CN116553194B - Single-block material taking steel plate stacker based on laser radar and using method thereof - Google Patents

Single-block material taking steel plate stacker based on laser radar and using method thereof Download PDF

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Publication number
CN116553194B
CN116553194B CN202310713186.4A CN202310713186A CN116553194B CN 116553194 B CN116553194 B CN 116553194B CN 202310713186 A CN202310713186 A CN 202310713186A CN 116553194 B CN116553194 B CN 116553194B
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steel plate
taken
magnetic adsorption
single steel
plate
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CN116553194A (en
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鲁佶
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Wuhan Kyle Optics Technology Co ltd
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Wuhan Kyle Optics 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
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
    • 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
    • B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention relates to the technical field of intelligent carrying equipment, and provides a single-block material taking steel plate stacker based on a laser radar and a using method thereof. The single-block material taking steel plate stacker based on the laser radar comprises a rack, a magnetic adsorption unit and a hydraulic pump; the magnetic adsorption unit is arranged on the rack and is used for realizing energy conservation; the hydraulic pump is used for providing power for the magnetic adsorption unit. According to the invention, unmanned material taking operation is carried out on a single steel plate by utilizing a magnetic adsorption principle, the problem of inconvenience in material taking of the single steel plate is solved, the material taking by utilizing the magnetic adsorption is convenient for adjusting power supply to save energy, the size of the single steel plate is calculated by combining a laser measurement technology so as to calculate the required magnetic force, and the intelligent energy saving is realized by adjusting the magnetic force in the process of collecting the single steel plate to be taken by adjusting the magnetic adsorption and adjusting the power supply in a sectional manner.

Description

Single-block material taking steel plate stacker based on laser radar and using method thereof
Technical Field
The invention relates to the technical field of intelligent carrying equipment, in particular to a single-block material taking steel plate stacker based on a laser radar and a using method thereof.
Background
The stacker is important carrying equipment in a three-dimensional warehouse logistics system of a modern manufacturing enterprise, is mainly used for transporting various materials, and provides guarantee for the flexibility, integration and efficient operation of the system.
At present, in the strip steel production line of the metallurgical industry, operations such as material taking, moving and material discharging are required to be carried out on a steel plate. In the workshop, the scene that need get material operation to monolithic steel sheet is more, and current steel stacker can take out the steel sheet heap from the assigned position through lifting translation device and hold up and remove to place at the assigned position, but hardly take out monolithic steel sheet from the steel sheet heap, must combine manual operation to go on, and energy consumption such as electric power is great, obviously has the problem that the operating efficiency is not high and the energy consumption cost is higher.
In view of this, overcoming the drawbacks of the prior art is a problem to be solved in the art.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is how to save operation energy consumption in the scene of realizing unmanned material taking operation on a single steel plate, and provides a single material taking steel plate stacker based on a laser radar and a use method thereof.
The embodiment of the invention further aims to provide an improved laser radar-based single-block material taking steel plate stacker and a using method thereof.
The embodiment of the invention adopts the following technical scheme:
in a first aspect, the present invention provides a laser radar-based single-block material-taking steel plate stacker, comprising: a frame 1, a magnetic adsorption unit 2 and a hydraulic pump 3;
the magnetic adsorption unit 2 is arranged on the frame 1, and the magnetic adsorption unit 2 moves to the position of a single steel plate to be taken to finish intelligent sectional power supply magnetic adsorption for collecting the single steel plate;
the intelligent sectional electromagnetic adsorption supplying device comprises a first section of electromagnetic adsorption supplying device for adsorbing a single steel plate to be taken from a steel plate pile, a second section of electromagnetic adsorption supplying device for converting the steel plate from the adsorption to a starting moving state, a third section of electromagnetic adsorption supplying device in the moving state and a fourth electromagnetic adsorption supplying device for converting the steel plate from the moving state to a placing state;
the magnetic adsorption unit 2 completes the size acquisition of the single steel plate through the laser radar 27 arranged on the magnetic adsorption unit, so that the weight of the corresponding single steel plate is calculated and used as the basis of the intelligent sectional power supply magnetic adsorption;
the hydraulic pump 3 is used for providing power for the magnetic adsorption unit 2.
Preferably, the magnetic adsorption unit 2 includes a frame 21, a loading table 22, a magnetic adsorption plate 23, a magnetic adsorption head 24, a tripod bracket 25, a positioning laser 26, a laser radar 27, and a double camera 28, wherein:
The cargo carrying platform 22 is arranged on the frame body 21, and the cargo carrying platform 22 and the frame body 21 are connected into an integrated structure for supporting the magnetic adsorption unit 2;
the magnetic adsorption plate 23 is arranged on the cargo table 22, and the magnetic adsorption plate 23 is connected with the cargo table 22 in a loose-leaf manner; four identical magnetic adsorption heads 24 are arranged on the magnetic adsorption plate 23 and are used for realizing magnetic adsorption and collecting of single steel plates to be taken;
the tripod legs 25 are arranged on the cargo carrying platform 22, and the bottom ends of the tripod legs 25 are connected with the cargo carrying platform 22 and used for realizing the lowering and pulling-up of the supporting magnetic adsorption plates 23;
the positioning laser 26 is arranged on the tripod bracket 25 and is used for positioning a single steel plate to be taken;
the laser radar 27 is arranged on the tripod bracket 25 and is used for measuring the thickness of a single steel plate to be taken;
the double cameras 28 are arranged on the tripod 25 and are respectively positioned at two sides of the positioning laser 26 and the laser radar 27, and are used for determining the positioning state of the positioning laser 26 and calculating the length and the width of a single steel plate to be taken through a stereoscopic vision algorithm.
Preferably, the hydraulic pump 3 is arranged on the cargo table 22, one end of the hydraulic pump 3 is connected with the magnetic adsorption plate 23 in a shaft way, and the other end of the hydraulic pump 3 is connected with the upper end of the tripod bracket 25 in a shaft way; the hydraulic pump 3 drives the magnetic adsorption plate 23 to move so that the magnetic adsorption plate 23 can move towards the direction of the preset position, and the hydraulic pump is used for providing power for rotating the magnetic adsorption plate 23 around the shaft connection part of the magnetic adsorption plate and the cargo table 22.
Preferably, the method further comprises:
the double cameras 28 are matched with the positioning laser 26 to scan and position the steel plate pile and the position information of the uppermost single steel plate to be taken in the steel plate pile by adjusting the light emitting angle, the double cameras 28 calculate the length and the width of the single steel plate to be taken through a stereoscopic vision algorithm, and the steel plate stacker moves to the position of the single steel plate to be taken;
the height of the cargo table 22 is adjusted until the double cameras 28 capture that the light outlet points of the positioning laser 26 hit the cross section of the single steel plate to be taken, which faces the positioning laser 26, so that the single steel plate to be taken is ensured to enter the effective working range of the laser radar 27; scanning and collecting upper surface points and lower surface points on a cross section of the single steel plate to be taken through a laser radar 27, and calculating the thickness of the single steel plate to be taken;
calculating the volume of the single steel plate to be taken through the length, the width and the thickness of the single steel plate to be taken;
and calculating the weight of the single steel plate to be taken according to the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, so as to calculate and obtain the sectional electromagnetic adsorption force.
