CN216807036U - Aluminum alloy template letter sorting system - Google Patents
Aluminum alloy template letter sorting system Download PDFInfo
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- CN216807036U CN216807036U CN202220019604.0U CN202220019604U CN216807036U CN 216807036 U CN216807036 U CN 216807036U CN 202220019604 U CN202220019604 U CN 202220019604U CN 216807036 U CN216807036 U CN 216807036U
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Abstract
The utility model provides an aluminum alloy template sorting system which comprises a conveying device, a visual identification device, a code spraying mechanism and a material taking system, wherein the visual identification device, the code spraying mechanism and the material taking system are sequentially arranged along the conveying direction of the conveying device; the code spraying mechanism is located one side of the conveying device, and the material taking system comprises: a plurality of pile up neatly mechanism and transfer robot, each pile up neatly mechanism below is equipped with a plurality of pile up neatly stations, and transfer robot is used for transferring the real tray that the pile up neatly was good on the pile up neatly station to the platform of plugging into, still is used for moving empty tray to the pile up neatly station on, and this system adopts technologies such as visual identification, yard (or laser is beaten the sign indicating number), pile up neatly and has realized the letter sorting of aluminum alloy template, has both improved the discernment letter sorting efficiency and the accuracy of letter sorting of aluminum alloy template.
Description
Technical Field
The utility model relates to the technical field of aluminum alloy template sorting, in particular to an aluminum alloy template sorting system.
Background
The aluminum alloy template is a temporary supporting structure system applied to concrete pouring and forming in building construction. In recent years, the aluminum alloy template industry in China is developed quickly, and new aluminum alloy template production enterprises are continuously emerged all over the country. In recent years, the market is rapidly developed, the application range is gradually expanded, civil buildings are extended to public buildings, projects such as subways, tunnels, bridges and pipe galleries begin to use aluminum alloy templates, and enterprises are in opportunity of development. However, most aluminum-aluminum alloy templates in the industry are sorted and packed mainly by manual operation. Because the aluminum alloy templates are of various types and have small appearance specification difference, the manual sorting error rate is high, the efficiency is low, the labor intensity is high, the operation environment is poor, and the development of the industry is seriously influenced.
The aluminum alloy template for the building has twenty or more different major external appearance characteristics and has more than three thousand product gauges, the minimum difference of the aluminum template with the adjacent product gauge in the external appearance size of a certain major is 5mm, the classifying workload for recovering the aluminum alloy template is large, the manual classifying error rate is high, and the efficiency is low.
At present, the aluminum alloy template is manually pasted with the codes, the male surface and the side surface of the aluminum alloy template are smooth, the side surface is provided with the mounting holes, the mounting holes are small in interval, the pasted codes can easily drop, so that the codes can only be pasted on the female surface of the aluminum alloy template, the appearance characteristics of the aluminum alloy template are different, the aluminum alloy template is provided with multiple specifications, and automatic code pasting is difficult to realize.
In chinese patent CN201811489474.1, an aluminum alloy template sorting and classifying system is disclosed, wherein an identification chip for loading information is embedded on an aluminum alloy template, and is identified by an identification device, so as to achieve the purpose of sorting and classifying, but in actual use, the aluminum alloy template often has collision, which can cause the identification chip to fall off; in addition, the identification chip can only be identified by the identification device, and workers cannot directly obtain the information of the aluminum alloy template, so that the aluminum alloy template is not beneficial to practical use.
SUMMERY OF THE UTILITY MODEL
To the above problem, the inventor provides an aluminum alloy template sorting system capable of effectively improving the sorting efficiency and sorting accuracy of aluminum alloy templates.
Specifically, the present invention is realized by:
an aluminum alloy template sorting system comprises a conveying device, a visual identification device, a code spraying mechanism and a material taking system, wherein the visual identification device, the code spraying mechanism and the material taking system are sequentially arranged along the conveying direction of the conveying device; the code spraying mechanism is positioned on one side of the conveying device;
the reclaiming system comprises: the stacking device comprises a plurality of stacking mechanisms and a carrying robot, wherein a plurality of stacking stations are arranged below each stacking mechanism, and the carrying robot is used for transferring aluminum alloy templates on the stacking stations.
Further, the visual recognition apparatus includes: a frame erected above the conveying device and a plurality of image acquisition units arranged on the frame; each of the image acquisition units includes: a vision sensor and a light source.
