Automatic profile rejection system and automatic profile rejection method

Abstract

The present invention discloses an automatic defective profile rejection system, which includes a defective profile conveying device for conveying profiles, an image recognition system for identifying defective profiles on the defective profile conveying device, a defective profile loading device for positioning defective profiles and moving the defective profiles to the loading position, and a defective profile execution device for picking up defective profiles located at the loading position. The automatic defective profile rejection system of the present invention can automatically remove defective profiles from the finished product area, improve work efficiency, and contribute to the realization of unmanned and intelligent profile packaging operations. The present invention also provides a method for automatically rejecting defective profiles.

Description

Technical Field

[0001] The present invention belongs to the technical field of waste removal devices. Specifically, the present invention relates to an automatic profile waste removal system and an automatic profile waste removal method. Background Art

[0002] In China's profile production enterprises, with technological improvements, the increase in labor costs, and the standardization of job environmental protection, especially the market application of high-speed small-profile palletizers in recent years, the palletizing, bundling, and packaging operations in the profile finishing area have been fully automated, improving the profile packaging technology level in China. During the automatic profile packaging operation, since there are impurities or some unqualified products mixed in the profiles to be packaged, if they are not removed from the group of qualified finished profiles before entering the automatic palletizing station, it is inevitable that these unqualified products will be mixed into the pallet pattern of the finished product packaging, resulting in product quality disputes and losses to customers. To solve such problems, currently, production enterprises are equipped with special personnel to manually identify and manually remove unqualified products from the packaging conveyor line before entering the automatic packaging line, causing the automatic packaging line to not operate continuously and directly affecting the working efficiency of the packaging line. In addition, in a continuously operating production line, manual interspersed operations are extremely likely to cause potential safety accident hazards such as casualties. Traditional manual removal is to move defective products out from the side of the conveyor chain, requiring a relatively large working space to be reserved on the side of the packaging line, and it is difficult for the general profile production process layout to meet the requirements. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides an automatic profile waste removal system, aiming to improve work efficiency.

[0004] To achieve the above object, the technical solution adopted by the present invention is: an automatic profile waste removal system, including a waste removal conveyor device for conveying profiles, an image recognition system for identifying unqualified profiles on the waste removal conveyor device, a waste removal loading device for positioning unqualified profiles and moving the unqualified profiles to the loading position, and a waste removal execution device for picking up unqualified profiles located at the loading position.

[0005] The image recognition system includes a camera mounting frame and industrial cameras arranged on the camera mounting frame. There are multiple industrial cameras, and all industrial cameras are arranged in sequence along the length direction of the camera mounting frame.

[0006] The waste removal loading device includes a waste removal loading support, a waste removal support arm for positioning unqualified profiles and providing support for unqualified profiles, and a lifting actuator arranged on the waste removal loading support and used to control the lifting of the waste removal support arm.

[0007] The waste rejection and loading device further includes a rack connected to the waste rejection support arm and a gear meshing with the rack. The gear is installed on the waste rejection and loading support seat through a support shaft, and an angular position encoder is provided on the support shaft.

[0008] The waste rejection execution device includes an electromagnetic chuck assembly for picking up unqualified profiles located at the loading position and moving the picked unqualified profiles to the transfer position, and a driving mechanism connected to the electromagnetic chuck assembly and used for controlling the rotation of the electromagnetic chuck assembly. Multiple electromagnetic chuck assemblies are provided.

[0009] The driving mechanism includes a driving motor, a reducer connected to the driving motor, a synchronous transmission shaft connected to the electromagnetic chuck assembly, and a synchronous coupling connected to the reducer and the synchronous transmission shaft.

[0010] The waste rejection execution device further includes a steel pushing mechanism for moving the unqualified profiles located at the transfer position to the bin. The steel pushing mechanism includes a steel pushing support seat, a steel pushing member rotatably provided on the steel pushing support seat, and a steel pushing actuator connected to the steel pushing member and used for controlling the rotation of the steel pushing member.

[0011] The waste rejection execution device further includes a first frame beam, a second frame beam, and a second cross beam connected to the first frame beam and the second frame beam and used for placing unqualified profiles. The steel pushing support seat is arranged on the first frame beam. The transfer position is located on the top surface of the first frame beam. The rotation center line of the steel pushing member is a vertical line and is perpendicular to the top surface of the first frame beam.

