CN110443435B - Bar stacking method, bar stacking device, bar stacking equipment and bar stacking medium - Google Patents
Bar stacking method, bar stacking device, bar stacking equipment and bar stacking medium Download PDFInfo
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- CN110443435B CN110443435B CN201910785212.8A CN201910785212A CN110443435B CN 110443435 B CN110443435 B CN 110443435B CN 201910785212 A CN201910785212 A CN 201910785212A CN 110443435 B CN110443435 B CN 110443435B
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
Abstract
The embodiment of the invention discloses a bar stacking method, a bar stacking device, bar stacking equipment and a bar stacking medium. The method is applied to bar stock stacking equipment, wherein a detection device, a temporary storage disc, a rotary positioning mechanism and a high-precision displacement sensor are arranged on the bar stock stacking equipment, bars to be stacked are placed in the temporary storage disc, and the end faces of the bars to be stacked are irregular hexagons; the method comprises the following steps: acquiring end face size information of the bars to be stacked through a detection device, and determining the number of the bars to be stacked on each layer of the area to be stacked according to the end face size distribution of the bars to be stacked in the temporary storage disc and the width of the area to be stacked; determining the end face size information and the position information of N to-be-stacked bars to be stacked on the first layer of the to-be-stacked area from the temporary storage disc, and sequentially stacking the N bars on the first layer of the to-be-stacked area. The embodiment of the invention provides an automatic bar stock stacking method, which is used for improving the space utilization rate of bar stock stacking and avoiding bar stock layer collapse.
Description
Technical Field
The embodiment of the invention relates to the technical field of industrial automation, in particular to a bar stock stacking method, a bar stock stacking device, bar stock stacking equipment and a bar stock stacking medium.
Background
In industrial production, bar stock is a common production raw material. Due to the different sizes of the bars, many problems exist in the production, packaging and storage processes.
For example, for a bar stock with irregular hexagonal end faces, the conventional stacking method results in waste of storage space and collapse of the bar stock layer.
Disclosure of Invention
The invention provides a bar material stacking method, a bar material stacking device, bar material stacking equipment and a medium, which are used for improving the space utilization rate of bar material stacking and avoiding bar material layer collapse.
In a first aspect, an embodiment of the present invention provides a bar stacking method, which is applied to bar stacking equipment, where the bar stacking equipment is configured with a detection device, a temporary storage tray, a rotation positioning mechanism, and a high-precision displacement sensor, a bar to be stacked is placed in the temporary storage tray, and an end face of the bar to be stacked is an irregular hexagon; wherein the method comprises the following steps:
acquiring the end face size information of the bar to be stacked through the detection device, and recording and storing the end face size information of the bar to be stacked and the position information of the bar to be stacked in the temporary storage disc;
determining the number of the bars to be stacked on each layer of the area to be stacked according to the size distribution of the end faces of the bars to be stacked in the temporary storage disc and the width of the area to be stacked; the number of the bars stacked on the odd layers is N, and the number of the bars stacked on the even layers is N-1;
and determining the end face size information and the position information of N to-be-stacked bars to be stacked on the first layer of the to-be-stacked area from the temporary storage disc, and controlling the rotary position finding mechanism to stack the N bars in the first layer of the to-be-stacked area in sequence in the direction that one group of opposite sides of the to-be-stacked bars in the end face hexagon of the bars is perpendicular to the bottom of the to-be-stacked area.
In a second aspect, an embodiment of the present invention further provides a bar stacking device, which is configured in a bar stacking apparatus, where the bar stacking apparatus is configured with a detection device, a temporary storage tray, a rotation positioning mechanism, and a high-precision displacement sensor, and a bar to be stacked is placed in the temporary storage tray, and an end face of the bar to be stacked is an irregular hexagon; wherein the apparatus comprises:
the acquisition module is used for acquiring the end face size information of the bar to be stacked through the detection device, and recording and storing the end face size information of the bar to be stacked and the position information of the bar to be stacked in the temporary storage disc;
the bar stock quantity determining module is used for determining the quantity of bar stocks to be stacked on each layer of the area to be stacked according to the size distribution of the end faces of the bar stocks to be stacked in the temporary storage disc and the width of the area to be stacked; the number of the bars stacked on the odd layers is N, and the number of the bars stacked on the even layers is N-1;
and the bar stock stacking module is used for determining the end face size information and the position information of N to-be-stacked bar stocks to be stacked on the first layer of the to-be-stacked area from the temporary storage disc, controlling the rotating position finding mechanism to enable the to-be-stacked bar stocks to be stacked in the direction that one group of opposite sides of a bar stock end face hexagon is vertical to the bottom of the to-be-stacked area, and sequentially stacking the N bar stocks on the first layer of the to-be-stacked area.