Furthermore, the image acquisition units are five and respectively comprise a front-end image acquisition unit, a rear-end image acquisition unit, a top image acquisition unit and two side image acquisition units;
the front-end image acquisition unit is positioned at the outlet end of the visual recognition device and is used for acquiring the image information of the front end surface of the aluminum alloy template;
the rear-end image acquisition unit is positioned at the inlet end of the visual recognition device and is used for acquiring the image information of the rear end face of the aluminum alloy template;
the top image acquisition unit is positioned above the conveying device and used for acquiring image information of the top of the aluminum alloy template;
the two side image acquisition units are respectively positioned at two sides of the conveying device and used for acquiring image information of two sides of the aluminum alloy template.
Furthermore, a front-end photoelectric tube is arranged at the inlet end of the visual recognition device, a rear-end photoelectric tube is arranged at the outlet end of the visual recognition device, and when the front-end photoelectric tube is triggered, the front-end image acquisition unit starts to work; and when the rear-end photoelectric tube is triggered, the rear-end image acquisition unit starts to work.
Furthermore, reflectors are arranged on two sides of the rack, and the visual sensors of the two side image acquisition units respectively acquire image information in the two reflectors.
Further, the frame is wrapped with a light-tight sealing plate.
Further, the palletizing mechanism comprises: the stacking machine comprises a portal frame and a manipulator arranged on the portal frame, wherein the manipulator is a three-dimensional moving manipulator, and the stacking station is positioned below the portal frame.
Further, the system further comprises: the goods taking rail and the manual goods taking platform are connected with the conveying device respectively, the goods taking rail is located on one side of the conveying device, and the stacking station is located on the other side of the goods taking rail.
The working principle of the utility model is as follows:
the aluminum alloy template after the pre-sorting (manually pre-sorting according to the type and the product gauge) is manually conveyed to the front side by a conveying device, the appearance and the key size of the aluminum alloy template are detected and identified by a visual identification device, and then a code spraying mechanism laterally sprays corresponding information of the aluminum alloy template onto the template. And conveying the sprayed aluminum alloy template to a material taking station or a manual stacking station through a conveying device. The aluminum alloy templates to be taken by the material taking system are automatically stacked to the corresponding stacking stations by the material taking system and then are conveyed to the designated positions by the conveying robot. And manually taking the goods to be palletized from the manual goods taking platform for palletizing.
Compared with the prior art, the utility model has the beneficial effects that:
(1) the aluminum alloy template sorting system provided by the utility model adopts visual identification, sorting and robot stacking technologies, realizes automation of aluminum alloy template recovery flow and flow, and effectively reduces the labor intensity and labor cost.
(2) The problem of aluminum alloy template retrieve discernment select inefficiency, the error rate is high, select the painful point that intensity of labour is big is solved, the discernment letter sorting efficiency and the accuracy of letter sorting of aluminum alloy template have been improved.
Drawings
FIG. 1 is a schematic plan view of an aluminum alloy form sorting system provided by the present invention;
fig. 2 is a schematic structural view of a visual recognition apparatus according to embodiment 1;
fig. 3 is a schematic plan view of a reclaiming system in example 1.
Reference numerals:
1-a conveying device; 2-an online platform; 3-a visual recognition device; 31-a frame; 32-a front-end image acquisition unit; 321-front end photocell; 33-a back-end image acquisition unit; 331-back end photocell; 34-a side image acquisition unit; 341-a reflector; 35-a top image acquisition unit; 4-code spraying mechanism; 5-a material taking system; 51-a portal frame; 52-a robot arm; 53-palletizing station; 54-a pick track; 55-a handling robot; 6-manual goods taking platform; 71-placing a platform on the solid tray; 72-empty tray placing station; 73-pallet stacking and separating machine.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
The solid tray refers to a tray provided with an aluminum alloy template.
