical arm moves downwards and releases the workpiece.
And step 7, after the stacking manipulator on the right pulls the workpiece out to the right for a certain distance (to avoid collision between the chuck and the inner support and the clamp of the stacking package when the right manipulator moves downwards), the workpiece is moved downwards and put down.
And step S8, the right end of the workpiece protrudes out of the clamp, and the right stacking manipulator pushes the workpiece to the left, so that the workpiece is reset and released, and stacking of one workpiece is completed.
The working process and principle of the invention are as follows: the industrial camera provided by the invention captures the section of the workpiece on the conveying belt, acquires the image data of the section and sends the image data to the image processor; the image processor calculates the angle of the current workpiece needing to be rotated by utilizing a scale invariant feature transformation algorithm according to the obtained image data; the stacking mechanical arm controls the rotation of the chuck according to the result calculated by the image processor, so that the workpiece rotates to a set placing angle; in order to avoid collision between the stacking manipulator and the packaging clamp, the second driving motor controls the lifting claw to move a certain distance to the left, so that the left manipulator protrudes out of the packaging clamp, and the left manipulator moves downwards and releases the workpiece; the right manipulator is started and drags the workpiece for a certain distance to the right side, so that the right manipulator protrudes out of the packaging clamp, and the right manipulator moves downwards and puts down the workpiece; and after the workpieces are completely put down, the right manipulator pushes the workpieces leftwards to reset the workpieces, so that the stacking operation of the single workpieces is completed. The invention has the advantages of simple structure and control principle, convenient implementation, less manual intervention and high automation degree.
Compared with the prior art, the invention also has the following advantages:
(1) the automatic aluminum profile stacking system provided by the invention has the advantages of simple structure and low manufacturing cost, and compared with the traditional manual mode, the automatic aluminum profile stacking system has the advantages of short processing time, high efficiency and low labor intensity of workers.
(2) The control method of the automatic stacking system provided by the invention has the advantages of simple principle, convenient implementation, clear control logic and reliable system operation.
(3) The automatic stacking system provided by the invention can effectively reduce the participation of manpower, remarkably improve the automation level and efficiency of aluminum profile stacking, reduce the error probability and obtain better packaging effect.
(4) The automatic stacking system provided by the invention saves the link of manual stacking, thereby not only saving the labor cost, but also avoiding the occurrence of safety accidents and ensuring the personal safety of workers.
Drawings
Fig. 1 is a schematic structural diagram of an automatic stacking system for aluminum profiles provided by the invention.
Fig. 2 is a schematic structural diagram of a stacker robot provided by the present invention.
Fig. 3 is a schematic structural view of the three-finger inner support provided by the present invention.
Fig. 4 is a schematic diagram of a first stacking mode provided by the present invention.
FIG. 5 is a schematic diagram of a second stacking scheme provided by the present invention.
Fig. 6 is a schematic diagram of a third stacking mode provided by the present invention.
Fig. 7 is a schematic illustration of a fourth stacking mode provided by the present invention.
Fig. 8 is a schematic illustration of a fifth stacking mode provided by the present invention.
Fig. 9 is a schematic view of the automatic stacking process provided by the present invention.
Fig. 10 is a flow chart of a control method of the automatic stacking system provided by the invention.
FIG. 11 is a flow chart of a scale invariant feature transformation algorithm provided by the present invention.
The reference numerals in the above figures illustrate:
1-film sticking machine, 2-conveying belt, 3-industrial camera, 4-stacking mechanical arm, 41-lifting claw, 42-first mechanical arm, 43-second mechanical arm, 44-chuck, 45-internal support, 5-stacking cotton clamping and 6-clamp.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described below with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 1, 2 and 3, the invention discloses an automatic stacking system for aluminum profiles, which is mainly used on an aluminum profile production line, uniformly and automatically identifies and packages aluminum profiles with various cross-sectional shapes (as shown in fig. 4, 5, 6, 7 and 8), reduces manual operation steps, improves automation level and accordingly improves efficiency of aluminum profile production. The stacking system mainly comprises a conveying belt 2 for conveying aluminum profiles, an industrial camera 3 for acquiring cross-section images of the aluminum profiles, an image processor for processing image data, a first guide rail horizontally laid, a stacking manipulator 4 for grabbing workpieces, a portal frame for conveying the workpieces, and a first driving motor for driving the portal frame to slide on the first guide rail.
