Binocular vision-based pipe and bar unbaling system

Abstract

The invention provides a binocular vision-based pipe and bar unbaling system. The binocular vision-based pipe and bar unbaling system comprises an upper computer, a robot controller, a robot, a movingtrack and an end effector, wherein the end effector is provided with a first imaging device, a second imaging device and a displacement sensor; the displacement sensor is used for forming a horizontal laser line on the surface of a pipe or a bar; the first imaging device and the second imaging device are used for shooting images of the pipe or the bar, an image of the horizontal laser line, and adistorted image of the horizontal laser line; the robot can move on the moving track; the upper computer is used for acquiring the images shot by the first imaging device and the second imaging device and processing the images; the robot controller is used for receiving an instruction from the upper computer and controlling the robot to execute the instruction; and the robot is used for executingthe instruction from the upper computer. According to the binocular vision-based pipe and bar unbaling system, the positions of binding wires can be accurately determined, and the binding wires can be cut from gaps among pipes or bars, so that the damage to the pipes or bars is effectively avoided.

Description

technical field [0001] The invention relates to the technical field of intelligent manufacturing, in particular to a binocular vision-based unbundling system for tubes and rods. Background technique [0002] In recent years, more and more attention has been paid to the development of industrial robot technology at home and abroad. With the change of my country's population structure, the working population has dropped to 72% year by year, and the wage cost of laborers has risen sharply. Many enterprises feel the labor shortage and the decline in profit margins. Using robots to reduce production costs has become an inevitable choice for enterprises to enhance their competitiveness. [0003] The iron and steel industry is one of the process industries with a high degree of automation. The finishing process of special steel bars consists of multiple processes such as straightening, unbundling, and flaw detection. There are many operations with frequent transfers, harsh environm...

AI Technical Summary

Problems solved by technology

In the current industrial production, the teaching system is often used for the use of robotic arms. However, the industrial environment is complex and changeable, and there may be a large error between the actual unbundling position and the ideal position. The special steel bar finishing area is frequently transferred, dangerous and Heavy manual work

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