[0012] The waste rejection conveying device includes a plurality of conveying chain groups arranged side by side.

[0013] The present invention also provides a method for automatically rejecting waste profiles, which uses the above-mentioned automatic waste rejection system for profiles and includes the steps of:

[0014] S1. Convey the profiles to be detected by the waste rejection conveying device, and identify the unqualified profiles on the waste rejection conveying device by the image recognition system;

[0015] S2. Position the unqualified profiles by the waste rejection and loading device, and move the unqualified profiles to the loading position;

[0016] S3. Pick up the unqualified profiles located at the loading position by the waste rejection execution device.

[0017] The automatic waste rejection system for profiles of the present invention can automatically remove unqualified profiles from the finished product area, improve work efficiency, and contribute to the realization of unmanned and intelligent profile packaging operations. Description of the Drawings

[0018] This specification includes the following drawings, and the shown contents are respectively:

[0019] Figure 1 is a schematic structural diagram of the automatic waste rejection system for profiles of the present invention;

[0020] Figure 2 is a schematic structural diagram of the image recognition system;

[0021] Figure 3 is a schematic structural diagram of the waste rejection loading mechanism;

[0022] Figure 4 is a schematic structural diagram of the waste rejection conveyor chain group;

[0023] Figure 5 is a schematic structural diagram of the waste rejection mechanism;

[0024] Figures 6 to 13 is a diagram of the action states of each mechanism in the waste rejection process flow;

[0025] In the figure, the markings are: 1. Image recognition system; 2. Waste rejection loading device; 3. Waste rejection conveying device; 4. Waste rejection execution device; 1-1. Industrial camera; 1-2. First cross beam; 1-3. First column; 2-1. Base beam; 2-2. Gear; 2-3. Rack; 2-4. Guide bearing assembly; 2-5. Lifting actuator; 2-6. Waste rejection loading support; 2-7. Waste rejection support arm; 2-8. Angular position encoder; 2-9. Coupling; 3-1. Conveyor chain frame; 3-2. Driving sprocket assembly; 3-3. Conveyor chain; 3-4. Driven sprocket assembly; 3-5. Chain frame base; 3-6. Synchronous transmission shaft; 3-7. Driving motor; 4-1. First frame beam; 4-2. Second column; 4-3. Second frame beam; 4-4. Second cross beam; 4-5. Steel pushing support; 4-6. Reducer; 4-7. Synchronous coupling; 4-8. Electromagnetic chuck assembly; 4-9. Bearing seat; 4-10. Synchronous transmission shaft; 4-11. Power supply slip ring device; 4-12. Steel pushing piece; 4-13. Steel pushing actuator. Specific embodiments

[0026] The following further details the specific embodiments of the present invention by describing the embodiments with reference to the accompanying drawings, aiming to help those skilled in the art have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitate its implementation.

[0027] It should be noted that in the following embodiments, the so-called "first" and "second" do not represent an absolute distinction relationship in terms of structure and / or function, nor do they represent the execution order, but are only for the convenience of description.

[0028] As Figures 1 to 13As shown in the figure, the present invention provides an automatic profile rejection system, which includes a rejection conveying device 3 for conveying profiles, an image recognition system 1 for identifying unqualified profiles on the rejection conveying device 3, a rejection loading device 2 for positioning unqualified profiles and moving the unqualified profiles to the loading position, and a rejection execution device 4 for picking up unqualified profiles located at the loading position.