Specifically, the industrial camera 3 is installed on one side of the conveyer belt 2 and is perpendicular to the cross section of the aluminum profile, and the image processor is connected with the industrial camera 3 and used for receiving and processing the cross-section image data fed back by the industrial camera 3. When the aluminum profile passes over the conveyor belt 2, the industrial camera 3 performs photographing scanning of the cross section thereof and sends the obtained image data to the image processor. The first guide rail is arranged at the tail end of the conveying belt 2, the portal frame is installed on the first guide rail, the first driving motor is in transmission connection with the portal frame, and the portal frame is driven to reciprocate on the first guide rail. The stacking manipulator 4 is arranged on the portal frame and performs stacking operation according to the result of the image processor. When the aluminum profiles reach the tail end of the conveying belt 2, the stacking manipulator 4 moves downwards to pick up the aluminum profiles and convey the aluminum profiles to a packaging station for stacking and packaging.
Specifically, the stacking manipulator 4 mainly includes a lifting claw 41 for fixing a manipulator, a first servo motor, a first manipulator 42, a second servo motor, a second manipulator 43, a third servo motor, a chuck 44, a fourth servo motor, and an inner support 45. The second guide rail is arranged on a cross beam of the portal frame and is perpendicular to the advancing direction of the portal frame, the lifting claw 41 is arranged on the second guide rail, the second driving motor is in transmission connection with the lifting claw 41, and the lifting claw 41 is driven to reciprocate on the second guide rail. One end of the first mechanical arm 42 is mounted on the lifting claw 41 and is used as a first rotation fulcrum, and the first servo motor is in transmission connection with the first mechanical arm 42 and drives the other end of the first mechanical arm 42 to swing around the first rotation fulcrum. One end of the second mechanical arm 43 is mounted on the other end of the first mechanical arm 42, and the second mechanical arm is used as a second rotation fulcrum, and the second servo motor is in transmission connection with the second mechanical arm 43 and drives the second mechanical arm 43 to swing around the second rotation fulcrum. The chuck 44 is installed at the other end of the second mechanical arm 43, and the third servo motor is in transmission connection with the chuck 44 to drive the chuck 44 to rotate, so that the purpose of adjusting the workpiece placing angle is achieved. The inner support 45 is installed on the chuck 44, and the fourth servo motor is in transmission connection with the inner support 45 and drives the inner support 45 to move inwards to clamp a workpiece or move outwards to release the workpiece.
As a preferred scheme of the present invention, in order to save the production cost of the equipment and simplify the control flow, at least two groups of stacking manipulators 4 provided by the present invention are provided, and are respectively located at the left and right sides of the workpiece.
In a preferred embodiment of the present invention, the chuck 44 is a three-finger chuck 44 in order to improve versatility and a clamping effect of the device member.
In order to improve the versatility and the clamping effect of the equipment components, the inner support 45 is preferably a three-finger inner support 45.
As a preferable scheme of the present invention, the fourth servo motor may be replaced with an air cylinder or a hydraulic cylinder to drive the tightening or releasing movement of the inner support 45, wherein the number of the air cylinders is set to one or several, when the inner support 45 is set to three fingers, and the number of the air cylinders is set to three, each air cylinder correspondingly controls one finger of the inner support 45, and the three air cylinders simultaneously drive the three finger of the inner support 45 to clamp or release a workpiece, so that the workpiece is firmly clamped and is not easy to fall off, thereby obtaining an ideal clamping effect.
As shown in fig. 9, 10 and 11, the invention also discloses a control method of the automatic aluminum profile stacking system, which has simple principle and convenient implementation and mainly comprises the following steps:
step S1 is that the processed aluminum profile enters the conveyor belt 2, the conveyor belt 2 conveys the workpiece forward, the industrial camera 3 located aside captures the workpiece passing by the conveyor belt 2 to thereby obtain a cross-sectional image of the workpiece, and transfers the image data to the image processor.
And step S2, the gantry frame reaches the tail end of the conveyor belt 2 under the control of the first driving motor and waits for a corresponding workpiece.
