CN110654878A - 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 PDF

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Publication number
CN110654878A
CN110654878A CN201910925888.2A CN201910925888A CN110654878A CN 110654878 A CN110654878 A CN 110654878A CN 201910925888 A CN201910925888 A CN 201910925888A CN 110654878 A CN110654878 A CN 110654878A
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China
Prior art keywords
stacked
bar
face size
bars
temporary storage
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CN201910925888.2A
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CN110654878B (en
Inventor
吕绍林
朱江兵
徐小武
陈勇
权建毅
张清明
孙道林
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Bozhon Precision Industry Technology Co Ltd
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Bozhon Precision Industry Technology Co Ltd
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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
    • B65G57/16—Stacking of articles of particular shape
    • B65G57/18—Stacking of articles of particular shape elongated, e.g. sticks, rods, bars
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Abstract

The embodiment of the invention discloses a bar stacking method, a bar stacking device, bar stacking equipment and a bar stacking medium. Wherein the method comprises the following steps: acquiring end face size information of the bar to be stacked through a detection device; controlling a rotary positioning mechanism to rotate the bar to be stacked and then place the bar in a temporary storage disc according to the end face size information, 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; 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 feeding mechanism to sequentially stack the N to-be-stacked bars in 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

Bar stacking method, bar stacking device, bar stacking equipment and bar stacking medium
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 feeding mechanism, 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 end face size information of the bar to be stacked through the detection device;
controlling the rotating position finding mechanism to rotate the bar stock to be stacked and then place the bar stock in the temporary storage disc according to the end face size information, 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;
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 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 feeding mechanism to sequentially stack the N to-be-stacked bars in the to-be-stacked area.
In a second aspect, an embodiment of the present invention further provides a bar stacking device, which is configured on bar stacking equipment, where the bar stacking equipment is configured with a detection device, a temporary storage tray, a rotation positioning mechanism, and a feeding mechanism, 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 detection module is used for acquiring the end face size information of the bar to be stacked through the detection device;
the rotating module is used for controlling the rotating position finding mechanism to rotate the bar to be stacked and then place the bar in the temporary storage disc according to the end face size information, 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, 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 stacking module is used for 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 disc, and controlling the feeding mechanism to sequentially stack the N to-be-stacked bars in 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 feeding mechanism is used for placing the bar stock to be stacked 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 materials to be stacked is obtained through the detection device, the rotary positioning mechanism is controlled to rotate and place the bar materials to be stacked in the temporary storage disc according to the end face size distribution of the bar materials to be stacked in the temporary storage disc and the width of the area to be stacked, the number of the bar materials to be stacked in each layer of the area to be stacked is determined according to the end face size distribution of the bar materials 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 N bar materials to be stacked in the first layer of the area to be stacked are determined from the temporary storage disc, and the feeding mechanism is. 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 feeding mechanism, 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 step 110, acquiring the end face size information of the bar stock to be stacked through the detection device.
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. The end face of the bar to be stacked is an irregular hexagon, length information of each side of the end face hexagon and relative distances among three groups of opposite sides of the end face hexagon can be obtained through the detection device, and the relative distances among the opposite sides with the largest relative distance difference among other groups of opposite sides are used as end face size information.
Further, 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, the bar stock is judged to be unqualified and discarded, wherein the error threshold value is set according to actual requirements.
And step 120, controlling the rotating position finding mechanism to rotate the bar stock to be stacked and then place the bar stock in the temporary storage disc according to the end face size information, 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.
In this embodiment, the end face size information includes the relative distances between three sets of opposite sides of the end face hexagon of the bar to be stacked.
Specifically, according to terminal surface size information, the rotatory position mechanism of looking for of control will wait to pile up the bar and place after rotatory in the temporary storage dish, include:
taking the opposite side with the largest relative distance difference with other groups of opposite sides as a target opposite side of the bar to be stacked;
and controlling the rotary positioning mechanism to rotate the target opposite side of the bar to be stacked to the direction vertical to the horizontal plane and then placing the bar in a temporary storage disc.