Preferably, the laser radar 27 starts scanning along a horizontal direction from a cross section of the single steel plate to be taken facing the positioning laser 26, the scanning range is a sector area formed by adjusting the light emitting angle, the distance d from the light emitting point to the single steel plate to be taken is obtained by calculating the time difference between light emission and light receiving, the upper surface point and the lower surface point on the cross section of the single steel plate to be taken are collected, and the thickness of the single steel plate to be taken is calculated, which specifically comprises:
When the return laser received by the laser radar 27 is stronger, the light outlet of the laser radar 27 is hit inside the single steel plate to be taken, the light outlet of the laser radar 27 coincides with the light outlet of the positioning laser 26 on the cross section of the single steel plate to be taken, which faces the positioning laser 26, and the shortest distance from the light outlet to the single steel plate to be taken is d min ；
When the return laser received by the laser radar 27 in the horizontal direction is weak, the light outgoing spot of the laser radar 27 hits the upper surface point on the cross section of the single steel plate to be taken, and the distance from the light outgoing spot to the single steel plate to be taken is d 0 ；
When the return laser received by the laser radar 27 in the horizontal downward scanning is weaker, the light outlet of the laser radar 27 strikes the lower surface point on the cross section of the single steel plate to be taken, and the distance from the light outlet to the single steel plate to be taken is d n ；
The distance d= { d between the light outlet point of the laser radar 27 and the single steel plate to be taken 0 ,d 1 ,...,d n Calculating the thickness of the single steel plate to be taken to be
Preferably, the method specifically comprises the following steps:
the first section of electromagnetic adsorption is that the magnetic adsorption plate 23 magnetically adsorbs a single steel plate to be taken, and the preset magnetic force of the magnetic adsorption head 24 is set to be 1.5+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken before the single steel plate to be taken is separated from a steel plate stack;
The second section of electromagnetic adsorption is that the magnetic adsorption plate 23 pulls up a single steel plate to be taken out of the steel plate stack, and when the single steel plate to be taken out is in a turnover process, the preset magnetic force of the magnetic adsorption head 24 is set to be 1.2+/-0.1 times of the required magnetic force calculated by the weight of the single steel plate to be taken out;
the third section of electromagnetic adsorption is that when the magnetic adsorption plate 23 pulls up a single steel plate to be taken and adjusts the single steel plate to be taken to be placed on the cargo table 22 in an inclined state, the preset magnetic force of the magnetic adsorption head 24 is set to be 0.6+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken;
the fourth section of electromagnetic attraction is that when the magnetic attraction plate 23 converts the steel plate from the moving state to the placing state, the preset magnetic force of the magnetic attraction head 24 is set to be 1.2 plus or minus 0.1 times of the required magnetic force calculated by the weight of the single steel plate to be picked.
Preferably, the magnetic adsorption unit 2 further comprises an L-shaped support 61;
the lower end of the L-shaped supporting frame 61 is arranged below the closely attached cargo table 22, and the upper end of the L-shaped supporting frame 61 exceeds the plane of the cargo table 22 and is perpendicular to the cargo table 22;
a square groove is formed in the magnetic adsorption plate 23 and is used for enabling the upper end of the L-shaped support frame 61 to penetrate through the magnetic adsorption plate 23 when the magnetic adsorption plate 23 is put down and pulled up;
the magnetic adsorption unit 2 is provided with an L-shaped supporting frame 61, the position where the magnetic adsorption plate 23 is connected with the carrying platform 22 is a certain distance away from the edge of the carrying platform 22, and when the magnetic adsorption plate 23 pulls up a single steel plate to be taken and is adjusted to be placed on the carrying platform 22 in an inclined state, the L-shaped supporting frame 61 is used for protecting and supporting the single steel plate to be taken, which is collected by the magnetic adsorption plate 23.
Preferably, when the magnetic attraction plate 23 is pulled up to be placed on the cargo bed 22 in an inclined state, the preset magnetic force of the magnetic attraction head 24 is set to 0.3±0.1 times the required magnetic force calculated by the weight of the single steel plate to be picked up.
Preferably, the hydraulic pump 3 is arranged on the cargo table 22, one end of the hydraulic pump 3 is connected with the magnetic adsorption plate 23 in a shaft way, and the other end of the hydraulic pump 3 is connected with the upper end of the tripod bracket 25 in a shaft way; the hydraulic pump 3 drives the magnetic adsorption plate 23 to move so that the magnetic adsorption plate 23 can move towards the direction of the preset position for providing power for rotating the magnetic adsorption plate 23 around the shaft connection part of the magnetic adsorption plate 23 and the cargo table 22
In a second aspect, an embodiment of the present invention further provides, based on the laser radar-based single-block material taking steel plate stacker of the first aspect, a use method of the laser radar-based single-block material taking steel plate stacker, including:
the double cameras are matched with a positioning laser to scan and position the steel plate pile and the position information of the uppermost single steel plate to be taken in the steel plate pile by adjusting the light emitting angle, the double cameras calculate the length and the width of the single steel plate to be taken through a stereoscopic vision algorithm, and the steel plate stacker moves to the position of the single steel plate to be taken;
The height of the cargo carrying platform is adjusted until the double cameras capture that the light outlet points of the positioning laser strike on the cross section of the single steel plate to be taken, which faces the positioning laser, so that the single steel plate to be taken is ensured to enter the effective working range of the laser radar;
the laser radar scans and collects upper surface points and lower surface points on the cross section of the single steel plate to be taken, and the thickness of the single steel plate to be taken is calculated;
calculating the volume of the single steel plate to be taken through the length, the width and the thickness of the single steel plate to be taken;
calculating the weight of the single steel plate to be taken according to the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, so as to calculate the required magnetic force;
the hydraulic pump drives the magnetic adsorption plate to be put down to be horizontal with the cargo carrying platform;
the magnetic adsorption unit moves to the position of the single steel plate to be taken to finish intelligent sectional power supply magnetic adsorption for collecting the single steel plate;
the method comprises the steps of carrying out first-stage electromagnetic attraction on a single steel plate to be taken from a steel plate pile, carrying out second-stage electromagnetic attraction on the steel plate from attraction to start moving state, carrying out third-stage electromagnetic attraction on the steel plate in the moving state, and carrying out fourth electromagnetic attraction on the steel plate from the moving state to a placing state.
Preferably, the method specifically comprises the following steps:
the first section of electromagnetic adsorption is that a single steel plate to be taken is magnetically adsorbed by a magnetic adsorption plate, and the preset magnetic force of the magnetic adsorption head is set to be 1.5+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken before the single steel plate to be taken is separated from a steel plate stack;
the second section of electromagnetic adsorption is that the magnetic adsorption plate pulls up a single steel plate to be taken out of the steel plate stack, and when the single steel plate to be taken out of the steel plate stack is in a turnover process, the preset magnetic force of the magnetic adsorption head is set to be 1.2+/-0.1 times of the required magnetic force calculated by the weight of the single steel plate to be taken out;
the third section of power supply magnetic adsorption is that when the magnetic adsorption plate pulls up a single steel plate to be taken and is adjusted to be in an inclined state and is placed on a cargo carrying platform, the preset magnetic force of the magnetic adsorption head is set to be 0.6+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken;
and when the fourth section of power supply magnetic adsorption is that the magnetic adsorption plate converts the steel plate from a moving state to a placing state, the preset magnetic force of the magnetic adsorption head is set to be 1.2+/-0.1 times of the required magnetic force calculated by the weight of the single steel plate to be taken.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: according to the invention, the magnetic adsorption principle is utilized to perform unmanned material taking operation on a single steel plate, so that the problem of inconvenience in material taking of the single steel plate is solved, and the magnetic adsorption material taking is used to facilitate adjustment of power supply so as to save energy; combining the laser measurement technology with the stacker control technology, so that the stacker can accurately and intelligently acquire the position and size information of a single target steel plate, thereby calculating the volume, weight and magnetic force required to be released by magnetic adsorption of the steel plate and improving the operation efficiency; the magnetic force is adjusted in the process of collecting the single steel plate to be picked up through magnetic adsorption, namely power supply is adjusted in a segmented mode, the completion of a material taking task is guaranteed through higher energy consumption in the process of collecting the single steel plate to be picked up to a cargo carrying platform and placing the single steel plate to be picked up, the state of the steel plate is maintained through lower energy consumption after the single steel plate to be picked up is placed on the cargo carrying platform, and the energy consumption for collecting the single steel plate is saved; in the application scene of an actual production workshop to the stacker, the operation speed of production equipment such as a conveyor belt for storing the steel plate stacks is slower, the time for taking materials to the effective storage position after the subsequent steel plates are moved is longer, and the lower energy consumption is utilized to maintain the steel plate state, so that the stacker has remarkable effect on energy conservation; compared with the traditional stacker, the invention can realize unmanned collection of single steel plates, can greatly reduce energy consumption and has the effect of reducing cost.