In a third aspect, an embodiment of the present invention further provides a bar stacking apparatus, where the apparatus includes:
one or more processors;
storage means for storing one or more programs;
the device comprises a detection device, a stacking device and a control device, wherein the detection device is used for detecting the size information of the end face of a bar to be stacked, and the end face of the bar to be stacked is an irregular hexagon;
the temporary storage disc is used for storing the bars to be stacked;
the rotary positioning mechanism is used for rotating the bars to be stacked;
the high-precision displacement sensor is used for detecting the total width of the stacked bars in the area to be stacked;
when executed by the one or more processors, cause the one or more processors to implement a bar stock stacking method as described in any embodiment of the invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the program is executed by a processor to implement the bar stock stacking method according to any embodiment of the present invention.
According to the embodiment of the invention, the end face size information of the bar to be stacked is obtained through the detection device, the end face size information of the bar to be stacked and the position information of the bar to be stacked in the temporary storage disc are recorded and stored, the number of the bars to be stacked in each layer of the area to be stacked is determined according to the end face size distribution of the bar to be stacked in the temporary storage disc and the width of the area to be stacked, the end face size information and the position information of the N stacked bars to be stacked in the first layer of the area to be stacked are determined from the temporary storage disc, and the rotating positioning mechanism is controlled to place the bars in a set direction. The technical scheme of the embodiment of the invention provides an automatic bar stock stacking method with high space utilization rate, which can avoid collapse of a bar stock layer.
Drawings
Fig. 1 is a flowchart of a bar stacking method according to an embodiment of the present invention;
FIG. 2 is a schematic view of the stacking direction of the bars provided by the embodiment of the invention;
FIG. 3 is a flow chart of a bar stacking method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of the staggered arrangement of the bars in different layers according to the second embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a bar stock stacking apparatus according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a bar stock stacking apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a bar stacking method according to an embodiment of the present invention. The embodiment is applicable to the case of stacking bar stocks. The method is applied to bar stock stacking equipment, the bar stock stacking equipment is provided with a detection device, a temporary storage disc, a rotary positioning mechanism and a high-precision displacement sensor, the bar stock to be stacked is placed in the temporary storage disc, and the end face of the bar stock to be stacked is in an irregular hexagon shape. The method may be performed by a bar stock stacking apparatus, which may be implemented in software and/or hardware, and may be configured in a bar stock stacking apparatus. As shown in fig. 1, the bar stock stacking method provided in this embodiment may specifically include the following steps:
and 110, acquiring the end face size information of the bar stock to be stacked through the detection device, and recording and storing the end face size information of the bar stock to be stacked and the position information of the bar stock to be stacked in the temporary storage disc.
The detection device is used for detecting the end face size information of the bar to be stacked, and the CCD devices placed at the two ends of the bar to be stacked can be used for respectively detecting the end face size information of the two ends of the bar to be stacked. Further, the end face size information of the bar to be stacked comprises relative distances between three groups of opposite sides of the end face hexagon, and the relative distance between the opposite sides with the largest relative distance difference with other groups of opposite sides is used as the end face size information of the bar.
For example, if it is detected that the relative distances of two groups of opposite sides are close and the relative distance of the other group of opposite sides and the relative distances of the two groups of opposite sides are different greatly, the relative distance between the other group of opposite sides is taken as the hexagonal end face size information. And if the error value of the size information of the end faces at the two ends of the bar stock exceeds a certain threshold value, judging that the bar stock is unqualified bar stock and abandoning the bar stock, wherein the error threshold value is set according to actual requirements.
Further, the bar materials to be stacked detected by the detection device are placed in a temporary storage disc, corresponding position information is associated with each bar material to be stacked in the temporary storage disc, the end face dimension information of the bar material to be stacked and the position information of the bar material to be stacked in the temporary storage disc are recorded and stored, and a database of the bar materials to be stacked is formed.
And step 120, determining the number of the bars to be stacked on each layer of the area to be stacked according to the size distribution of the end faces of the bars to be stacked in the temporary storage disc and the width of the area to be stacked.
The number of the bars stacked on the odd layers is N, the number of the bars stacked on the even layers is N-1, and the size distribution of the end faces is obtained by dividing in advance according to the size information of the end faces of the bars to be stacked in the temporary storage disc.
Optionally, the area to be stacked is a mold for placing stacked bars. When the width of the area to be stacked is fixed, the number of the bar stocks to be stacked on each layer of the area to be stacked is determined according to the size distribution of the end faces of the bar stocks to be stacked in the temporary storage disc.