Example 1
As shown in fig. 1, the utility model provides an aluminum alloy template sorting system, which comprises a conveying device 1, an online platform 2, a visual identification device 3, a code spraying mechanism 4, a material taking system 5 and a manual goods taking platform 6, wherein the online platform, the visual identification device, the code spraying mechanism 4, the material taking system and the manual goods taking platform are sequentially arranged along the conveying direction of the conveying device 1. The aluminum alloy templates after the pre-sorting (manually pre-sorting according to the types and the specifications) are manually fed on the feeding platform 2 to be close to the edge, and then are conveyed forwards by the conveying device 1. When the aluminum alloy template enters the area of the visual recognition device 3, the 5 image acquisition units of the visual recognition device 3 acquire image information (namely three-dimensional information) of five surfaces of the aluminum alloy template and send the image information to the processing unit of the upper system, and the processing unit classifies the image information. The specific method is as the classification detection step of the aluminum template disclosed in chinese patent CN202010472606.0, that is, "convert the three-dimensional image into a height image, that is, Gx, y is Hx, y, where x and y are point coordinates corresponding to an actual position, G is an image gray value, H is a height value of a corresponding point, and 0 is the surface of the conveying device;
and secondly, extracting the edge of the aluminum template after binarizing the height image according to a specific threshold, judging the shape type, the length, the width, the height and the like of the height image according to the edge, and obtaining the height image only comprising the aluminum template through cutting and converting operations. The threshold value can be selected according to the thickness of the aluminum template material according to a certain proportion;
step three, retrieving, identifying and classifying a model library according to the detected shape category and length, width and height information of the aluminum template, and gradually reducing a matched model set;
and fourthly, according to the subsequent characteristic point information in the matched model set, carrying out reconstruction, matching and comparison operations in the height image only containing the aluminum template one by one, wherein the classification model with the highest characteristic point coincidence degree is the classification result. "
Each classification includes the product specification information such as the size of the aluminum alloy template, whether the waist-shaped hole exists, the position of the waist-shaped hole, the number of chamfers and the like. And after the aluminum alloy template reaches the code spraying station, the code spraying mechanism 4 sprays the corresponding product gauge information side of the aluminum alloy template onto the template, avoids the mounting holes of the aluminum alloy template during code spraying, and continues to convey forwards after the code spraying is finished. The aluminum alloy templates to be taken by the material taking system 5 are automatically stacked to the corresponding stacking station 53 by the material taking system 5, the stacked aluminum alloy template information and the pallet information are bound, and then the aluminum alloy templates are carried to the docking station by the carrying robot 55 and are transported to the designated position by the manual forklift. The aluminum alloy template information and the tray information are bound manually.
Specifically, as shown in fig. 2, the visual recognition device 3 includes: a frame 31 erected above the conveying device 1, and a plurality of image acquisition units provided on the frame 31, each including: vision sensors (e.g., industrial cameras) and light sources. The frame 31 is wrapped by a light-tight sealing plate (not shown), so that dust in the field can be reduced, the appearance attractiveness of the equipment is improved, the influence of outside light on the imaging effect can be reduced, and the influence of light sources on the surrounding environment and surrounding workers during the operation of the equipment is avoided. Five image acquisition units are provided, namely a front-end image acquisition unit 32, a rear-end image acquisition unit 33, a top image acquisition unit 35 and two side image acquisition units 34. The inlet end of the visual recognition device 3 is provided with a front-end photoelectric tube 321, the outlet end of the visual recognition device 3 is provided with a rear-end photoelectric tube 331, and when the front-end photoelectric tube 321 is triggered, the front-end image acquisition unit 32 starts to work to acquire the image information of the front end surface of the aluminum alloy template; when the rear photoelectric tube 331 is triggered, the rear image obtaining unit 33 starts to operate, and obtains image information of the rear end surface of the aluminum alloy template. The reflective mirrors 341 are disposed on both sides of the frame 31, and the vision sensors of the two side image obtaining units 34 respectively obtain image information in the two reflective mirrors 341 (i.e., side image information of the aluminum alloy mold). The mirror 341 can form specular reflection imaging, and a side image of the aluminum alloy template is obtained by the specular reflection imaging, so that the installation size of the visual recognition device 3 in the width direction is reduced, and the purpose of saving space is achieved. The top image acquiring unit 35 is located above the conveying device 1, and when the aluminum alloy formwork enters the rack 1, the top image acquiring unit 35 works to acquire image information of the top of the aluminum alloy formwork.
After the visual recognition device 3 acquires the image information of the aluminum alloy template, the aluminum alloy template is classified by the processing unit of the upper system, each classification comprises specific product gauge information of the aluminum alloy template, and the upper system issues the specific product gauge information of the aluminum alloy template to the code spraying mechanism 4 and then sprays the codes on the side surface of the aluminum alloy template. Preferably, the code spraying mechanism 4 is a code spraying machine or a laser code spraying machine, and the mounting holes in the side face of the aluminum alloy template can be staggered through intermittent code spraying. The specific mode may be that the positions of the mounting holes are staggered by adding a blank space during code spraying, or the code spraying information is processed in a segmented manner according to the positions of the mounting holes, so that the mounting holes are staggered, and the specific mode is not limited again.