In the preferred scheme of the invention, the L-shaped supporting frame structure is adopted to share the force of the carrying platform and the magnetic adsorption plate for supporting the single steel plate to be taken, so that the magnetic force consumed by the single steel plate to be taken after being placed on the carrying platform is further reduced, and the power supply quantity is reduced to further save energy.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a single-block material taking steel plate stacker based on a laser radar according to an embodiment of the present invention;
FIG. 2 is a top view of a laser radar-based single-block reclaimer steel plate stacker provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of the positional relationship among a cargo table 22, a hydraulic pump 3 and a magnetic absorption plate 23 of a single-block material taking steel plate stacker based on a laser radar according to an embodiment of the present invention;
fig. 4 is a schematic diagram showing another positional relationship among a cargo table 22, a hydraulic pump 3 and a magnetic absorption plate 23 of a single-block material taking steel plate stacker based on a laser radar according to an embodiment of the present invention;
FIG. 5 is an overall flow chart of a laser radar-based single-block steel plate stacker for collecting single-block steel plates according to an embodiment of the present invention;
FIG. 6 is a flow chart of a method of using a laser radar-based single-block reclaimer steel plate stacker according to an embodiment of the present invention;
fig. 7 is a schematic diagram of information among a positioning laser 26, a double camera 28 and a laser radar 27 in a single-block material taking steel plate stacker based on the laser radar according to an embodiment of the present invention;
fig. 8 is a schematic diagram of error in horizontal start light-emitting area of a laser radar 27 of a single-block material-taking steel plate stacker based on the laser radar according to the embodiment of the present invention;
fig. 9 is a scanning flow chart of a laser radar 27 in a single-block material taking steel plate stacker based on the laser radar according to the embodiment of the present invention;
fig. 10 is a schematic view of a laser radar 27 of a single-block material-taking steel plate stacker based on the laser radar according to the embodiment of the present invention;
FIG. 11 is a flow chart of the magnetic force adjustment of a single-block material taking steel plate stacker based on a laser radar according to an embodiment of the present invention;
FIG. 12 is a schematic drawing of a single-block reclaiming sheet stacker based on lidar according to an embodiment of the present invention;
FIG. 13 is another view of a single piece stacker of steel plates for picking based on lidar according to an embodiment of the present invention;
fig. 14 is a front view of a magnetic adsorption plate 23 of a single-block material taking steel plate stacker based on a laser radar according to an embodiment of the present invention;
fig. 15 is a front view of a schematic position structure of an L-shaped support frame 61 of a laser radar-based single-block material taking steel plate stacker for protecting a single steel plate to be taken according to an embodiment of the present invention;
fig. 16 is a right side view of a schematic diagram of a position structure of an L-shaped support frame 61 of a laser radar-based single-block material taking steel plate stacker for protecting a single steel plate to be taken according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, the terms "inner", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom", etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature.
In the present application, unless explicitly specified and limited otherwise, the term "connected" is to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium. Furthermore, the term "coupled" may be a means of electrical connection for achieving signal transmission.
In addition, the technical features of the embodiments of the present application described below may be combined with each other as long as they do not collide with each other.
Example 1:
the embodiment of the application provides a single-block material taking steel plate stacker based on a laser radar, which comprises the following components: a frame 1, a magnetic adsorption unit 2 and a hydraulic pump 3; the structural schematic diagram of the embodiment of the application is shown in fig. 1, and is specifically as follows:
the magnetic adsorption unit 2 is arranged on the frame 1, and the magnetic adsorption unit 2 moves to the position of a single steel plate to be taken to complete intelligent sectional power supply magnetic adsorption for collecting the single steel plate.
The intelligent sectional electromagnetic adsorption supplying device comprises a first section of electromagnetic adsorption supplying device for adsorbing a single steel plate to be taken from a steel plate pile, a second section of electromagnetic adsorption supplying device for converting the steel plate from adsorption to start moving state, a third section of electromagnetic adsorption supplying device in moving state and a fourth electromagnetic adsorption supplying device for converting the steel plate from moving state to placing state.
The magnetic adsorption unit 2 completes the size acquisition of the single steel plate through the laser radar 27, so that the weight of the single steel plate is calculated, and the weight is used as the basis of the intelligent segmented electromagnetic adsorption.
The hydraulic pump 3 is used for providing power for the magnetic adsorption unit 2.
The mechanical structure frame 1 comprises a base and an upright post, wherein a driving wheel group vertically inlaid on the base and the base form a whole similar to a four-wheel drive chassis, after a motor provides power for the driving wheel group, all rollers at two ends of the base of the driving wheel group start to rotate, and at the moment, the driving wheel group drives a moving wheel group arranged below two ends of the base to rotate, so that the single-block material taking steel plate stacker based on the laser radar of the embodiment of the invention advances and retreats along a preset track; the stand sets up perpendicularly on the base, provides power for the steel cable that sets up in the stand both sides through the motor that sets up on the stand, and the steel cable produces the pulling force to the magnetic adsorption unit 2 through the pivot, realizes that the steel cable drives the magnetic adsorption unit 2 and reciprocates along vertical direction. After the magnetic adsorption unit 2 is positioned and moved to the position of the uppermost single steel plate in the steel plate stack, the magnetic adsorption unit 2 scans, collects and calculates the thickness of the single steel plate to be taken, calculates the volume of the single steel plate to be taken, and calculates the required magnetic force; the magnetic adsorption unit 2 utilizes magnetic adsorption to supply power in sections to collect single steel plates. According to the embodiment of the invention, the single-block material taking steel plate stacker based on the laser radar is utilized to realize unmanned collection of single-block steel plates, operation energy supply is adjusted in a segmented mode, operation energy consumption is reduced, operation efficiency is improved, and cost for carrying single-block steel plates is greatly reduced.