Illustratively, if the width of the area to be stacked is 180mm, the size of the end face of the bar stock to be stacked is [2.40, 2.60] mm, and the size of the end face is divided into four intervals of [2.40, 2.45) mm, [2.45, 2.50) mm, [2.50, 2.55) mm, [2.55, 2.60) mm. If the end face sizes of the bars are mainly distributed in the first two intervals, 72 bars are placed on the odd layers of the area to be stacked, if the end face sizes of the bars are mainly distributed in the middle two intervals, 71 bars are placed on the odd layers of the area to be stacked, and if the end face sizes of the bars are mainly distributed in the back two intervals, 70 bars are placed on the odd layers of the area to be stacked.
And step 130, determining the end face size information and the position information of the N to-be-stacked bars to be stacked on the first layer of the to-be-stacked area from the temporary storage disk, and controlling the rotary position finding mechanism to stack the N bars in the first layer of the to-be-stacked area in sequence in the direction that one group of opposite sides of the end face hexagon of the bars is perpendicular to the bottom of the to-be-stacked area.
In this embodiment, after the number of the bars to be placed on each layer of the to-be-stacked area is determined, according to the width of the to-be-stacked area and the to-be-stacked bar database in the temporary storage disk, the end face size information and the position information of the N to-be-stacked bars to be stacked on the first layer of the to-be-stacked area are sequentially determined from the temporary storage disk, and the rotating positioning mechanism is controlled to rotate the to-be-stacked bars to the specified direction through the motor. Further, referring to fig. 2, the designated direction refers to a direction in which a group of opposite sides of the hexagonal end faces of the bar stocks are perpendicular to the bottom of the area to be stacked, and N bar stocks are sequentially stacked on the first layer of the area to be stacked.
According to the embodiment of the invention, the end face size information of the bar to be stacked is obtained through the detection device, the end face size information of the bar to be stacked and the position information of the bar to be stacked in the temporary storage disc are recorded and stored, the number of the bars to be stacked in each layer of the area to be stacked is determined according to the end face size distribution and the width of the area to be stacked in the temporary storage disc, the end face size information and the position information of the bar to be stacked in the first layer of the area to be stacked are determined from the temporary storage disc, and the bar is placed in the set direction by controlling the rotary positioning mechanism, so that the automatic bar stacking method with high space utilization rate is provided, and the collapse of the bar material layer can be avoided.
On the basis of the above embodiment, the method further includes: and updating the end face size information and the position information of the bar stock to be stacked stored in the temporary storage disc in real time according to the end face size information and the position information of the bar stock to be stacked newly added in the temporary storage disc.
Specifically, in the process of taking away the bar to be stacked in the temporary storage disk, a new bar to be stacked is added at an empty position in the temporary storage disk in time, the end face size information of the taken away bar to be stacked in the database and the position information of the taken away bar to be stacked in the temporary storage disk are also eliminated, and correspondingly, the end face size information and the position information of the stored bar to be stacked in the temporary storage disk are updated in real time according to the end face size information and the position information of the newly added bar to be stacked in the temporary storage disk.
Example two
Fig. 3 is a flowchart of a bar stacking method according to a second embodiment of the present invention. This embodiment is based on the above embodiment, and further refines the step 130. As shown in fig. 3, the bar stock stacking method provided in this embodiment may specifically include the following steps:
and 210, acquiring the end face size information of the bar stock to be stacked through the detection device, and recording and storing the end face size information of the bar stock to be stacked and the position information of the bar stock to be stacked in the temporary storage disc.
And step 220, determining the number of the bars to be stacked on each layer of the area to be stacked according to the size distribution of the end faces of the bars to be stacked in the temporary storage disc and the width of the area to be stacked.
And step 230, determining the average end face size of the bar stock to be stacked required by the first layer according to the width of the area to be stacked and the number N of the bar stock to be stacked of the first layer.
Illustratively, if the width of the area to be stacked is 180mm, the end face size of the bar stock to be stacked in the temporary storage tray is [2.40, 2.60] mm, and the number of the bar stock to be stacked in the first layer is 72, the average end face size of the bar stock to be stacked required in the first layer is 2.50 mm.
And 240, determining the end face size information and the position information of the 1 st to Mth bars to be stacked in the first layer from the temporary storage disc according to the average end face size and the end face size distribution.
The size distribution of the end faces at least comprises size distribution intervals of the two end faces, and the size distribution intervals are used for reflecting the size distribution condition of the end faces of the bar materials in the temporary storage disc.
