CN-117622903-B - Automatic stacking equipment and method for special-shaped pipes

Abstract

The invention discloses automatic stacking equipment and method for special-shaped pipes. The device comprises a PC system, a roller way, a tractor, a length sensor, a visual detection device, a mechanical arm, a grabbing device, a packing roller line and an automatic steel belt packing machine. The method comprises the steps of transmitting product order information to a PC system by the MES system, selecting a proper stacking program by the PC system, calculating the length of the special-shaped pipe through a roller way, transmitting the calculated length of the special-shaped pipe to the PC system to convert the calculated length into theoretical weight, visually detecting the special-shaped pipe by a visual detecting device, removing the special-shaped pipe with defects, transmitting the qualified special-shaped pipe to a turnover table mechanism, then grabbing the qualified special-shaped pipe by a grabbing device through a mechanical arm, stacking the qualified special-shaped pipe, transmitting the qualified special-shaped pipe to a packing area, and carrying out steel strip arrow-penetrating packing on the stacked special-shaped pipe by an automatic steel strip packing machine. The invention has the characteristics of high boxing efficiency, low labor cost, high automation degree, low error rate, reliable performance, strong maintainability and convenient operation.

Inventors

• BAO JIANDONG

Assignees

• 江苏弘远机械制造有限公司

Dates

Publication Date

20260508

Application Date

20230928

Claims (2)

1. 1. The automatic stacking method for the special-shaped pipes is characterized by comprising a PC system, a roller way, a tractor, a length sensor, a visual detection device, a mechanical arm, a grabbing device, a packing roller line and an automatic steel belt packing machine; the PC end is used for receiving product order information, performing data processing and sending the processed data to the automatic stacking equipment; The roller way is used for conveying special-shaped pipes; The traction machine is used for drawing the special-shaped pipe onto the roller way; the length sensor is used for measuring the length of the special-shaped pipe; the visual detection device is arranged in the circumferential direction of the roller way and is used for detecting the special-shaped pipe, obtaining a detection result and visual positioning data of the special-shaped pipe, determining whether the special-shaped pipe is qualified or not and providing data support for the operation of the mechanical arm and the grabbing device; the mechanical arm is provided with a grabbing device for grabbing and stacking the special-shaped pipes; The packing roller line is used for conveying the special-shaped pipe into a packing area; the automatic steel belt packer is used for packing special-shaped pipes The automatic stacking method for the special-shaped pipes comprises the following steps of: Step 1, acquiring product order information by an MES system, transmitting the product order information to a PC system, and selecting a matched stacking program by the PC system; Step 2, calculating the length of the special-shaped pipe through a roller way, and transmitting the length of the special-shaped pipe to a PC system to convert the length into theoretical weight; step 3, after the special-shaped pipe enters the roller way, the visual detection device performs visual detection on the special-shaped pipe; step 4, jacking the abnormal pipe with the defect in the detection result into a waste material barrel by adopting a cylinder jacking mechanism; step 5, the qualified special-shaped pipe enters a turnover table mechanism; Step6, aligning the qualified special-shaped pipes by adopting a side-by-side and leveling mechanism; Step 7, the mechanical arm adsorbs qualified special-shaped pipes through a grabbing device to stack; Step 8, starting a packing roller line after stacking is completed, and conveying the special-shaped pipe into a packing area; step 9, carrying out steel belt arrow penetrating packaging on the stacked special-shaped pipes by using an automatic steel belt packaging machine; the special-shaped pipe in the step 2 passes through a roller way, the length of the special-shaped pipe is calculated, the weight is converted into theoretical weight by transmitting the weight to a PC system, and the weight is as follows: Step 2.1, the special-shaped pipe enters a roller way through a tractor, and the length of the special-shaped pipe is measured in real time by a length sensor; step 2.2, transmitting the length information of the special-shaped pipe to a PC system, and converting the length information into theoretical weight to be used as data for calling; The special-shaped pipe in the step 2.1 enters a roller way through a tractor, and the length sensor measures the length of the special-shaped pipe in real time, and the special-shaped pipe is specifically as follows: The length sensor comprises an ultrasonic sensor and a rotary encoder, wherein the ultrasonic sensor is used for transmitting ultrasonic pulses and measuring the return time of the ultrasonic pulses to measure the length of the material; in the step 3, when the special-shaped pipe enters the roller way, the visual detection device performs visual detection on the special-shaped pipe, and the method specifically comprises the following steps: Step 3.1, when the special-shaped pipe enters a roller way, shooting multi-frame images of the special-shaped pipe by using a visual detection device, and synthesizing the images into one piece; Step 3.2, image preprocessing, including image denoising, image enhancement and image smoothing; Step 3.3, extracting features, namely extracting the features of edges, textures and colors in the images by edge detection, texture analysis and color analysis methods to describe the features of the surfaces of the special-shaped pipes; Step 3.4, a segmentation algorithm, namely, segmenting an image into different areas by adopting a threshold segmentation algorithm, an edge segmentation algorithm or an area growth algorithm so as to analyze and process each area independently; Step 3.5, a defect detection algorithm, namely detecting defects on the surface of the special-shaped pipe by comparing the defects with a predefined template or standard by adopting a template matching, shape matching or machine learning algorithm; step 3.5, a deep learning algorithm is used for detecting and classifying surface defects of the special-shaped pipe by using a deep learning model; step 3.6, statistical analysis is carried out, and a gray level histogram, a mean value or a variance method is adopted to carry out statistical analysis on pixel values in the image, so as to evaluate the quality and the defect condition of the surface of the special-shaped pipe; and (7) the mechanical arm in the step (7) adsorbs qualified special-shaped pipes through the grabbing device to stack, and the mechanical arm is specifically as follows: Step 7.1, identifying and positioning, namely identifying and positioning the special-shaped pipes to be piled by detecting the size, shape and color characteristics of the special-shaped pipes by using a vision system; Step 7.2, the mechanical arm controls the grabbing device to grab the special-shaped pipes to be piled according to the identification and positioning results, and the special-shaped pipes are transported to a target piling position; step 7.3, releasing and stacking, wherein the mechanical arm releases the grabbed special-shaped pipe after reaching the target position and stacks the special-shaped pipe on the existing stacking; Step 7.4, repeatedly executing the steps 7.2 to 7.5 until all the special-shaped pipes are piled up; Step 7.5, stopping working of the mechanical arm and the grabbing device after stacking all the special-shaped pipes, and waiting for the next operation or task; the automatic steel belt packer in the step 9 carries out steel belt arrow penetrating packing on the piled special-shaped pipes, and the concrete steps are as follows: step 9.1, preparing a steel belt to be packed, and ensuring that an automatic steel belt packing machine and related equipment are in a normal working state; Step 9.2, adjusting parameters of the packer, including arrow position, arrow height and arrow tension, through a PC system interface according to the size and the requirements of the steel belt; Step 9.3, placing the steel belt at one end on a workbench of an automatic steel belt packing machine, and ensuring that the steel belt correctly enters a packing area; step 9.4, after the special-shaped pipe reaches a designated packing position, starting an automatic arrow penetrating function, penetrating an arrow through a steel belt by the automatic steel belt packing machine, and fixing the arrow on the other side; After step 9.5, the arrow is fixed on the other side, the automatic steel belt packing machine tightens the steel belt.
2. 2. The automatic stacking method of special-shaped pipes according to claim 1, wherein the product order information in the step 1 comprises product model number, product quantity, customer information and model information.