In order to better explain the principle of collecting the single steel plate to be taken according to the present invention, the laser radar-based single steel plate stacker for taking is further refined, and the magnetic adsorption unit 2 correspondingly includes a frame 21, a loading table 22, a magnetic adsorption plate 23, a magnetic adsorption head 24, a tripod stand 25, a positioning laser 26, a laser radar 27, and a double camera 28, wherein:
the cargo carrying platform 22 is arranged on the frame body 21, and the cargo carrying platform 22 and the frame body 21 are connected into an integrated structure for supporting the magnetic adsorption unit 2;
the magnetic adsorption plate 23 is arranged on the cargo table 22, and the magnetic adsorption plate 23 is connected with the cargo table 22 in a loose-leaf manner; four identical magnetic adsorption heads 24 are arranged on the magnetic adsorption plate 23 and are used for realizing magnetic adsorption and collecting of single steel plates to be taken;
the tripod legs 25 are arranged on the cargo carrying platform 22, and the bottom ends of the tripod legs 25 are connected with the cargo carrying platform 22 and used for realizing the lowering and pulling-up of the supporting magnetic adsorption plates 23;
the positioning laser 26 is arranged on the tripod bracket 25 and is used for positioning a single steel plate to be taken;
the laser radar 27 is arranged on the tripod bracket 25 and is used for measuring the thickness of a single steel plate to be taken;
The double cameras 28 are arranged on the tripod 25 and are respectively positioned at two sides of the positioning laser 26 and the laser radar 27, and are used for determining the positioning state of the positioning laser 26 and calculating the length and the width of a single steel plate to be taken through a stereoscopic vision algorithm. The corresponding stereoscopic vision algorithm is in the prior art, and is directly used in the invention, and is not described herein.
In order to better show the details of the magnetic adsorption unit 2, a top view of the laser radar-based single-block material taking steel plate stacker according to the embodiment of the present invention when a single steel plate to be taken is shown in fig. 2. The positioning laser 26 is matched with the double cameras 28, and in the moving process of the single-block material taking steel plate stacker based on the laser radar, the positioning laser 26 projects laser beams onto a production line, scans and positions a steel plate stack on a preset path, and the double cameras 28 are matched to record the intersecting positions of the laser beams and the steel plates, so that the single steel plate to be taken at the uppermost layer in the steel plate stack is scanned and positioned; meanwhile, the double cameras 28 calculate the length and width data of the reduced steel plate through a stereoscopic vision algorithm. The laser radar 27 is based on a laser ranging technology, after the laser beam emitted by the laser radar 27 is reflected or scattered on the surface of the single steel plate to be taken, the reflection or scattering time of the laser beam is received and recorded by a receiver of the laser radar 27, the time difference from emission to receiving of the laser beam is obtained by calculating the product of the reflection or scattering time of the laser beam and the speed of the laser beam, so that the distance from the magnetic adsorption unit 2 to the single steel plate to be taken is calculated, the laser line information projected on the cross section of the single steel plate to be taken is captured, the position and the angle of the reflected or scattered laser beam are measured, the three-dimensional coordinate information of the surface of the single steel plate to be taken is calculated, and the thickness of the steel plate is accurately determined.
Further, the hydraulic pump 3 of the embodiment of the invention is arranged on the cargo table 22, one end of the hydraulic pump 3 is connected with the magnetic adsorption plate 23 in a shaft way, and the other end of the hydraulic pump 3 is connected with the upper end of the tripod bracket 25 in a shaft way; the hydraulic pump 3 drives the magnetic adsorption plate 23 to move so that the magnetic adsorption plate 23 can move towards the direction of the preset position, and the hydraulic pump is used for providing power for rotating the magnetic adsorption plate 23 around the shaft connection part of the magnetic adsorption plate and the cargo table 22.
The hydraulic pump 3 provides power for the magnetic adsorption plate 23 of the magnetic adsorption unit 2, and the positional relationship of the cargo table 22, the hydraulic pump 3 and the magnetic adsorption plate 23 is schematically shown in fig. 3 before the magnetic adsorption plate 23 picks up the single steel plate to be picked up. When preparing magnetic adsorption to collect a single steel plate to be picked up, the hydraulic pump 3 enables the connecting end of the hydraulic pump 3 and the magnetic adsorption plate 23 to lower the component magnetic adsorption plate 23 in fig. 2 to be horizontal to the carrying platform 22 by extending the hydraulic rod thereof, and at the moment, another position relation schematic diagram of the carrying platform 22, the hydraulic pump 3 and the magnetic adsorption plate 23 is shown in fig. 4; the four magnetic adsorption heads 24 magnetically adsorb the single steel plate to be taken through releasing magnetic force, after the magnetic adsorption heads 24 pull the single steel plate to be taken to separate from the steel plate stack, the magnetic adsorption plates 23, the magnetic adsorption heads 24 and the single steel plate to be taken are integrated, and the connection ends of the hydraulic pump 3 and the magnetic adsorption plates 23 pull the integrated to an inclined state and place the integrated on the cargo carrying platform 22, so that the integrated is perpendicular to the cargo carrying platform 22. The magnetic adsorption head 24 continuously releases magnetic force from the beginning to the end of the magnetic adsorption to collect the single steel plate to be taken for connecting and fixing the single steel plate to be taken.
According to the invention, through the arrangement of the magnetic adsorption unit 2, the hydraulic pump 3 is used for driving the magnetic adsorption plate 23 to be put down and pulled up, the steel material taking operation of unmanned collecting single steel plates to be taken is completed by utilizing the magnetic adsorption principle, and the problems of excessive labor and time cost of single steel plates taking in actual production are solved; the frame 1 drives each mechanical structure, so that the whole steel stacker can operate, is easy to implement and high in reliability, and improves the field operation efficiency.
Example 2:
the embodiment of the invention provides a method for using a single-block material taking steel plate stacker based on a laser radar, which is based on the single-block material taking steel plate stacker based on the laser radar of the embodiment 1, wherein an overall flow chart of collecting single-block steel plates to be taken is shown in fig. 5, and by adjusting magnetic force in the process of collecting the single-block steel plates to be taken through magnetic adsorption and adjusting power supply in sections, the purpose of saving operation energy consumption on the premise of completing single-block steel plate material taking operation is realized, and fig. 6 is a flow chart of the method for using the single-block material taking steel plate stacker based on the laser radar, which is based on the embodiment of the invention, specifically comprises the following steps:
step 201: the double cameras 28 are matched with the positioning laser 26 to scan and position the steel plate pile and the position information of the uppermost single steel plate to be taken in the steel plate pile by adjusting the light emitting angle, the double cameras 28 calculate the length and the width of the single steel plate to be taken through a stereoscopic vision algorithm, and the steel plate stacker moves to the position of the single steel plate to be taken.
When the steel plate stacker needs to move horizontally along a preset route with a steel plate stack, such as a production line and a conveyor belt, the controller sends an instruction to the motor, the motor is started and drives the driving wheel set to move forward and backward horizontally, the driving wheel set is started and drives the moving wheel set to rotate, and then the frame 1 is driven to move forward and backward horizontally. When the controller of the steel plate stacker receives the horizontal position information of the steel plate stack acquired by the positioning laser 26 and the double cameras 28, the whole steel plate stacker moves forwards and backwards horizontally to the steel plate stack position and stops moving; after the controller of the steel plate stacker receives the steel plate A position information acquired by the positioning laser 26 and the double cameras 28, an instruction is sent to a motor, and the motor drives the magnetic adsorption unit 2 to vertically move up and down to the steel plate A position and then stops moving. Meanwhile, the double cameras 28 process the acquired stereoscopic vision images by using an algorithm, and calculate and restore length and width data of the steel plate A.
Step 202: the height of the cargo table 22 is adjusted until the double cameras 28 capture the light outlet points of the positioning laser 26 to strike the cross section of the single steel plate to be taken, which faces the positioning laser 26, so that the single steel plate to be taken is ensured to enter the effective working range of the laser radar 27.