Taking the width of the area to be stacked as 180mm, the end face size range of the bars to be stacked in the temporary storage tray as [2.40, 2.60] mm, and the number of the bars to be stacked in the first layer as 72 examples, the end face size range can be divided into four size distribution intervals of a first interval [2.40, 2.45) mm, a second interval [2.45, 2.50) mm, a third interval [2.50, 2.55) mm, and a fourth interval [2.55, 2.60] mm according to the size distribution in the order from small to large. At this time, the average end face size of the to-be-stacked bars required by the first layer is 2.50mm, optionally, M is 40, and since the bars have detection errors and gap errors when actually stacked, when the first 40 bars are selected, the end face sizes of the bars are selected in a first interval and a second interval which are smaller than the average end face size, and the number of the bars selected in the first interval and the second interval can be allocated according to actual requirements.
As an alternative implementation manner, the first 10 bars to be stacked with end face sizes within a first interval range can be selected from the temporary storage disc in the descending order, and the selected bars to be stacked are sequentially stacked on the first layer of the region to be stacked.
Further, according to the data from small to large, 11 th to 40 th bars to be stacked with end face sizes in the second range interval are selected from the temporary storage disc, if only 27 bars to be stacked with end face sizes in the second range interval exist in the temporary storage disc, the bars to be stacked which are close to the average end face size of 2.50mm are continuously selected from the temporary storage disc to serve as the 38 th to 40 th bars to be stacked, and the selected bars to be stacked are sequentially stacked on the first layer of the region to be stacked.
This select mode of waiting to pile up bar can guarantee that the terminal surface size difference between the adjacent bar is less, is favorable to piling up of upper strata bar, treats through reasonable distribution simultaneously and piles up the quantity of bar terminal surface size in different intervals, can guarantee that the average terminal surface size of the bar that has piled up is close the required average terminal surface size of waiting to pile up the bar of first layer.
The specific value of M may be specifically determined according to the width of the area to be stacked and the size of the end face of the bar stock to be stacked, without any limitation.
And step 250, determining the end face size information and the position information of the M +1 th to Lth bars to be stacked from the temporary storage disc according to the end face size average value of the M bars before being stacked, the end face size information of the Mth bar and the average end face size of the first layer of bars to be stacked.
Optionally, L is 60, and when a 41 th to a 60 th bar stock are selected, according to the average value of the end face sizes of the M bar stocks before stacking, the end face size information of the M bar stock, and the average end face size of the bar stock to be stacked required by the first layer, the end face size information and the position information of the M +1 th to the L th bar stocks to be stacked are determined from the temporary storage tray.
Specifically, still taking the width of the area to be stacked as 180mm, the number of the bars stacked in the first layer as 72, and the average end face size of the bars to be stacked in the first layer as 2.50mm as an example, if the average end face size of the first 40 stacked bars obtained by calculation is smaller than 2.50mm, the 41 th to 60 th bars to be stacked, which are larger than 2.50mm and are close to the end face size of the 40 th bar, are sequentially selected from the temporary storage tray in the order from small to large; if the calculated average value of the end face sizes of the first 40 stacked bars is larger than 2.50mm, the 41 th to 60 th bars which are smaller than 2.50mm and close to the end face size of the 40 th bar are sequentially selected from the temporary storage disc from large to small, and the bars to be stacked obtained through screening are sequentially placed behind the 40 th bar.
Further, the average end face size of the bar stock to be stacked required by the first layer is an ideal average end face size, and since the bar stock may have a certain gap error and detection error during the stacking process, in practical applications, a value smaller than the average end face size may be used as the actual average end face size, and for example, if the average end face size is 2.50mm, 2.49mm may be used as the average end face size value for selecting the 41 th to 60 th bar stocks to be stacked.
The specific value of L may be specifically determined according to the width of the area to be stacked and the size of the end face of the bar stock to be stacked, without any limitation.
And 260, respectively acquiring the widths of the stacked bars when the Lth to Nth bars are stacked through the high-precision displacement sensor, calculating the average end face size of the bars to be stacked required by the residual stacking width of the first layer when the Lth to Nth bars are stacked, and determining the end face size information and the position information of the Lth to Nth bars to be stacked of the first layer from the temporary storage disc according to the average end face size of the bars required by the residual stacking width and the end face size of the previous bar.