With further reference to fig. 2, when the to-be-stacked area is stacked, the to-be-stacked area is stacked in a direction in which one group of opposite sides of the end face hexagon of the bar is perpendicular to the bottom of the to-be-stacked area, in this implementation, after the target opposite side of the to-be-stacked bar is determined, the rotating and positioning mechanism is directly controlled to rotate the target opposite side of the to-be-stacked bar to a direction perpendicular to a horizontal plane, and then the to-be-stacked bar is placed in a temporary storage tray, which is equivalent to rotate the to-be-stacked bar in advance, and in a subsequent feeding stage, the to-be-stacked bar does not need to be rotated again, and the to-be-.
Furthermore, each bar to be stacked in the temporary storage disc is associated with corresponding position information, and the end face dimension 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 to form a database of the bar to be stacked.
And step 130, 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.
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 140, 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 disc, and controlling the feeding mechanism to sequentially stack the N to-be-stacked bars in the to-be-stacked area.
In this embodiment, after the number of bars 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 feeding mechanism is controlled to sequentially stack the N to-be-stacked bars in the to-be-stacked area. In the feeding process, the rotating clamping mechanism is used for rotating the bars to be stacked, so that the rotating step is saved in the feeding process, the bars to be stacked can be stacked in the area to be stacked in sequence by directly using the feeding mechanism, and the bar stacking efficiency can be improved.
According to the embodiment of the invention, the end face size information of the bar materials to be stacked is obtained through the detection device, the rotary positioning mechanism is controlled to rotate and place the bar materials to be stacked in the temporary storage disc according to the end face size distribution of the bar materials to be stacked in the temporary storage disc and the width of the area to be stacked, the number of the bar materials to be stacked in each layer of the area to be stacked is determined according to the end face size distribution of the bar materials 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 N bar materials to be stacked in the first layer of the area to be stacked are determined from the temporary storage disc, and the feeding mechanism is controlled. The technical scheme of the invention provides the automatic bar stock stacking method with high space utilization rate, and the collapse of a bar stock 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 step 140. As shown in fig. 3, the bar stock stacking method provided in this embodiment may specifically include the following steps:
and step 210, acquiring the end face size information of the bar stock to be stacked through the detection device.
And step 220, controlling the rotating position finding mechanism to rotate the bar stock to be stacked and then place the bar stock in the temporary storage disc according to the end face size information, 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 230, 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.
And 240, 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.
In this embodiment, the average end face size of the bar stock to be stacked required by the first layer is the ratio of the width of the area to be stacked to N.
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 step 250, 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.
Wherein M is a positive integer greater than 1. 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 first 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 260, determining the end face size information and the position information of the M +1 th to Lth to-be-stacked bars from the temporary storage disc according to the end face size average value of the M stacked bars, the end face size information of the Mth bar and the average end face size of the to-be-stacked bars required by the first layer.
Wherein L is a positive integer greater than M.
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 270, 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.
Wherein N is a positive integer greater than L.
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 K +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 configured in bar stock stacking equipment, the bar stock stacking equipment is configured with a detection device, a temporary storage disc, a rotary positioning mechanism and a feeding mechanism, 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 an irregular hexagon. The device can execute a bar material stacking method provided by any embodiment of the invention.
Referring to fig. 5, a rod stacking apparatus according to an embodiment of the present invention includes: a detection module 310, a rotation module 320, a bar number determination module 330, and a stacking module 340.
The obtaining module 310 is configured to obtain, by the detecting device, end face size information of the bar stock to be stacked.
And a rotating module 320, configured to control the rotating position finding mechanism to rotate the rod to be stacked and then place the rod in the temporary storage disk according to the end face size information, and record and store the end face size information of the rod to be stacked and the position information of the rod to be stacked in the temporary storage disk.
And the bar stock number determining module 330 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 stacking module 340 is configured to determine, from the temporary storage disk, end face size information and position information of N to-be-stacked bars to be stacked on the first layer of the to-be-stacked area, and control the feeding mechanism to sequentially stack the N to-be-stacked bars in the to-be-stacked area.
The device for stacking bars, 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.
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 among the opposite sides with the maximum relative distance difference with other groups of opposite sides as the end face size information.
On the basis of the above embodiment, the rotation module is specifically configured to: taking the opposite side with the largest relative distance difference with other groups of opposite sides as a target opposite side of the bar to be stacked;
and controlling the rotating and positioning mechanism to rotate the target opposite side of the bar stock to be stacked to the direction vertical to the horizontal plane and then placing the bar stock in the temporary storage disc.