The positioning laser 26 projects laser beams onto the uppermost layer of steel plate A of the steel plate pile, the double cameras 28 collect points, on which the laser beams projected by the positioning laser 26 strike, on the steel plate A, the positioning laser 26 determines the center point on the cross section of the steel plate A, the double cameras 28 cooperate with the positioning laser 26 to adjust errors and collect position information of the intersection of the laser beams and the steel plate A, a certain small range error exists in the positioning laser 26, the fact that the light emergent points of the positioning laser 26 strike on the cross section of the steel plate A is determined, so that the steel plate A enters a sector laser beam area emitted by the laser radar 27, namely an effective working range, huge errors are avoided, the material extracting operation on the steel plate is influenced, an information schematic diagram among the positioning laser 26, the double cameras 28 and the laser radar 27 is shown in fig. 7, if the light emergent points of the positioning laser 26 are on the lower edge of the steel plate A, the horizontal starting position of the laser radar 27 is the lower edge of the steel plate A, as shown in fig. 8, the scanning range of the laser radar 27 is a sector area formed by adjusting the light emergent angle, the scanning range is shown in a shadow area, the scanning range, the effective working range is shown, the maximum thickness of two steel plates is calculated, and the thicknesses of the two subsequent steel plates are calculated as the thicknesses of the uppermost layer of the steel plate.
Step 203: the laser radar 27 scans and collects the upper surface point and the lower surface point on the cross section of the single steel plate to be taken, and calculates the thickness of the single steel plate to be taken.
After the controller of the steel plate stacker receives the position information of the steel plate A collected by the positioning laser 26 and the double cameras 28, a laser radar 27 is started, and a flow chart of scanning of the laser radar 27 is shown in fig. 9;
the laser radar 27 starts scanning along the horizontal direction from the cross section of the single steel plate to be taken, which faces the positioning laser 26, the laser beam light-emitting point projected by the positioning laser 26 is projected on the cross section of the steel plate A, the laser radar 27 coincides with the light-emitting point projected by the positioning laser 26 on the steel plate A, the laser radar 27 starts horizontally emitting laser beam scanning from the position of the coincident light-emitting point by default, the scanning range is a sector area formed by adjusting the light-emitting angle, after the laser beam emitted by the laser radar 27 is reflected or scattered on the cross section of the steel plate A, the receiver of the laser radar 27 receives and records the reflection or scattering time of the laser beam, calculating the distance d from a light spot to the single steel plate to be taken through time difference between light emission and light receiving, measuring the position and angle of a reflected or scattered laser beam by capturing laser line information projected on the cross section of the steel plate A, calculating three-dimensional coordinate information of the surface of the steel plate A, reconstructing the surface profile of the steel plate A, calculating the volume of the steel plate A according to the profile, determining the edge of the cross section of the steel plate A by the strength of return laser received by the laser radar 27, collecting the upper surface point and the lower surface point on the cross section of the single steel plate to be taken, calculating the thickness of the single steel plate to be taken, and collecting schematic diagrams of the upper surface point and the lower surface point on the cross section of the steel plate A by the laser radar 27 as shown in FIG. 10, wherein the method specifically comprises the following steps:
When the return laser light received by the laser radar 27 is strong, the laser lightThe light-emitting point of the radar 27 is arranged inside the single steel plate to be taken, the light-emitting point of the laser radar 27 and the light-emitting point of the positioning laser 26 are overlapped on the cross section of the single steel plate to be taken, which faces the positioning laser 26, and the shortest distance from the light-emitting point to the single steel plate to be taken is d min In step 202, a certain small range error exists in the position of the center point of the cross section of the steel plate, which allows the light outlet of the Xu Dingwei laser 26 to strike, so that a certain small range error exists in the position of the light outlet of the laser radar 27 to strike the cross section of the steel plate;
when the return laser received by the laser radar 27 in the horizontal direction is weak, the light outgoing spot of the laser radar 27 hits the upper surface point on the cross section of the single steel plate to be taken, and the distance from the light outgoing spot to the single steel plate to be taken is d 0 ；
When the return laser received by the laser radar 27 in the horizontal downward scanning is weaker, the light outlet of the laser radar 27 strikes the lower surface point on the cross section of the single steel plate to be taken, and the distance from the light outlet to the single steel plate to be taken is d n ；
Wherein the distance d from the light exit point to the upper surface point on the cross section of the steel plate A 0 Distance d from the light exit point to the lower surface point on the cross-section of the steel sheet A n When there is an error in positioning the center point on the cross section of the steel plate a by the positioning laser 26, the distance d= { d between the spot emitted by the laser radar 27 and the single steel plate to be taken is not equal 0 ,d 1 ,...,d n Calculating the thickness of the single steel plate to be taken to be
The horizontal default starting position of the laser radar 27 is determined by matching the positioning laser 26 and the double cameras 28, so that the accuracy of the working range of the laser radar 27 is ensured, the laser radar 27 can accurately scan the uppermost layer of the steel plate to be taken, the thickness is calculated by calculating and determining the upper surface point and the lower surface point on the cross section of the steel plate A, the error of thickness calculation caused by the difference of the distances from the light outlet point to the upper surface point and the lower surface point on the cross section of the steel plate A is avoided, and the support is provided for accurately calculating the magnetic force required by the steel plate in the follow-up step.
Step 204: and calculating the volume of the single steel plate to be taken through the length, the width and the thickness of the single steel plate to be taken.
Step 205: and calculating the weight of the single steel plate to be taken according to the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, so as to calculate the required magnetic force.
After the controller of the steel plate stacker of the present invention receives the laser radar 27 to calculate the volume of the steel plate a, the weight of the steel plate a and the corresponding sectional electromagnetic attraction force are calculated in combination with the known density parameters of the steel plate a.
Step 206: the hydraulic pump 3 drives the magnetic attraction plate 23 to be lowered to the level of the cargo bed 22.
The controller of the steel plate stacker provided by the invention sends an instruction to the motor, and drives the hydraulic pump 3 to drive the tripod bracket 25, so that the connecting end of the tripod bracket 25 and the magnetic adsorption plate 23 moves towards the direction of the preset position, namely the direction of the steel plate A, and the magnetic adsorption plate 23 is put down.
Step 207: the four identical magnetic adsorption heads 24 on the magnetic adsorption plate 23 release preset magnetic force, and the single steel plate to be taken is collected through magnetic adsorption.
After the controller of the steel plate stacker calculates the magnetic force required by the steel plate A, an instruction is sent to the motor to drive the hydraulic pump 3 to start supplying power to four identical magnetic adsorption heads 24 on the magnetic adsorption plate 23 to release preset magnetic force.
In the process of magnetically absorbing and collecting the single steel plate to be taken by the magnetic absorption unit 2, energy saving is realized by adjusting preset magnetic force and adjusting power supply in sections, and a flow chart of the magnetic force in section adjustment is shown in fig. 11, wherein:
the first section of power supply magnetic adsorption is that a single steel plate to be taken is magnetically adsorbed by a magnetic adsorption plate 23, and before the single steel plate to be taken is separated from a steel plate pile, the initial magnetic attraction overcomes the pressure force and the like between the steel plates in the steel plate pile, as shown in fig. 12, the magnetic adsorption plate 23 is put down to be horizontal to a loading table 22 and the single steel plate to be taken by a magnetic adsorption column, when the steel plate A is magnetically adsorbed and collected, the preset tensile force is set to be 1.5+/-0.2 times of the required magnetic force calculated by the weight of the steel plate A, and then the preset magnetic force of a magnetic adsorption head 24 is set to be 1.5+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken;
The second section of electromagnetic adsorption is that the magnetic adsorption plate 23 pulls up a single steel plate to be taken out of the steel plate pile, and when the single steel plate is in a turnover process, external complex factors such as dust, wind resistance and the like are overcome, so that the steel plate A is ensured to be stably turned over to be placed on the cargo carrying platform 22 in the material taking process, the preset tensile force is set to be 1.2+/-0.1 times of the required magnetic force calculated by the weight of the steel plate A, and then the preset magnetic force of the magnetic adsorption head 24 is set to be 1.2+/-0.1 times of the required magnetic force calculated by the weight of the single steel plate to be taken.