Specifically, according to the average end face size of the bar stock required by the remaining stacking width and the end face size of the previous bar stock, the end face size information and the position information of the L +1 th to nth bar stocks to be stacked on the first layer are determined from the temporary storage disc, and the method includes the following steps:
if the average end face size is larger than the end face size of the previous bar stock, determining the bar stock to be stacked which is larger than the end face size of the previous bar stock and is closest to the end face size of the previous bar stock from the temporary storage disc as the bar stock to be stacked currently;
and if the average end face size is smaller than the end face size of the previous bar stock, determining the bar stock to be stacked which is smaller than the end face size of the previous bar stock and is closest to the end face size of the previous bar stock from the temporary storage disc as the bar stock to be stacked currently.
For example, when stacking 61 st to 72 th bars, before each bar is selected, a high-precision sensor is used to detect the total width of the stacked bars in the first layer, so as to obtain the total width of the remaining stacking positions in the first layer, further obtain the average end face size of the bars to be stacked required by the remaining stacking positions, and determine the end face size of the currently selected bar to be stacked according to the average end face size and the end face size of the previous bar.
Illustratively, when a 61 st bar stock is stacked, if the average end face size value of the required bar stocks to be stacked of the rest placement positions is calculated to be 2.5mm, and the size of the 60 th bar stock is 2.55mm, selecting the bar stock to be stacked which is smaller than 2.55mm and is closest to the size of 2.55mm from the temporary storage disc to be placed at the 61 st position; if the average end face size value of the required bars to be stacked at the rest placing positions is calculated to be 2.5mm, and the size of the 60 th bar at the moment is 2.45mm, selecting the bar to be stacked which is larger than 2.45mm and is closest to the size of 2.45mm from the temporary storage disc to be placed at the 61 st position. And by parity of reasoning in the method, sequentially selecting 62 th to 72 th to-be-stacked bars from the temporary storage disc, and finishing the bar stacking of the first layer in the to-be-stacked area by combining the placement error required by the bars. Furthermore, the placing error can be set according to actual requirements, and is not limited specifically.
The judgment condition of the bar stock to be stacked not only considers the requirement of the end face size, but also considers the requirement that the size difference between adjacent bar stocks cannot be too large, and is favorable for stacking the upper layer bar stock on the premise of meeting the stacking precision.
Because the bar stock to be stacked can have a detection error when detecting through the detection device to and can have a gap at the in-process that piles up, utilize high accuracy sensor can eliminate the error, ensure the requirement of the pile precision of bar stock.
Further, after stacking N bars in sequence on the first layer of the to-be-stacked area, the method further includes:
and when the stacking layer number is more than or equal to 2, controlling the rotary positioning mechanism to sequentially stack the bars to be stacked in the upper layer position of the previous layer in a staggered manner according to the end face size information of the stacked bars in the previous layer and the end face size information and the position information of the bars to be stacked in the current layer determined in the temporary storage disc.
Specifically, after the first layer of bar stocks is stacked, the end face size of the first layer of bar stocks is known, so that the end face size of each bar stock to be stacked on the second layer can be determined, and the corresponding bar stock to be stacked is selected from the temporary storage disc according to the end face size of each bar stock. And by analogy, the stacking of the upper layer of the bar stock in the stacking area is completed, and the staggered placement mode among each layer can be shown in fig. 4.
According to the technical scheme, the to-be-stacked bars are selected from the temporary storage disc according to different rules, the size of the end face between the adjacent bars is controlled within a certain range, stacking of the upper-layer bars is considered while stacking accuracy is guaranteed, stacking errors among the bars can be correspondingly reduced, and collapse of the stacked bars is avoided.
EXAMPLE III
Fig. 5 is a structural diagram of a bar stock stacking apparatus according to a third embodiment of the present invention. The device is arranged in bar stock stacking equipment, the bar stock stacking equipment is provided with a detection device, a temporary storage disc, a rotary positioning mechanism and a high-precision displacement sensor, bars to be stacked are placed in the temporary storage disc, and the end faces of the bars to be stacked are irregular hexagons; the apparatus may perform a rod stacking method according to any embodiment of the present invention, and referring to fig. 5, the rod stacking apparatus according to the embodiment of the present invention includes: an acquisition module 310, a bar number determination module 320, and a bar stacking module 330.
The obtaining module 310 is configured to obtain end face size information of the bar to be stacked through the detecting device, and record and store the end face size information of the bar to be stacked and position information of the bar to be stacked in the temporary storage tray.
The bar stock number determining module 320 is configured to determine the number of bar stocks to be stacked on each layer of the to-be-stacked area according to the size distribution of the end faces of the bar stocks to be stacked in the temporary storage tray and the width of the to-be-stacked area; the number of the bars stacked on the odd layers is N, the number of the bars stacked on the even layers is N-1, and the end face size distribution is obtained by dividing in advance according to the end face size information of the bars to be stacked in the temporary storage disc.