[0029] Specifically, as Figure 1 and Figure 2 shown in the figure, the image recognition system 1 includes a camera mounting frame and an industrial camera 1-1 arranged on the camera mounting frame. A plurality of industrial cameras 1-1 are provided, and all the industrial cameras 1-1 are arranged in sequence along the length direction of the camera mounting frame and are equally spaced. All the industrial cameras 1-1 are on the same straight line parallel to the first direction. The first direction is the horizontal direction and is perpendicular to the conveying direction of the rejection conveying device 3. The conveying direction of the rejection conveying device 3 is the horizontal direction. The camera mounting frame includes a first vertical column 1-3 arranged vertically and a first cross beam 1-2 fixedly connected to the first vertical column 1-3. The first cross beam 1-2 is horizontally arranged and the length direction of the first cross beam 1-2 is parallel to the first direction. Two first vertical columns 1-3 are provided. The first vertical columns 1-3 are fixed to the equipment foundation by anchor bolts. The two first vertical columns 1-3 are fixedly connected to the first cross beam 1-2 at both ends in the length direction of the first cross beam 1-2. All the industrial cameras 1-1 are located between the two first vertical columns 1-3, and the industrial cameras 1-1 are arranged vertically. The industrial cameras 1-1 arranged at equal intervals on the first cross beam 1-2 form a detection area of a certain range above the rejection conveying device 3. After the profiles enter the detection area, the surface quality images and external profiles of the profiles in the detection area are collected by the industrial cameras 1-1, and then the collected data is calculated and compared by the computer system to quickly determine whether the measured profiles meet the packaging requirements. If unqualified products are judged, an automatic rejection output signal is output, and the rejection system obtains an action trigger signal, and the corresponding rejection program and process are controlled and executed by the system.

[0030] The rejection conveying device 3 conveys the profiles to the detection area of the image recognition system 1 at a certain interval, and a rejection instruction is issued by the computer according to the collected data results. As Figure 1 and Figure 4As shown, the rejection conveying device 3 includes a plurality of conveying chain groups arranged side by side. All the conveying chain groups are on the same straight line parallel to the first direction, and all the conveying chain groups jointly provide support for the profiles. The conveying chain group includes a conveying chain frame 3-1, a driving sprocket assembly 3-2 and a driven sprocket assembly 3-4 arranged on the conveying chain frame 3-1, and a conveying chain 3-3 meshing with the driving sprocket assembly 3-2 and the driven sprocket assembly 3-4. The conveying chain frame 3-1 is fixed on the equipment foundation through a chain frame base 3-5. The driving sprocket assemblies 3-2 of all the conveying chain groups are connected through a synchronous transmission shaft 3-6. The driving motor 3-7 is connected to the synchronous transmission shaft 3-6 through a reducer. The axis of the synchronous transmission shaft 3-6 is parallel to the first direction. The driving motor 3-7 is used to provide power for the rejection conveying chain group 3.

[0031] As Figure 1 and Figure 3As shown, the waste rejection and loading device 2 includes a base beam 2-1, a waste rejection and loading support 2-6, a waste rejection support arm 2-7 for positioning unqualified profiles and providing support for them, and a lifting actuator 2-5 arranged on the waste rejection and loading support 2-6 and used to control the lifting of the waste rejection support arm 2-7. The base beam 2-1 is horizontally arranged and the length direction of the base beam 2-1 is parallel to the first direction. The base beam 2-1 is located below the conveying chain group. The waste rejection and loading support 2-6 is fixedly connected to the base beam 2-1. A plurality of waste rejection and loading supports 2-6 are arranged in sequence along the length direction of the base beam 2-1 and are equally spaced on the base beam 2-1. The lifting actuator 2-5 is fixedly arranged on the waste rejection and loading support 2-6 and is vertically arranged. The waste rejection support arm 2-7 is connected to the upper end of the lifting actuator 2-5. A plurality of waste rejection support arms 2-7 are arranged and the number of waste rejection support arms 2-7 is the same as the number of waste rejection and loading supports 2-6. Each waste rejection support arm 2-7 is located between every two adjacent conveying chain groups. The waste rejection support arm 2-7 has a positioning groove for the profile to be inserted and a limiting surface for limiting the profile. The limiting surface is a vertical surface and the limiting surface is parallel to the first direction. The height of the limiting surface is greater than the height of the positioning groove. The profile is positioned through the positioning groove. After the waste rejection and loading device 2 receives a waste rejection instruction, the lifting actuator 2-5 controls the waste rejection support arm 2-7 to move upward, so that the waste rejection support arm 2-7 is lifted to the material blocking position. At this time, the limiting surface on the waste rejection support arm 2-7 is higher than the upper surface of the conveying chain 3-3, blocking the forward conveying of unqualified profiles and aligning the unqualified profiles with the electromagnetic chuck assembly 4-8. At this time, the unqualified profiles are located below the electromagnetic chuck assembly 4-8. After the material detection sensor located on the waste rejection support arm 2-7 detects that the unqualified profiles reach the material blocking position, the waste rejection support arm 2-7 continues to rise to the loading position. Finally, the waste rejection support arm 2-7 lifts the unqualified profiles to a position where they are in contact with the working surface of the electromagnetic chuck assembly 4-8. During the process of the waste rejection support arm 2-7 lifting the unqualified profiles, the unqualified profiles fall into the positioning groove of the waste rejection support arm 2-7 to ensure the accurate position of the unqualified profiles.