Step 208: the hydraulic pump 3 drives the magnetic adsorption plate 23 to be pulled up to be vertical to the cargo carrying platform 22, and the collection of the single steel plate to be taken is completed.
The controller of the steel plate stacker of the invention sends an instruction to the motor to drive the hydraulic pump 3 to drive the tripod bracket 25, the connecting end of the tripod bracket 25 and the magnetic adsorption plate 23 pulls up the magnetic adsorption plate 23 to enable the steel plate A to turn over to form an included angle with the cargo carrying platform 22, as shown in figure 13, the magnetic adsorption plate 23 and the steel plate A are in an inclined state, the third section of power supply magnetic adsorption is that when the magnetic adsorption plate 23 is pulled up to be adjusted to be in an inclined state and placed on the cargo carrying platform 22, only the gravity overcoming the self weight of the steel plate A is used, the cargo carrying platform 22 is used as a plane supportable steel plate A, the preset tension of the magnetic adsorption head 24 is properly reduced, the preset tension of the magnetic adsorption head 24 is set to be 0.6+/-0.2 times of the required magnetic force calculated by the weight of the steel plate A, and the preset magnetic force of the magnetic adsorption head 24 is set to be 0.6+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken; and finishing magnetic absorption to collect the steel plate A.
In the specific implementation process, the control of the corresponding sectional magnetic force adsorption has larger difference due to the size and the size of the single steel plate to be taken and the corresponding inclination state; for example, when the length of the single steel plate to be picked up is greater than the length of the magnetic adsorption plate 23, so that the four magnetic adsorption heads 24 on the corresponding magnetic adsorption plate 23 cannot be distributed relatively uniformly near the center of gravity of the single steel plate to be picked up, in the first section of power supply magnetic adsorption, the magnetic attraction force of the two magnetic adsorption heads 24 near the rotating shaft side of the magnetic adsorption plate 23 is smaller than that of the two magnetic adsorption heads 24 far from the rotating shaft side of the magnetic adsorption plate 23 correspondingly, that is, compared with the preset magnetic force of the magnetic adsorption heads 24 described in the above embodiment, the preset magnetic force of the magnetic adsorption heads 24 is 1.5±0.2 times of the required magnetic force calculated by the weight of the single steel plate to be picked up, which means that the magnetic attraction force of the two magnetic adsorption heads 24 near the rotating shaft side of the magnetic adsorption plate 23 is required to be weighted by even 1.8 times on the basis of the above required magnetic attraction force, and the actual test is not performed for the center of gravity of the single steel plate to be picked up is not set up according to the specific parameter values. For another example, when the length of the single steel plate to be taken is greater than the length of the magnetic adsorption plate 23, so that the four magnetic adsorption heads 24 on the corresponding magnetic adsorption plate 23 cannot be relatively uniformly distributed near the center of gravity of the single steel plate to be taken, in the third section of power supply magnetic adsorption, the preset magnetic force of the magnetic adsorption heads 24 is set to be 0.6 times of the required magnetic force calculated by the weight of the single steel plate to be taken, more refers to the magnetic attraction force of the two magnetic adsorption heads 24 far away from the rotating shaft side of the magnetic adsorption plate 23, and the magnetic attraction force of the two magnetic adsorption heads 24 near the rotating shaft side of the magnetic adsorption plate 23 needs to be weighted to be even 0.8 times on the basis of 0.6 times of the required magnetic force, so that the problem of uneven stress caused by the deviation from the center of gravity is solved.
In the specific implementation process, the corresponding weighting coefficient of magnetic adsorption can be further influenced by factors such as the material density of the steel plate, the offset distance between the center of gravity represented by the shape of the steel plate and the four magnetic adsorption points, and the like, so that the corresponding weighting value is adjusted, and the adjustment can be modified according to actual conditions without excessive limitation. It should be understood that the weighted parameter values given in the embodiments are merely demonstration of the achievable reference values and should not be taken as limiting basis for limiting the effective protection scope of the present invention.
According to the invention, through the arrangement of the double cameras 28, the operation condition of the stacker is monitored by using stereoscopic vision, the double cameras 28 are matched with the positioning laser 26 and the laser radar 27, so that the dimension parameters of the steel plate to be taken are accurately calculated, and the possible errors in actual operation are avoided through a calculation method; and by combining the lowering and pulling of the magnetic adsorption plates 23 and utilizing the magnetic adsorption heads 24 to release magnetic force, unmanned accurate collection of single steel plates is realized, the material taking efficiency is improved, the sectional adjustment operation energy consumption is realized by adjusting the magnetic force, and the waste of energy cost is avoided by designing a sectional power supply scheme.
Example 3:
the laser radar-based single-block material taking steel plate stacker of embodiment 3 of the present invention is basically the same as the laser radar-based single-block material taking steel plate stacker of embodiment 1, and is different in that a fixed L-shaped support frame 61 is provided under the cargo bed 22, and a square groove for the L-shaped support frame 61 to pass through is provided on the magnetic absorption plate 23, specifically:
The magnetic adsorption unit 2 further comprises an L-shaped supporting frame 61;
the lower end of the L-shaped supporting frame 61 is arranged below the closely attached cargo table 22, and the upper end of the L-shaped supporting frame 61 exceeds the plane of the cargo table 22 and is perpendicular to the cargo table 22;
a square groove is formed in the magnetic adsorption plate 23 and is used for enabling the upper end of the L-shaped support frame 61 to penetrate through the magnetic adsorption plate 23 when the magnetic adsorption plate 23 is put down and pulled up;
the magnetic adsorption unit 2 is provided with an L-shaped supporting frame 61, the position where the magnetic adsorption plate 23 is connected with the carrying platform 22 is a certain distance away from the edge of the carrying platform 22, and when the magnetic adsorption plate 23 pulls up a single steel plate to be taken and is adjusted to be placed on the carrying platform 22 in an inclined state, the L-shaped supporting frame 61 is used for protecting and supporting the single steel plate to be taken, which is collected by the magnetic adsorption plate 23.
In the process of magnetically sucking and collecting the steel plate a, and when the position where the magnetic sucking plate 23 is connected to the cargo table 22 is at a distance from the edge of the cargo table 22, 2L-shaped supporting frames 61 are provided for supporting the steel plate a when the magnetic sucking plate 23 pulls up the steel plate a to be placed on the cargo table 22 in an inclined state. As shown in fig. 14, a square groove is provided in the magnetic attraction plate 23 for supporting the steel plate a at the lower end of the L-shaped support frame 61 when the magnetic attraction plate 23 is lowered and pulled up. Square holes are provided in the cargo bed 22 to allow the L-shaped support brackets 61 to pass through. When the magnetic adsorption plate 23 is put down, the L-shaped supporting frame 61 is positioned below the cargo table 22, and when the magnetic adsorption plate 23 magnetically adsorbs the steel plate A, the steel plate A is positioned above the square groove, and the steel plate A is in no contact with the L-shaped supporting frame 61. As shown in fig. 15, when the steel plate a is collected by the magnetic adsorption plate 23 and turned over and adjusted to an inclined state, the base of the L-shaped support frame 61 is lifted from the lower side of the loading platform 22, at this time, the right view of the schematic diagram of the position structure of the L-shaped support frame 61 for protecting the steel plate a is shown in fig. 16, the lower end of the L-shaped support frame 61 is lifted to be closely attached to the lower end of the steel plate a, at this time, the lower end of the steel plate a is protected and supported by the L-shaped support frame 61, the steel plate a can be stably placed, the four magnetic adsorption heads 24 on the magnetic adsorption plate 23 release magnetic force to form a pulling force on the steel plate a, the magnetic adsorption heads 24 do not need to bear the gravity of the steel plate independently, and the L-shaped support frame 61 and the magnetic adsorption plate 23 share most of the gravity of the steel plate, at this time, the magnetic adsorption is only used for preventing the steel plate from falling down.