Step S3, the stacking manipulator 4 on the portal frame is started to grab the workpieces on the conveying line, and the grabbing process is as follows:
in step S31, the first servo motor and the second servo motor are activated to control the first robot arm 42 and the second robot arm 43 to swing downward, so that the chucks 44 on the left and right sides move downward.
And step S32, starting a third servo motor to drive the chuck 44 to rotate, and adjusting the position of the inner support 45 to align the inner support 45 with the clamping position of the workpiece.
And step S33, starting a fourth servo motor to drive the inner support 45 to be tightened in the box so as to clamp the workpiece.
In step S34, the first servo motor and the second servo motor drive the first robot arm 42 and the second robot arm 43 to reset, so as to lift the workpiece.
And step S4, after the workpiece is grabbed, the first driving motor controls the portal frame to come to the stacking cotton clamping 5 and the clamp 6 of the next station (stacking and packaging station).
And step S5, the image processor calculates the angle difference between the cross section of the aluminum profile (the actual image acquired by the industrial camera 3) and the set image (the manually set packaging mode or the aluminum profile stacking mode) according to the image data of the acquired workpiece section by using a scale invariant feature transform algorithm to obtain the angle of the current aluminum profile required to rotate, and controls the third servo motor to rotate according to the processing result, so that the placement angle of the workpiece is adjusted, and the position of the workpiece is the same as the set placement mode.
And step S6, after the rotation angle of the workpiece is adjusted, the left stacking manipulator 4 and the right manipulator are started simultaneously, the second driving motor drives the lifting claw 41 to move leftwards on the second guide rail for a certain distance, the workpiece translates leftwards at the moment, the left manipulator is positioned outside the stacking and packaging clamp 6 (the chuck 44 and the inner support 45 are prevented from colliding with the stacking and packaging clamp 6 when the left manipulator moves downwards), and the left manipulator moves downwards and releases the workpiece.
At step 7, the stacker robot 4 on the right pulls the workpiece to the right for a distance (to avoid collision of the chuck 44 and the inner support 45 with the clamp 6 of the stack pack when the right robot moves downward), moves downward, and drops the workpiece.
And step 8, the right end of the workpiece protrudes out of the clamp 6, and the right stacking manipulator 4 pushes the workpiece to the left, so that the workpiece is reset and released, and stacking of one workpiece is completed.
The scale invariant feature transformation algorithm is the existing algorithm, and the calculation process is as follows:
the first step is as follows: calculating SIFT characteristics of the first image, and extracting a main direction angle value of the characteristic point;
the second step is that: calculating SIFT characteristics of the second image, and extracting a main direction angle value of the characteristic point;
the third step: SIFT feature point matching is carried out;
the fourth step: calculating the rotation angles of the mutually matched SIFT feature points;
the fifth step: analyzing the rotation angle data of the feature points by using an iterative self-organizing clustering algorithm;
and a sixth step: selecting a correct sample class;
the seventh step: and taking the mean value of the selected sample classes as the final rotation angle of the object.