[0032] As Figure 1 and Figure 3As shown, the waste rejection and loading device 2 further includes a rack 2-3 connected to the waste rejection support arm 2-7 and a gear 2-2 meshing with the rack 2-3. The gear 2-2 is mounted on the waste rejection loading support 2-6 through a support shaft, and an angular position encoder 2-8 is provided on the support shaft. The rack 2-3 is vertically arranged and extends downward toward the waste rejection support arm 2-7. The rack 2-3 is slidably connected to the waste rejection loading support 2-6. The gear 2-2 is located inside the waste rejection loading support 2-6. Each waste rejection support arm 2-7 is fixedly connected to a rack 2-3 respectively. The axis of the gear 2-2 is parallel to the first direction. Each rack 2-3 meshes with a gear 2-2 respectively. Each gear 2-2 is fixedly connected to a support shaft respectively. Adjacent support shafts are connected by a coupling 2-9. A guiding bearing assembly 2-4 in contact with the rack 2-3 is provided on the waste rejection loading support 2-6, and each rack 2-3 is in contact with two guiding bearing assemblies 2-4. The guiding bearing assembly 2-4 guides the rack 2-3. The lifting actuator 2-5 is preferably a cylinder. Under the action of the cylinder, each group of loading and lifting components of the package are lifted and lowered synchronously. An angular position encoder 2-8 is provided on the synchronous shaft of the end loading and lifting assembly. The angular position encoder 2-8 is used to control and detect the lifting position of the waste rejection support arm 2-7. Each loading component can be independently driven by its own cylinder, and the synchronous lifting and lowering of each waste rejection support arm 2-7 is ensured through a gear-rack mechanical synchronization mechanism. A limiting surface is provided on the waste rejection support arm 2-7, which can align the profile with the side of the electromagnetic chuck in the conveying direction and ensure reliable suction of the profile during the waste rejection process.

[0033] As Figure 1 and Figure 5As shown, the rejection execution device 4 includes a first frame beam 4-1, a second frame beam 4-3, a second column 4-2, an electromagnetic chuck assembly 4-8 for picking up unqualified profiles at the loading position and moving the picked-up unqualified profiles to the transfer position, and a driving mechanism connected to the electromagnetic chuck assembly 4-8 and used to control the electromagnetic chuck assembly 4-8 to rotate. A plurality of electromagnetic chuck assemblies 4-8 are provided. The number of the electromagnetic chuck assemblies 4-8 is the same as the number of the rejection support arms 2-7, and each electromagnetic chuck assembly 4-8 is located above one rejection support arm 2-7. The electromagnetic chuck assembly 4-8 picks up unqualified profiles by adsorption. The driving mechanism includes a driving motor, a speed reducer 4-6 connected to the driving motor, a synchronous transmission shaft 4-10 connected to the electromagnetic chuck assembly 4-8, and a synchronous coupling 4-7 connected to the speed reducer 4-6 and the synchronous transmission shaft 4-10. The length directions of the first frame beam 4-1 and the second frame beam 4-3 are parallel to the first direction, and there is a certain distance between the first frame beam 4-1 and the second frame beam 4-3. A bearing seat 4-9 for supporting the synchronous transmission shaft 4-10 is provided on the first frame beam 4-1. A plurality of bearing seats 4-9 are provided, and all the bearing seats 4-9 are arranged in sequence along the length direction of the first frame beam 4-1. The electromagnetic chuck assembly 4-8 is fixedly connected to the synchronous transmission shaft 4-10, and the axis of the synchronous transmission shaft 4-10 is parallel to the first direction. The driving motor is fixedly arranged on the first frame beam 4-1. Two synchronous transmission shafts 4-10 are provided. The speed reducer 4-6 is located between the two synchronous transmission shafts 4-10. The input shaft of the speed reducer 4-6 is connected to the driving motor, and the output shaft of the speed reducer 4-6 is connected to the two synchronous transmission shafts 4-10 through the synchronous coupling 4-7. The driving motor is located at the middle part in the length direction of the first frame beam 4-1, and an equal number of electromagnetic chuck assemblies 4-8 are distributed on both sides of the speed reducer 4-6. All the electromagnetic chuck assemblies 4-8 are arranged at equal intervals along the length direction of the profile. The synchronous coupling 4-7 connects the speed reducer 4-6 and the synchronous transmission shaft 4-10, and the electromagnetic chuck assembly 4-8 is rigidly connected to the synchronous transmission shaft 4-10. The rotation force generated by the driving mechanism drives each electromagnetic chuck assembly 4-8 to flip synchronously.