And the bar stock stacking module 330 is configured to determine, from the temporary storage disk, end face size information and position information of N to-be-stacked bar stocks to be stacked on the first layer of the to-be-stacked area, and control the rotating position finding mechanism to stack the to-be-stacked bar stocks in a direction in which a group of opposite sides of a bar stock end face hexagon are perpendicular to the bottom of the to-be-stacked area, so that the N bar stocks are sequentially stacked on the first layer of the to-be-stacked area.
The bar stock stacking method provided by the embodiment of the invention can be executed in the bar stock stacking area provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
On the basis of the above embodiment, the apparatus further includes: and the upper layer bar stock stacking module is used for controlling the rotary positioning mechanism to sequentially stack the bar stocks to be stacked in the upper layer position of the previous layer according to the end face size information of the stacked bar stocks of the previous layer and the end face size information and the position information of the to-be-stacked bar stocks of the current layer determined in the temporary storage disc when the stacking number is more than or equal to 2.
On the basis of the foregoing embodiment, the obtaining module 310 is specifically configured to: and acquiring relative distances among three groups of opposite sides of the end face hexagon of the bar to be stacked through the detection device, and taking the relative distance between the opposite sides with the maximum relative distance difference with other groups of opposite sides as bar end face size information.
On the basis of the above embodiment, the apparatus further includes a temporary storage disk updating module, configured to update the end face size information and the position information of the bar to be stacked stored in the temporary storage disk in real time according to the end face size information and the position information of the bar to be stacked newly added in the temporary storage disk.
On the basis of the above embodiment, the bar stock stacking module 330 is specifically configured to: determining the average end face size of the bar to be stacked required by the first layer according to the width of the area to be stacked and the number N of the bar to be stacked of the first layer;
according to the average end face size and the end face size distribution, determining end face size information and position information of 1 st to Mth to-be-stacked bars to be stacked on the first layer from the temporary storage disc;
according to the average value of the end face sizes of the M bars before stacking, the end face size information of the M bar and the average end face size of the bar to be stacked required by the first layer, determining the end face size information and the position information of the M +1 th to L th bars to be stacked from the temporary storage disc;
the method comprises the steps of respectively obtaining the width of stacked bars when the Lth to Nth bars are stacked through a high-precision displacement sensor, calculating the average end face size of the bars to be stacked required by the residual stacking width of a first layer when the Lth to Nth bars are stacked, and determining the end face size information and the position information of the Lth to Nth bars to be stacked of the first layer from a temporary storage disc according to the average end face size of the bars required by the residual stacking width and the end face size of the previous bar.
Further, the bar stock stacking module 330 is further specifically configured to: if the average end face size is larger than the end face size of the previous bar stock, determining the bar stock to be stacked which is larger than the end face size of the previous bar stock and is closest to the end face size of the previous bar stock from the temporary storage disc as the bar stock to be stacked currently;
and if the average end face size is smaller than the end face size of the previous bar stock, determining the bar stock to be stacked which is smaller than the end face size of the previous bar stock and is closest to the end face size of the previous bar stock from the temporary storage disc as the bar stock to be stacked currently.
The bar stacking device provided by the embodiment of the invention can execute the bar stacking method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 6 is a schematic structural diagram of a bar stacking apparatus according to a fourth embodiment of the present invention. Fig. 6 illustrates a block diagram of an exemplary device 612 suitable for use in implementing embodiments of the present invention. The device 612 shown in fig. 6 is only an example and should not bring any limitations to the functionality or scope of use of the embodiments of the present invention.
As shown in FIG. 6, device 612 is in the form of a general purpose computing device. Components of device 612 may include, but are not limited to: one or more processors 616 or processing units, a system memory device 628, a bus 618 connecting the various system components (including the system memory device 628 and the processors 616), a detection device 644, a temporary storage disk 646, a spin-to-bit mechanism 648, and a high precision displacement sensor 650.
The device comprises a detection device 644 used for detecting the end face size information of the bar to be stacked, a temporary storage disc 646 used for storing the bar to be stacked, a rotary position finding mechanism 648 used for rotating the bar to be stacked, and a high-precision displacement sensor 650 used for detecting the total width of the stacked bar in the region to be stacked.
A program/utility 640 having a set (at least one) of program modules 642 may be stored, for example, in storage 628, such program modules 642 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 642 generally perform the functions and/or methods of the described embodiments of the present invention.