The working process and principle of the invention are as follows: the film sticking machine 1 sticks a film to the produced aluminum profile, the industrial camera 3 provided by the invention captures the section of a workpiece on the conveying belt 2, acquires section image data and sends the section image data to the image processor; the image processor calculates the angle of the current workpiece needing to be rotated by utilizing a scale invariant feature transformation algorithm according to the obtained image data; the stacking manipulator 4 controls the rotation of the chuck 44 according to the result calculated by the image processor, so that the workpiece rotates to a set placing angle; in order to avoid collision between the stacking manipulator 4 and the packaging clamp 6, the second driving motor controls the lifting claw 41 to move a certain distance to the left, so that the left manipulator protrudes out of the packaging clamp 6 and moves downwards to release the workpiece; the right manipulator is started and drags the workpiece for a distance to the right side, so that the right manipulator protrudes out of the packaging clamp 6, and the right manipulator moves downwards and puts down the workpiece; and after the workpieces are completely put down, the right manipulator pushes the workpieces leftwards to reset the workpieces, so that the stacking operation of the single workpieces is completed. The invention has the advantages of simple structure and control principle, convenient implementation, less manual intervention and high automation degree.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (5)
1. An automatic stacking system for aluminum profiles is characterized by comprising a conveying belt for conveying the aluminum profiles, an industrial camera for acquiring cross-section images of the aluminum profiles, an image processor, a first guide rail, a first driving motor, a portal frame and a stacking manipulator; the industrial camera is arranged on one side of the conveying belt and is vertical to the cross section of the aluminum profile, and the image processor is connected with the industrial camera and used for receiving and processing a cross section image; the first guide rail is arranged at the tail end of the conveying belt, the portal frame is installed on the first guide rail, the first driving motor is in transmission connection with the portal frame, and the portal frame is driven to reciprocate on the first guide rail; the stacking mechanical arm is arranged on the portal frame and executes stacking operation according to the result of the image processor;
the stacking mechanical arm comprises a second guide rail, a second driving motor, a lifting claw, a first servo motor, a first mechanical arm, a second servo motor, a second mechanical arm, a third servo motor, a chuck, a fourth servo motor and an inner support; the second guide rail is arranged on a cross beam of the portal frame, the lifting claw is arranged on the second guide rail, and the second driving motor is in transmission connection with the lifting claw and drives the lifting claw to reciprocate on the second guide rail; the first mechanical arm is arranged on the lifting claw, and the first servo motor is in transmission connection with the first mechanical arm and drives the first mechanical arm to swing; the second mechanical arm is arranged on the first mechanical arm, and the second servo motor is in transmission connection with the second mechanical arm and drives the second mechanical arm to swing; the chuck is arranged on the second mechanical arm, and the third servo motor is in transmission connection with the chuck and drives the chuck to rotate; the inner support is arranged on the chuck, and the fourth servo motor is in transmission connection with the inner support and drives the inner support to clamp or release a workpiece;
the control method for the automatic aluminum profile stacking system comprises the following steps:
step S1: the conveyer belt conveys the workpiece forwards, the industrial camera captures the sectional image of the workpiece and transmits the data to the image processor;
step S2: the first driving motor is started to control the portal frame to come to the tail end of the conveying belt;
step S3: starting a stacking manipulator to grab workpieces on the conveying line;
step S4: the first driving motor controls the portal frame to move to a fixture of the next station;
step S5: the image processor obtains image data of a workpiece section, calculates the angle difference between an actual image and a set image of the section according to an algorithm of scale invariant feature transformation to obtain a specified rotation angle, and adjusts the placing angle of the workpiece according to a processing result;
step S6: the workpiece moves a certain distance to the left side, so that the left stacking mechanical hand does not interfere with the clamping of the stacking and packaging station in the vertical direction, and the left stacking mechanical hand puts down and releases the workpiece;
step S7: the right stacking manipulator drags the workpiece out a distance to the right and puts down the workpiece;
step S8: the right stacking manipulator pushes the workpiece to the left, so that the workpiece is reset and released.
2. The automatic stacking system for aluminum profiles according to claim 1, characterized in that the stacking robots are arranged in at least two groups.
3. The automatic stacking system for aluminum profiles as recited in claim 1, wherein the chuck is a three-finger chuck.
4. The automatic stacking system for aluminum profiles according to claim 1, wherein the inner support is a three-finger inner support.
5. The control method of the automatic aluminum profile stacking system according to claim 1, wherein the step S3 further comprises the steps of:
step S31: the first servo motor and the second servo motor are started to control the chucks on the left side and the right side to move downwards;
step S32: a third servo motor is started to drive the chuck to rotate, and the position of the inner support is adjusted;
step S33: the fourth servo motor is started to drive the inner support box to be tightened, so that the workpiece is clamped;
step S34: the first servo motor and the second servo motor drive the first mechanical arm and the second mechanical arm to reset, and the workpiece is lifted.
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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 |
| CN108792412B (en) * | 2018-06-29 | 2020-03-10 | 福州大学 | Automatic carrying device for super-long material |
| CN112429535B (en) * | 2020-11-09 | 2022-05-31 | 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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| CN203529439U (en) * | 2013-09-18 | 2014-04-09 | 睿志达光电（成都）有限公司 | Automatic sheet grabbing system for glass panel printing discharging |
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| CN106672634A (en) | 2017-05-17 |
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