[0034] As Figure 1 and Figure 5As shown, the rejection execution device 4 further includes a pusher mechanism for moving the unqualified profiles located at the transfer position to the bin, and a second crossbeam 4-4 connected to the first frame beam 4-1 and the second frame beam 4-3 and used for placing unqualified profiles. The bin is used for centrally storing the unqualified profiles during the rejection process, and regularly cleaning the unqualified products collected in the bin. Four second columns 4-2 are provided, and the second columns 4-2 are fixed to the equipment foundation by anchor bolts. Two second columns 4-2 are respectively fixedly connected to the first frame beam 4-1 at both ends in the length direction of the first frame beam 4-1, and the other two second columns 4-2 are respectively fixedly connected to the second frame beam 4-3 at both ends in the length direction of the second frame beam 4-3. A plurality of second crossbeams 4-4 are provided. The second crossbeams 4-4 are located between the first frame beam 4-1 and the second frame beam 4-3. The second crossbeams 4-4 are horizontally arranged, and the length direction of the second crossbeams 4-4 is perpendicular to the first direction. Both ends of the second crossbeams 4-4 are respectively fixedly connected to the first frame beam 4-1 and the second frame beam 4-3. All the second crossbeams 4-4 are arranged in sequence along the length direction of the first frame beam 4-1 and are equally spaced. The bin is formed by the second crossbeams 4-4, the first frame beam 4-1 and the second frame. The pusher mechanism includes a pusher support 4-5, a pusher 4-12 rotatably arranged on the pusher support 4-5, and a pusher actuator 4-13 connected to the pusher 4-12 and used for controlling the rotation of the pusher 4-12. The pusher support 4-5 is arranged on the first frame beam 4-1. The pusher support 4-5 is located between the first frame beam 4-1 and the synchronous transmission shaft 4-10, and the pusher support 4-5 is located between every two adjacent electromagnetic chuck assemblies 4-8. The transfer position is located on the top surface of the first frame beam 4-1. The top surface of the first frame beam 4-1 is a horizontal plane parallel to the first direction. The rotation center line of the pusher 4-12 is a vertical line and is perpendicular to the top surface of the first frame beam 4-1. The pusher 4-12 is horizontally arranged. One end of the pusher 4-12 is rotatably connected to the pusher support 4-5. The pusher actuator 4-13 is preferably a cylinder. One end of the pusher actuator 4-13 is rotatably connected to the pusher support 4-5, and the other end of the pusher actuator 4-13 is rotatably connected to the pusher 4-12. The pusher 4-12 is used for pushing the unqualified profiles located on the top surface of the first frame beam 4-1 into the bin.

[0035] As Figure 1 and Figure 5 shown, a plurality of pusher mechanisms are provided. All the pusher mechanisms are arranged in sequence along the length direction of the first frame beam 4-1 and are equally spaced. All the pusher mechanisms are also equally spaced along the length direction of the profiles. Each pusher mechanism is driven independently by a cylinder. When the unqualified profiles fall on the first frame beam 4-1, the pusher mechanism pushes them into the bin for centralized temporary storage and regular cleaning.