The processor 616 executes various functional applications and data processing by executing programs stored in the system memory 628, for example, implementing a bar stacking method provided by the embodiment of the present invention:
acquiring the end face size information of the bar to be stacked through the detection device, and recording and storing the end face size information of the bar to be stacked and the position information of the bar to be stacked in the temporary storage disc;
determining the number of the bars to be stacked on each layer of the area to be stacked according to the size distribution of the end faces of the bars to be stacked in the temporary storage disc and the width of the area to be stacked; the number of the bars stacked on the odd layers is N, and the number of the bars stacked on the even layers is N-1;
and determining the end face size information and the position information of N to-be-stacked bars to be stacked on the first layer of the to-be-stacked area from the temporary storage disc, and controlling the rotary position finding mechanism to stack the N bars in the first layer of the to-be-stacked area in sequence in the direction that one group of opposite sides of the to-be-stacked bars in the end face hexagon of the bars is perpendicular to the bottom of the to-be-stacked area.
EXAMPLE five
The fifth embodiment of the invention also provides a storage medium containing computer executable instructions, wherein the computer executable instructions are used for executing a bar stock stacking method when being executed by a computer processor, and are applied to bar stock stacking equipment; the method comprises the following steps:
acquiring the end face size information of the bar to be stacked through the detection device, and recording and storing the end face size information of the bar to be stacked and the position information of the bar to be stacked in the temporary storage disc;
determining the number of the bars to be stacked on each layer of the area to be stacked according to the size distribution of the end faces of the bars to be stacked in the temporary storage disc and the width of the area to be stacked; the number of the bars stacked on the odd layers is N, and the number of the bars stacked on the even layers is N-1;
and determining the end face size information and the position information of N to-be-stacked bars to be stacked on the first layer of the to-be-stacked area from the temporary storage disc, and controlling the rotary position finding mechanism to stack the N bars in the first layer of the to-be-stacked area in sequence in the direction that one group of opposite sides of the to-be-stacked bars in the end face hexagon of the bars is perpendicular to the bottom of the to-be-stacked area. Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the above method operations, and may also perform related operations in a bar stacking method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a terminal, or a network device) to execute the methods of the embodiments of the present invention.
It should be noted that in the embodiment of the bar stock stacking apparatus, the units and modules included in the embodiment are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A bar material stacking method is characterized by being applied to bar material stacking equipment, wherein the bar material stacking equipment is provided with a detection device, a temporary storage disc, a rotary positioning mechanism and a high-precision displacement sensor, bars to be stacked are placed in the temporary storage disc, and the end faces of the bars to be stacked are irregular hexagons; wherein the method comprises the following steps:
acquiring the end face size information of the bar to be stacked through the detection device, and recording and storing the end face size information of the bar to be stacked and the position information of the bar to be stacked in the temporary storage disc;
determining the number of the bars to be stacked on each layer of the area to be stacked according to the size distribution of the end faces of the bars to be stacked in the temporary storage disc and the width of the area to be stacked; the number of the bars stacked on the odd layers is N, the number of the bars stacked on the even layers is N-1, and the end face size distribution is obtained by dividing in advance according to the end face size information of the bars to be stacked in the temporary storage disc;
determining end face size information and position information of N to-be-stacked bars to be stacked on a first layer of the to-be-stacked area from the temporary storage disc, and controlling the rotary locating mechanism to sequentially stack the N bars on the first layer of the to-be-stacked area in a direction that one group of opposite sides of a hexagonal bar end face of the to-be-stacked bar is perpendicular to the bottom of the to-be-stacked area;
determining end face size information and position information of N to-be-stacked bars to be stacked in the first layer of the to-be-stacked area from the temporary storage disc comprises the following steps:
determining the average end face size of the bar to be stacked required by the first layer according to the width of the area to be stacked and the number N of the bar to be stacked of the first layer;
according to the average end face size and the end face size distribution, determining end face size information and position information of 1 st to Mth to-be-stacked bars to be stacked on the first layer from the temporary storage disc;
according to the average value of the end face sizes of the M bars before stacking, the end face size information of the M bar and the average end face size of the bar to be stacked required by the first layer, determining the end face size information and the position information of the M +1 th to L th bars to be stacked from the temporary storage disc;
the method comprises the steps of respectively obtaining the width of stacked bars when the Lth to Nth bars are stacked through a high-precision displacement sensor, calculating the average end face size of the bars to be stacked required by the residual stacking width of a first layer when the Lth to Nth bars are stacked, and determining the end face size information and the position information of the Lth to Nth bars to be stacked of the first layer from a temporary storage disc according to the average end face size of the bars required by the residual stacking width and the end face size of the previous bar.