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 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 foregoing embodiment, the stacking module 340 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 340 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 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 6 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present invention.
As shown in FIG. 6, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors 16 or processing units, a system storage device 28, a bus 18 connecting various system components (including the system storage device 28 and the processors 16), a detection device 44, a temporary storage disk 46, a spin-to-seek mechanism 48, and a feed mechanism 50.
The device comprises a detection device 44, a temporary storage disc 46, a rotary positioning mechanism 48 and a feeding mechanism 50, wherein the detection device 44 is used for detecting the size information of the end face of the bar to be stacked, the end face of the bar to be stacked is an irregular hexagon, the temporary storage disc is used for storing the bar to be stacked, the rotary positioning mechanism 48 is used for rotating the bar to be stacked, and the feeding mechanism 50 is used for placing the bar to be stacked in a stacking area.
Bus 18 represents one or more of any of several types of bus structures, including a memory device bus or memory device controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
Storage 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Storage 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in storage 28, such program modules 42 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. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device), displays 24, etc., and may also communicate with one or more devices that enable a user to interact with device 12, and/or any devices (e.g., network card, modem, etc.) that enable device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processor 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, to implement a bar stacking method provided by the embodiment of the present invention:
acquiring end face size information of the bar to be stacked through the detection device;
controlling the rotating position finding mechanism to rotate the bar stock to be stacked and then place the bar stock in the temporary storage disc according to the end face size information, 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;
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 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 feeding mechanism to sequentially stack the N to-be-stacked bars in 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 material stacking method when being executed by a computer processor, and are applied to bar material stacking equipment; the method comprises the following steps:
acquiring end face size information of the bar to be stacked through the detection device;
controlling the rotating position finding mechanism to rotate the bar stock to be stacked and then place the bar stock in the temporary storage disc according to the end face size information, 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;
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 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 feeding mechanism to sequentially stack the N to-be-stacked bars in 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 may 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 instructions for enabling a computer device (which may be a personal computer, a terminal, or a network device) to execute the methods according to 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 (10)

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 feeding mechanism, 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 end face size information of the bar to be stacked through the detection device;
controlling the rotating position finding mechanism to rotate the bar stock to be stacked and then place the bar stock in the temporary storage disc according to the end face size information, 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;
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 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 feeding mechanism to sequentially stack the N to-be-stacked bars in the to-be-stacked area.
2. The method according to claim 1, characterized in that the acquisition of end face dimension information of the bars to be stacked by means of said detection means 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 end face size information.
3. The method as claimed in claim 2, wherein controlling the rotating and positioning mechanism to rotate the bar stock to be stacked and then place the bar stock in the temporary storage tray according to the end face size information comprises:
taking the opposite side with the largest relative distance difference with other groups of opposite sides as a target opposite side of the bar to be stacked;
and controlling the rotating and positioning mechanism to rotate the target opposite side of the bar stock to be stacked to the direction vertical to the horizontal plane and then placing the bar stock in the temporary storage disc.
4. The method according to claim 1, wherein after controlling the feeding mechanism to sequentially stack the N bars to be stacked in a region to be stacked, the method further comprises:
when the stacking layer number is more than or equal to 2, determining the end face size information and the position information of the to-be-stacked bar stock to be stacked on the current layer from the temporary storage disc according to the end face size information of the stacked bar stock on the previous layer, and controlling the feeding mechanism to sequentially stack the to-be-stacked bar stock on the upper layer of the previous layer in a staggered manner.
5. 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.
6. The method according to claim 1, wherein the determining 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 from the temporary storage disc comprises:
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. The method as claimed in claim 6, wherein determining end face size information and position information of the L to N bar stock to be stacked of the first layer from the temporary storage disc according to the average end face size of the bar stock required for the remaining stacking width and the end face size of the previous bar stock 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.
8. 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 feeding mechanism, 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 detection module is used for acquiring the end face size information of the bar to be stacked through the detection device;
the rotating module is used for controlling the rotating position finding mechanism to rotate the bar to be stacked and then place the bar in the temporary storage disc according to the end face size information, 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, 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 stacking module is used for 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 disc, and controlling the feeding mechanism to sequentially stack the N to-be-stacked bars in the to-be-stacked area.
9. 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 feeding mechanism is used for placing the bar stock to be stacked 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 1-7.
10. 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 1-7.
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