[0036] The synchronous transmission shaft 4-10 is a hollow structure, and a power supply slip ring device 4-11 is provided at the end to provide power to the electromagnetic disk, so that the electromagnetic suction cup assembly 4-8 has an uninterrupted power supply under the continuous turning condition of the waste rejection mechanism.

[0037] The present invention also provides a method for automatically rejecting waste profiles, which adopts the automatic rejecting waste profile system of the above structure and comprises the following steps:

[0038] S1, the waste rejection conveying device 3 conveys the profile to be inspected, and the image recognition system 1 identifies the unqualified profile on the waste rejection conveying device 3;

[0039] S2, the reject feeding device 2 locates the unqualified profiles and moves the unqualified profiles to the feeding position;

[0040] S3, the reject execution device 4 picks up the unqualified profiles located at the loading position.

[0041] In the above step S1, the profiles to be inspected are arranged at a certain distance on the reject conveying device 3, and are sent to the stacking and marshalling area of ​​the profiles along the conveying direction. When entering the detection area of ​​the image recognition system 1, computer data analysis and judgment are performed on the acquired images, and reject instructions are issued to the control system for those that do not meet the quality and size requirements.

[0042] In the above step S2, after identifying the unqualified profiles, the control system sends a waste rejection instruction to the waste rejection feeding device 2. After the waste rejection feeding device 2 receives the waste rejection instruction issued by the control system, the waste rejection arm 2-7 is lifted to the material blocking position. At this time, the limit surface on the waste rejection arm 2-7 is higher than the upper surface of the conveying chain 3-3. The waste rejection arm 2-7 blocks the unqualified profiles from being conveyed forward and aligns them with the electromagnetic suction cup assembly 4-8; after the material detection sensor located on the waste rejection arm 2-7 detects that the unqualified profiles have reached the material blocking position, the waste rejection arm 2-7 continues to rise to the feeding position, and finally the waste rejection arm 2-7 lifts the unqualified profiles to the position where the working surface of the electromagnetic suction cup assembly 4-8 is in contact, so that the unqualified profiles are moved to the feeding position.

[0043] In the above step S3, after the waste rejection support arm 2-7 reaches the loading position, the electromagnetic chuck assembly 4-8 is powered on. The electromagnetic chuck assembly 4-8 adsorbs the unqualified profiles, and the lifting actuator 2-5 controls the waste rejection support arm 2-7 to quickly descend to the initial position. Then, the driving mechanism controls the electromagnetic chuck assembly 4-8 to rotate. The electromagnetic chuck assembly 4-8 drives the unqualified profiles to rotate upward. After the electromagnetic chuck assembly 4-8 rotates 270°, it is powered off. The unqualified profiles are flipped and transferred above the first frame beam 4-1. The unqualified profiles fall on the top surface of the first frame beam 4-1. The electromagnetic chuck assembly 4-8 continues to rotate to the initial position and then stops rotating, preparing for the next waste rejection process. The steel pushing actuator 4-13 extends, pushing the steel pushing part 4-12 to rotate. The steel pushing part 4-12 pushes the unqualified profiles on the first frame beam 4-1, causing the unqualified profiles to fall into the bin.

[0044] The above profile automatic waste rejection system and profile automatic waste rejection method use image recognition technology to detect the surface quality and external contour dimensions of each profile on the on-line profile conveyor line one by one. The processed results of the measured data are used to quickly determine whether the profiles meet the technical requirements, and the unqualified products are automatically rejected. The rejected profiles are stored in the storage bin located above the conveyor chain. The device in the technical solution is arranged in the height space of the conveyor chain, without increasing the plane occupation size of the packaging line, and is suitable for the compact space characteristics of the profile packaging line. Each action of profile waste rejection is completed above the conveyor chain, with high working safety. The present invention effectively solves the waste rejection process problems of medium and small profiles, improves the technical level of the enterprise's production process equipment, realizes the automatic packaging of the finishing area of the profile production line, and has the value of popularization and application in the medium and small profile packaging line.

[0045] The above has made an exemplary description of the present invention in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above methods. As long as various non-substantive improvements are made by adopting the method concept and technical solution of the present invention; or without improvement, the above concept and technical solution of the present invention are directly applied to other occasions, they are all within the protection scope of the present invention.