2. The method of claim 1, wherein after sequentially stacking N bars at a first layer of the area to be stacked, further comprising:
and when the stacking layer number is more than or equal to 2, controlling the rotary positioning mechanism to sequentially stack the bars to be stacked in the upper layer position of the previous layer in a staggered manner according to the end face size information of the stacked bars in the previous layer and the end face size information and the position information of the bars to be stacked in the current layer determined in the temporary storage disc.
3. The method according to claim 1, wherein the acquiring end face dimension information of the bars to be stacked by the detection device comprises:
and acquiring relative distances among three groups of opposite sides of the end face hexagon of the bar to be stacked through the detection device, and taking the relative distance between the opposite sides with the maximum relative distance difference with other groups of opposite sides as bar end face size information.
4. The method of claim 1, further comprising:
and updating the end face size information and the position information of the bar stock to be stacked stored in the temporary storage disc in real time according to the end face size information and the position information of the bar stock to be stacked newly added in the temporary storage disc.
5. The method as claimed in claim 1, wherein determining end face size information and position information of the first layer of the L to N bars to be stacked from the temporary storage disc according to the average end face size of the bar required for the remaining stacking width and the end face size of the previous bar comprises:
if the average end face size is larger than the end face size of the previous bar stock, determining the bar stock to be stacked which is larger than the end face size of the previous bar stock and is closest to the end face size of the previous bar stock from the temporary storage disc as the bar stock to be stacked currently;
and if the average end face size is smaller than the end face size of the previous bar stock, determining the bar stock to be stacked which is smaller than the end face size of the previous bar stock and is closest to the end face size of the previous bar stock from the temporary storage disc as the bar stock to be stacked currently.
6. A bar stock stacking device is characterized by being configured on bar stock stacking equipment, wherein the bar stock stacking equipment is configured with a detection device, a temporary storage disc, a rotary positioning mechanism and a high-precision displacement sensor, a bar stock to be stacked is placed in the temporary storage disc, and the end face of the bar stock to be stacked is an irregular hexagon; wherein the apparatus comprises:
the acquisition module is used for acquiring the end face size information of the bar to be stacked through the detection device, and recording and storing the end face size information of the bar to be stacked and the position information of the bar to be stacked in the temporary storage disc;
the bar stock quantity determining module is used for determining the quantity of bar stocks to be stacked on each layer of the area to be stacked according to the size distribution of the end faces of the bar stocks to be stacked in the temporary storage disc and the width of the area to be stacked; the number of the bars stacked on the odd layers is N, and the number of the bars stacked on the even layers is N-1;
the bar stock stacking module is used for determining the end face size information and the position information of N bar stocks to be stacked on the first layer of the area to be stacked from the temporary storage disc, controlling the rotary position finding mechanism to enable the bar stocks to be stacked to be sequentially stacked on the first layer of the area to be stacked in the direction that one group of opposite sides of the hexagonal bar stock end face is perpendicular to the bottom of the area to be stacked;
wherein the bar stock stacking module is specifically configured to:
determining the average end face size of the bar to be stacked required by the first layer according to the width of the area to be stacked and the number N of the bar to be stacked of the first layer;
according to the average end face size and the end face size distribution, determining end face size information and position information of 1 st to Mth to-be-stacked bars to be stacked on the first layer from the temporary storage disc;
according to the average value of the end face sizes of the M bars before stacking, the end face size information of the M bar and the average end face size of the bar to be stacked required by the first layer, determining the end face size information and the position information of the M +1 th to L th bars to be stacked from the temporary storage disc;
the method comprises the steps of respectively obtaining the width of stacked bars when the Lth to Nth bars are stacked through a high-precision displacement sensor, calculating the average end face size of the bars to be stacked required by the residual stacking width of a first layer when the Lth to Nth bars are stacked, and determining the end face size information and the position information of the Lth to Nth bars to be stacked of the first layer from a temporary storage disc according to the average end face size of the bars required by the residual stacking width and the end face size of the previous bar.
7. A bar stacking apparatus, characterized in that the apparatus comprises:
one or more processors;
storage means for storing one or more programs;
the device comprises a detection device, a stacking device and a control device, wherein the detection device is used for detecting the size information of the end face of a bar to be stacked, and the end face of the bar to be stacked is an irregular hexagon;
the temporary storage disc is used for storing the bars to be stacked;
the rotary positioning mechanism is used for rotating the bars to be stacked;
the high-precision displacement sensor is used for detecting the total width of the stacked bars in the area to be stacked;
when executed by the one or more processors, cause the one or more processors to implement a bar stock stacking method as recited in any one of claims 1-5.
8. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out a bar stock stacking method according to any one of claims 1-5.
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