Example 4:
embodiment 4 of the present invention provides a method for using a single-block material taking steel plate stacker based on a laser radar based on embodiment 2, and provides a single-block material taking steel plate stacker based on a laser radar and a method for using the same, and the steps of the flow in embodiment 4 of the present invention are basically the same as those in embodiment 2, except that when the magnetic adsorption plate 23 pulls up a single-block steel plate to be taken to adjust to an inclined state and place on the cargo table 22, power supply in the process is reduced to achieve energy saving, specifically:
when the loading table 22 is provided with the L-shaped supporting frame 61 and the position where the magnetic adsorption plate 23 is connected with the loading table 22 is at a certain distance from the edge of the loading table 22, and when the single steel plate to be picked up is pulled up by the magnetic adsorption plate 23 and is adjusted to be placed on the loading table 22 in an inclined state, the four magnetic adsorption heads 24 on the magnetic adsorption plate 23 release magnetic force to form the pulling force of the collected steel plate a without independently bearing the gravity of the steel plate a, the L-shaped supporting frame 61 and the magnetic adsorption plate 23 share most of the gravity of the steel plate a, the preset pulling force of the magnetic adsorption heads 24 is properly reduced, the preset pulling force is set to be 0.3 times of the required magnetic force calculated by the weight of the steel plate a, and then the preset magnetic force of the magnetic adsorption heads 24 is set to be 0.3 times of the required magnetic force calculated by the weight of the single steel plate to be picked up, so that the electric energy of the magnetic adsorption heads 24 release magnetic force is saved. And (5) finishing magnetic adsorption and collecting a single steel plate A.
According to the embodiment of the invention, through the arrangement of the L-shaped supporting frame 61, partial support is provided for the steel plate by utilizing the L-shaped supporting frame 61, and the magnetic force required to be released by the magnetic adsorption head 24 when a single steel plate to be taken is placed on the cargo carrying platform 22 is reduced, so that the power consumption for taking the materials is reduced; the single steel plate to be taken is placed on the cargo table 22 until the subsequent discharging operation process is the stage with the longest time consumption in actual production, so that the power consumption of the process is reduced, and the energy-saving effect of the invention is greatly improved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (8)

1. Single block gets material steel sheet stacker based on laser radar, its characterized in that includes: a frame (1), a magnetic adsorption unit (2) and a hydraulic pump (3);
the magnetic adsorption unit (2) is arranged on the frame (1), and the magnetic adsorption unit (2) moves to the position of a single steel plate to be taken to finish intelligent sectional power supply magnetic adsorption for collecting the single steel plate;
adjusting magnetic force in the process of collecting a single steel plate to be taken through magnetic adsorption, namely adjusting power supply in sections; the time for collecting the single steel plate to be taken to the loading table is short, the completion of the material taking task is guaranteed with high energy consumption, the time for collecting the single steel plate to be taken after being placed on the loading table is long, the state of the steel plate is maintained with low energy consumption, and the energy consumption for collecting the single steel plate is saved;
The intelligent sectional electromagnetic adsorption supplying device comprises a first section of electromagnetic adsorption supplying device for adsorbing a single steel plate to be taken from a steel plate pile, a second section of electromagnetic adsorption supplying device for converting the steel plate from the adsorption to a starting moving state, a third section of electromagnetic adsorption supplying device in the moving state and a fourth electromagnetic adsorption supplying device for converting the steel plate from the moving state to a placing state;
the magnetic adsorption unit (2) completes the size acquisition of a single steel plate through a laser radar (27) arranged on the magnetic adsorption unit, so that the weight of the corresponding single steel plate is calculated and used as the basis of intelligent sectional electromagnetic adsorption;
the magnetic adsorption unit (2) comprises a frame body (21), a cargo carrying table (22), a magnetic adsorption plate (23), a magnetic adsorption head (24), a tripod (25), a positioning laser (26), a laser radar (27) and a double camera (28), wherein:
the cargo carrying platform (22) is arranged on the frame body (21), and the cargo carrying platform (22) and the frame body (21) are connected into an integrated structure for supporting the magnetic adsorption unit (2);
the magnetic adsorption plate (23) is arranged on the cargo carrying platform (22), and the magnetic adsorption plate (23) is connected with the cargo carrying platform (22) in a loose-leaf manner; four identical magnetic adsorption heads (24) are arranged on the magnetic adsorption plate (23) and are used for realizing magnetic adsorption and collecting a single steel plate to be taken;
The tripod bracket (25) is arranged on the cargo carrying platform (22), and the bottom end of the tripod bracket (25) is connected with the cargo carrying platform (22) and is used for realizing the lowering and pulling of the supporting magnetic adsorption plate (23);
the positioning laser (26) is arranged on the tripod bracket (25) and is used for positioning a single steel plate to be taken;
the laser radar (27) is arranged on the tripod bracket (25) and is used for measuring the thickness of a single steel plate to be taken;
the double cameras (28) are arranged on the tripod bracket (25) and are respectively positioned at two sides of the positioning laser (26) and the laser radar (27) and used for determining the positioning state of the positioning laser (26) and calculating the length and the width of a single steel plate to be taken through a stereoscopic vision algorithm;
the double cameras (28) are matched with the positioning laser (26) to scan and position the steel plate pile and the position information of the uppermost single steel plate to be taken in the steel plate pile through adjusting the light emitting angle, the double cameras (28) calculate the length and the width of the single steel plate to be taken through a stereoscopic vision algorithm, and the steel plate stacker is moved to the position of the single steel plate to be taken;
the height of the cargo table (22) is adjusted until a double camera (28) captures that the light outlet point of the positioning laser (26) strikes on the cross section of the single steel plate to be taken, which faces the positioning laser (26), so that the single steel plate to be taken is ensured to enter the effective working range of the laser radar (27); scanning and collecting upper surface points and lower surface points on a cross section of the single steel plate to be taken through a laser radar (27), and calculating the thickness of the single steel plate to be taken;
Calculating the volume of the single steel plate to be taken through the length, the width and the thickness of the single steel plate to be taken;
calculating the weight of the single steel plate to be taken according to the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, so as to calculate and obtain the sectional electromagnetic adsorption force;
the hydraulic pump (3) is used for providing power for the magnetic adsorption unit (2).