Claims

1. Automatic waste rejection system for profiles, characterized in that, It includes a waste rejection conveying device for conveying profiles, an image recognition system for identifying unqualified profiles on the waste rejection conveying device, a waste rejection loading device for positioning unqualified profiles and moving the unqualified profiles to the loading position, and a waste rejection execution device for picking up unqualified profiles located at the loading position; The image recognition system includes a camera mounting bracket and industrial cameras arranged on the camera mounting bracket. There are multiple industrial cameras, and all industrial cameras are arranged in sequence along the length direction of the camera mounting bracket; All industrial cameras are on the same straight line parallel to the first direction. The first direction is the horizontal direction and is perpendicular to the conveying direction of the waste rejection conveying device. The conveying direction of the waste rejection conveying device is the horizontal direction. The camera mounting bracket includes a vertically arranged first column and a first cross beam fixedly connected to the first column. The first cross beam is horizontally arranged and the length direction of the first cross beam is parallel to the first direction. There are two first columns, and the two first columns are fixedly connected to the first cross beam at both ends in the length direction of the first cross beam. All industrial cameras are located between the two first columns. The industrial cameras are vertically arranged, and the industrial cameras arranged equidistantly on the first cross beam form a detection area above the waste rejection conveying device; The waste rejection loading device includes a waste rejection loading support, a waste rejection support arm for positioning unqualified profiles and providing support for unqualified profiles, and a lifting actuator arranged on the waste rejection loading support and used to control the lifting of the waste rejection support arm; The base beam is horizontally arranged and the length direction of the base beam is parallel to the first direction. The base beam is located below the conveying chain group; The waste rejection loading support is fixedly connected to the base beam. There are multiple waste rejection loading supports, and all waste rejection loading supports are arranged in sequence along the length direction of the base beam and are equally spaced. The lifting actuator is fixedly arranged on the waste rejection loading support and the lifting actuator is vertically arranged. The waste rejection support arm is connected to the upper end of the lifting actuator. There are multiple waste rejection support arms and the number of waste rejection support arms is the same as the number of waste rejection loading supports. Each waste rejection support arm is located between every two adjacent conveying chain groups. The waste rejection support arm has a positioning groove for the profile to be embedded and a limiting surface for limiting the profile. The limiting surface is a vertical surface and the limiting surface is parallel to the first direction. The height of the limiting surface is greater than the height of the positioning groove. The profile is positioned through the positioning groove. After the waste rejection loading device receives the waste rejection instruction, the lifting actuator controls the waste rejection support arm to move upward, so that the waste rejection support arm is lifted to the material blocking position. At this time, the limiting surface on the waste rejection support arm is higher than the upper surface of the conveying chain, blocking the forward conveying of unqualified profiles, aligning the unqualified profiles with the electromagnetic chuck assembly, and conveying the unqualified profiles to the lower part of the electromagnetic chuck assembly; After the material detection sensor located on the waste rejection support arm detects that the unqualified profile reaches the material blocking position, the waste rejection support arm continues to rise to the loading position, and the waste rejection support arm lifts the unqualified profile to a position where it fits the working surface of the electromagnetic chuck assembly; The usage method of the profile automatic waste rejection system includes the following steps: S1. The profiles to be inspected are arranged at a certain distance on the reject conveyor and sent to the stacking and marshaling area of ​​the profiles along the conveying direction. When entering the inspection area of ​​the image recognition system, the computer data analysis and judgment of the acquired images are performed, and the control system issues a reject instruction for the profiles that do not meet the quality and size requirements. The image recognition system identifies the unqualified profiles on the reject conveyor; S2, the reject feeding device positions the unqualified profiles. After the reject feeding device receives the reject instruction from the control system, the reject arm is lifted to the blocking position. At this time, the limit surface on the reject arm is higher than the upper surface of the conveying chain. The reject arm blocks the unqualified profiles from being conveyed forward and aligns them with the electromagnetic suction cup assembly. After the material detection sensor on the reject arm detects that the unqualified profiles have reached the blocking position, the reject arm continues to rise to the loading position, lifts the unqualified profiles to the position where the working surface of the electromagnetic suction cup assembly fits, and moves the unqualified profiles to the loading position. S3. After the scrap rejection arm reaches the loading position, the electromagnetic suction cup assembly is energized, and the electromagnetic suction cup assembly absorbs the unqualified profiles. The lifting actuator controls the scrap rejection arm to quickly descend to the initial position; then the driving mechanism controls the electromagnetic suction cup assembly to rotate, and the electromagnetic suction cup assembly drives the unqualified profiles to rotate upward. After the electromagnetic suction cup assembly rotates 270°, the power is cut off, and the unqualified profiles are flipped and transferred to the top of the first frame beam. The unqualified profiles fall on the top surface of the first frame beam. The electromagnetic suction cup assembly continues to rotate to the initial position and then stops rotating, preparing for the next scrap rejection process; the steel push actuator extends to push the steel pusher to rotate, and the steel pusher pushes the unqualified profiles on the first frame beam, so that the unqualified profiles fall into the silo.