Description

Automatic stacking equipment and method for special-shaped pipes Technical Field The invention relates to the technical field of automatic control, in particular to automatic stacking equipment and method for special-shaped pipes. Background The special-shaped pipe is a pipe with a non-circular section, such as a square pipe, a rectangular pipe, an elliptical pipe and the like. During the production process, various defects such as surface scratches, depressions, deformations, etc. may occur in the profiled tubing. In order to ensure the quality and the production efficiency of products, visual inspection and automatic stacking technology are widely applied to the production line of special-shaped pipes. The visual detection technology utilizes computer vision and an image processing algorithm to realize detection and classification of defects through analysis and processing of the surface images of the special-shaped pipe. Common visual inspection algorithms include edge detection, texture analysis, shape matching, and the like. By collecting high-resolution image data and combining an advanced image processing algorithm, the high-precision and high-efficiency detection of the surface defects of the special-shaped pipe can be realized. The automatic stacking technology utilizes robots or automatic equipment to realize automatic stacking and stacking of the special-shaped pipes. The sensing and recognition of the information such as the position, the posture and the like of the special-shaped pipe can be realized by combining with a vision system or other sensors. According to preset stacking rules and algorithms, the automation equipment can stack and stack the special-shaped pipes according to a specified mode. This can improve production efficiency, reduce manual operations, and ensure stability and accuracy of palletizing. Key technologies behind these technologies include computer vision, image processing, machine learning, robotic control, and the like. By combining the technologies, the special-shaped pipe production line can realize efficient, accurate and automatic defect detection and stacking processes, and improve the product quality and the production efficiency. Meanwhile, the system design, algorithm optimization, equipment debugging and other works are required to be carried out according to specific application scenes and requirements so as to achieve the optimal detection and stacking effect. Disclosure of Invention The invention aims to provide the automatic stacking equipment and the method for the special-shaped pipe, which are simple and reasonable, high in boxing efficiency, low in labor intensity, low in labor cost, high in automation degree, low in error rate, reliable in performance, high in maintainability and convenient to operate. The technical scheme for realizing the aim of the invention is that the special-shaped pipe automatic stacking equipment comprises a PC system, a roller way, a tractor, a length sensor, a visual detection device, a mechanical arm, a grabbing device, a packing roller line and an automatic steel belt packing machine; the PC end is used for receiving product order information, performing data processing and sending the processed data to the automatic stacking equipment; The roller way is used for conveying special-shaped pipes; The traction machine is used for drawing the special-shaped pipe onto the roller way; the length sensor is used for measuring the length of the special-shaped pipe; the visual detection device is arranged in the circumferential direction of the roller way and is used for detecting the special-shaped pipe, obtaining a detection result and visual positioning data of the special-shaped pipe, determining whether the special-shaped pipe is qualified or not and providing data support for the operation of the mechanical arm and the grabbing device; the mechanical arm is provided with a grabbing device for grabbing and stacking the special-shaped pipes; The packing roller line is used for conveying the special-shaped pipe into a packing area; the automatic steel belt packer is used for packing the special-shaped pipes. An automatic stacking method for special-shaped pipes comprises the following steps: Step 1, acquiring product order information by an MES system, transmitting the product order information to a PC system, and selecting a proper stacking program by the PC system; Step 2, calculating the length of the special-shaped pipe through a roller way, and transmitting the length of the special-shaped pipe to a PC system to convert the length into theoretical weight; step 3, after the special-shaped pipe enters the roller way, the visual detection device performs visual detection on the special-shaped pipe; step 4, jacking the abnormal pipe with the defect in the detection result into a waste material barrel by adopting a cylinder jacking mechanism; step 5, the qualified special-shaped pipe enters a turnover table mechanism; Step6, ali