2. The laser radar-based single-block material taking steel plate stacker according to claim 1, wherein the laser radar (27) starts scanning in a horizontal direction from a cross section of the single-block steel plate to be taken toward the positioning laser (26), the scanning range is a sector area formed by adjusting the light emitting angle, the distance d from the light spot to the single-block steel plate to be taken is calculated by time difference between light emission and light reception, the upper surface point and the lower surface point on the cross section of the single-block steel plate to be taken are collected, and the thickness of the single-block steel plate to be taken is calculated, specifically comprising:
when the return laser received by the laser radar (27) is stronger, the light outlet point of the laser radar (27) is arranged inside the single steel plate to be taken, the light outlet point of the laser radar (27) and the light outlet point of the positioning laser (26) are overlapped on the cross section of the single steel plate to be taken, which faces the positioning laser (26), and the shortest distance from the light outlet point to the single steel plate to be taken is d min ；
When the laser radar (27) scans the received return laser upwards along the horizontal direction to be weaker, the light outlet point of the laser radar (27) hits the upper surface point on the cross section of the single steel plate to be taken, and the distance from the light outlet point to the single steel plate to be taken is d 0 ；
When the return laser received by the laser radar (27) in the downward scanning along the horizontal direction is weaker, the light outlet point of the laser radar (27) is hit at the lower surface point on the cross section of the single steel plate to be taken, and the distance from the light outlet point to the single steel plate to be taken is d n ；
The distance d = { d between the light outlet point of the laser radar (27) and the single steel plate to be taken 0 ,d 1 ,...,d n Calculating the thickness of the single steel plate to be taken to be
3. The laser radar-based single-block material taking steel plate stacker according to claim 2, comprising in particular:
the first section of electromagnetic adsorption is that a magnetic adsorption plate (23) magnetically adsorbs a single steel plate to be taken, and the preset magnetic force of a magnetic adsorption head (24) is set to be 1.5+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken before the single steel plate to be taken is separated from a steel plate stack;
the second section of electromagnetic adsorption is that a magnetic adsorption plate (23) pulls up a single steel plate to be taken out of a steel plate stack, and when the single steel plate to be taken out is in a turnover process, the preset magnetic force of a magnetic adsorption head (24) is set to be 1.2+/-0.1 times of the required magnetic force calculated by the weight of the single steel plate to be taken out;
The third section is used for supplying power to the magnetic adsorption plate (23) to pull up the single steel plate to be taken and adjust the single steel plate to be taken to be in an inclined state, and the single steel plate is placed on the cargo carrying platform (22), wherein the preset magnetic force of the magnetic adsorption head (24) is set to be 0.6+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken;
and when the fourth section of power supply magnetic adsorption is that the magnetic adsorption plate (23) converts the steel plate from a moving state to a placing state, the preset magnetic force of the magnetic adsorption head (24) is set to be 1.2+/-0.1 times of the required magnetic force calculated by the weight of the single steel plate to be taken.
4. A lidar-based single-block reclaim sheet stacker of steel according to claim 3, characterized in that the magnetic adsorption unit (2) further comprises an L-shaped support frame (61);
the lower end of the L-shaped supporting frame (61) is arranged below the closely attached cargo carrying platform (22), and the upper end of the L-shaped supporting frame (61) exceeds the plane of the cargo carrying platform (22) and is perpendicular to the cargo carrying platform (22);
the magnetic adsorption plate (23) is provided with a square groove, and the square groove is used for enabling the upper end of the L-shaped support frame (61) to penetrate through the magnetic adsorption plate (23) when the magnetic adsorption plate (23) is put down and pulled up;
the magnetic adsorption unit (2) is provided with an L-shaped supporting frame (61), the position where the magnetic adsorption plate (23) is connected with the cargo carrying platform (22) is a certain distance away from the edge of the cargo carrying platform (22), and when the magnetic adsorption plate (23) is pulled up to be placed on the cargo carrying platform (22) in an inclined state after being adjusted, the L-shaped supporting frame (61) is used for protecting and supporting the to-be-taken single steel plate collected by the magnetic adsorption plate (23).
5. The laser radar-based single-block material taking steel plate stacker as claimed in claim 4, wherein when the magnetic adsorption plate (23) pulls up the single-block steel plate to be taken to be placed on the loading table (22) in an inclined state, the preset magnetic force of the magnetic adsorption head (24) is set to 0.3±0.1 times the required magnetic force calculated by the weight of the single-block steel plate to be taken.
6. The laser radar-based single-block material taking steel plate stacker according to any one of claims 1 to 5, wherein the hydraulic pump (3) is arranged on the cargo carrying platform (22), one end of the hydraulic pump (3) is connected with the magnetic adsorption plate (23) in a shaft way, and the other end of the hydraulic pump (3) is connected with the upper end of the tripod bracket (25) in a shaft way; the hydraulic pump (3) drives the magnetic adsorption plate (23) to move so that the magnetic adsorption plate (23) can move towards the direction of the preset position, and the hydraulic pump is used for providing power for rotating the magnetic adsorption plate (23) around the shaft connection part of the magnetic adsorption plate and the cargo carrying platform (22).
7. The application method of the single-block material taking steel plate stacker based on the laser radar is characterized in that the application method is realized based on the single-block material taking steel plate stacker based on the laser radar according to any one of claims 1 to 6, and the method comprises the following steps:
the double cameras are matched with a positioning laser to scan and position the steel plate pile and the position information of the uppermost single steel plate to be taken in the steel plate pile by adjusting the light emitting angle, the double cameras calculate the length and the width of the single steel plate to be taken through a stereoscopic vision algorithm, and the steel plate stacker moves to the position of the single steel plate to be taken;
The height of the cargo carrying platform is adjusted until the double cameras capture that the light outlet points of the positioning laser strike on the cross section of the single steel plate to be taken, which faces the positioning laser, so that the single steel plate to be taken is ensured to enter the effective working range of the laser radar;
the laser radar scans and collects upper surface points and lower surface points on the cross section of the single steel plate to be taken, and the thickness of the single steel plate to be taken is calculated;
calculating the volume of the single steel plate to be taken through the length, the width and the thickness of the single steel plate to be taken;
calculating the weight of the single steel plate to be taken according to the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, so as to calculate the required magnetic force;
the hydraulic pump drives the magnetic adsorption plate to be put down to be horizontal with the cargo carrying platform;
the magnetic adsorption unit moves to the position of the single steel plate to be taken to finish intelligent sectional power supply magnetic adsorption for collecting the single steel plate;
the intelligent sectional electromagnetic adsorption supplying device comprises a first section of electromagnetic adsorption supplying device for adsorbing a single steel plate to be taken from a steel plate pile, a second section of electromagnetic adsorption supplying device for converting the steel plate from adsorption to start moving state, a third section of electromagnetic adsorption supplying device in moving state and a fourth electromagnetic adsorption supplying device for converting the steel plate from moving state to placing state.
8. The method for using the laser radar-based single-block material taking steel plate stacker as in claim 7, specifically comprising the following steps:
the first section of electromagnetic adsorption is that a single steel plate to be taken is magnetically adsorbed by a magnetic adsorption plate, and the preset magnetic force of the magnetic adsorption head is set to be 1.5+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken before the single steel plate to be taken is separated from a steel plate stack;
the second section of electromagnetic adsorption is that the magnetic adsorption plate pulls up a single steel plate to be taken out of the steel plate stack, and when the single steel plate to be taken out of the steel plate stack is in a turnover process, the preset magnetic force of the magnetic adsorption head is set to be 1.2+/-0.1 times of the required magnetic force calculated by the weight of the single steel plate to be taken out;
the third section of power supply magnetic adsorption is that when the magnetic adsorption plate pulls up a single steel plate to be taken and is adjusted to be in an inclined state and is placed on a cargo carrying platform, the preset magnetic force of the magnetic adsorption head is set to be 0.6+/-0.2 times of the required magnetic force calculated by the weight of the single steel plate to be taken;
and when the fourth section of power supply magnetic adsorption is that the magnetic adsorption plate converts the steel plate from a moving state to a placing state, the preset magnetic force of the magnetic adsorption head is set to be 1.2+/-0.1 times of the required magnetic force calculated by the weight of the single steel plate to be taken.
CN202310713186.4A 2023-06-14 2023-06-14 Single-block material taking steel plate stacker based on laser radar and using method thereof Active CN116553194B (en)

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