As shown in fig. 3, the reclaiming system 5 includes: a goods taking track 54 and a plurality of palletizing mechanisms and transfer robots 55, the goods taking track 54 is positioned at one side of the conveying device 1 and is connected with the conveying device 1. Pile up neatly mechanism includes: the robot 52 is a three-dimensional moving robot and can move in the horizontal direction and the vertical direction. 6 stacking stations 53 are arranged below the portal frame 51, and a tray is placed on each stacking station 53. The aluminum alloy template to be taken by the material taking system 5 is conveyed into the goods taking track 54 by the conveying device 1, and when the aluminum alloy template reaches the material taking stations, the manipulator 52 moves to the corresponding material taking station, the aluminum alloy template is grabbed and conveyed to the tray on the corresponding stacking station 53, the information of the stacked aluminum alloy template is bound with the information of the tray, after the aluminum alloy template on one stacking station 53 is stacked, the conveying robot 55 conveys the stacked real tray to the real tray placing platform 71, then the aluminum alloy template is conveyed to the designated position by the manual forklift, and when the conveying robot 55 returns to the stacking station 53, the empty tray can be conveyed from the empty tray placing platform 72 to the empty stacking station 53. The manually palletized goods are manually taken from the manual goods taking platform 6 for palletizing.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the utility model and are not intended to be limiting. For a person skilled in the art to which the utility model pertains, several simple deductions, modifications or substitutions may be made according to the idea of the utility model.
Claims (8)
1. The utility model provides an aluminum alloy template letter sorting system, includes conveyor, its characterized in that still includes: the visual identification device, the code spraying mechanism and the material taking system are sequentially arranged along the conveying direction of the conveying device; the code spraying mechanism is positioned on one side of the conveying device;
the reclaiming system comprises: the stacking device comprises a plurality of stacking mechanisms and a carrying robot, wherein a plurality of stacking stations are arranged below each stacking mechanism, and the carrying robot is used for transferring aluminum alloy templates on the stacking stations.
2. The aluminum alloy form sorting system of claim 1, wherein the visual identification device comprises: a frame erected above the conveying device and a plurality of image acquisition units arranged on the frame; each of the image acquisition units includes: a vision sensor and a light source.
3. The aluminum alloy form sorting system of claim 2, wherein there are five image capturing units, a front image capturing unit, a rear image capturing unit, a top image capturing unit and two side image capturing units;
the front-end image acquisition unit is positioned at the outlet end of the visual recognition device and is used for acquiring the image information of the front end surface of the aluminum alloy template;
the rear-end image acquisition unit is positioned at the inlet end of the visual recognition device and is used for acquiring the image information of the rear end face of the aluminum alloy template;
the top image acquisition unit is positioned above the conveying device and used for acquiring image information of the top of the aluminum alloy template;
the two side image acquisition units are respectively positioned at two sides of the conveying device and used for acquiring image information of two sides of the aluminum alloy template.
4. The aluminum alloy template sorting system according to claim 3, wherein an inlet end of the vision recognition device is provided with a front-end photoelectric tube, an outlet end of the vision recognition device is provided with a rear-end photoelectric tube, and when the front-end photoelectric tube is triggered, the front-end image acquisition unit starts to work; and when the rear-end photoelectric tube is triggered, the rear-end image acquisition unit starts to work.
5. The aluminum alloy form sorting system according to any one of claims 3 to 4, wherein the frame is provided with mirrors on both sides thereof, and the vision sensors of the two side image obtaining units respectively obtain image information in the two mirrors.
6. The aluminum alloy form sorting system of claim 5, wherein the frame is wrapped with a light-tight sealing sheet.
7. The aluminum alloy form sorting system of claim 1, wherein the palletizing mechanism comprises: the stacking machine comprises a portal frame and a manipulator arranged on the portal frame, wherein the manipulator is a three-dimensional moving manipulator, and the stacking station is positioned below the portal frame.
8. The aluminum alloy form sorting system of claim 1, further comprising: the goods taking rail and the manual goods taking platform are connected with the conveying device respectively, the goods taking rail is located on one side of the conveying device, and the stacking station is located on the other side of the goods taking rail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220019604.0U CN216807036U (en) | 2022-01-06 | 2022-01-06 | Aluminum alloy template letter sorting system |
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| CN202220019604.0U CN216807036U (en) | 2022-01-06 | 2022-01-06 | Aluminum alloy template letter sorting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117383234A (en) * | 2023-09-28 | 2024-01-12 | 重庆渝创新材料有限公司 | Loading attachment is used in aluminum alloy production |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117383234A (en) * | 2023-09-28 | 2024-01-12 | 重庆渝创新材料有限公司 | Loading attachment is used in aluminum alloy production |
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