2. The profile automatic rejection system according to claim 1, characterized in that The waste rejection feeding device also includes a rack connected to the waste rejection supporting arm and a gear meshing with the rack, the gear is installed on the waste rejection feeding support through a support shaft, an angle position encoder is provided on the support shaft, the rack is vertically arranged and extends toward the bottom of the waste rejection supporting arm, the rack is slidably connected to the waste rejection feeding support, the gear is located inside the waste rejection feeding support, each waste rejection supporting arm is fixedly connected to a rack, the axis of the gear is parallel to the first direction, each rack is meshed with a gear, and each gear is fixedly connected to a support shaft , two adjacent supporting shafts are connected by a coupling; a guide bearing assembly in contact with the rack is arranged on the waste rejection feeding support, and each rack is in contact with two guide bearing assemblies, and the guide bearing assembly guides the rack, and the lifting parts of each group of feeding assembly are lifted and lowered synchronously; an angle position encoder is provided on the synchronous shaft of the end feeding lifting assembly, and the angle position encoder is used to control and detect the lifting position of the waste rejection supporting arm; each feeding assembly independently passes through its own lifting actuator, and the gear and rack mechanical synchronization mechanism is used to ensure the synchronous lifting of each waste rejection supporting arm.

3. The profile automatic rejection system according to claim 1 or 2, characterized in that, The waste rejection execution device includes an electromagnetic chuck assembly for picking up unqualified profiles at the loading position and moving the picked up unqualified profiles to the transfer position, and a driving mechanism connected to the electromagnetic chuck assembly and used to control the electromagnetic chuck assembly to rotate, and a plurality of electromagnetic chuck assemblies are provided; The number of electromagnetic chuck assemblies is the same as that of the reject removal support arms, and each electromagnetic chuck assembly is located above a reject removal support arm. The electromagnetic chuck assemblies pick up unqualified profiles by adsorption. The driving mechanism includes a driving motor, a speed reducer connected to the driving motor, a synchronous transmission shaft connected to the electromagnetic chuck assemblies, and a synchronous coupling connecting the speed reducer and the synchronous transmission shaft. The length directions of the first frame beam and the second frame beam are parallel to the first direction, and the first frame beam and the second frame beam are arranged at intervals. Bearing seats for supporting the synchronous transmission shaft are provided on the first frame beam. A plurality of bearing seats are provided and all the bearing seats are arranged in sequence along the length direction of the first frame beam. The electromagnetic chuck assemblies are fixedly connected to the synchronous transmission shaft, and the axis of the synchronous transmission shaft is parallel to the first direction. The driving motor is fixedly arranged on the first frame beam. Two synchronous transmission shafts are provided. The speed reducer is located between the two synchronous transmission shafts. The input shaft of the speed reducer is connected to the driving motor, and the output shaft of the speed reducer is connected to the two synchronous transmission shafts through the synchronous coupling. The driving motor is located at the middle part in the length direction of the first frame beam. An equal number of electromagnetic chuck assemblies are distributed on both sides of the speed reducer. All the electromagnetic chuck assemblies are arranged at equal intervals along the length direction of the profile. The synchronous coupling connects the speed reducer and the synchronous transmission shaft, and the electromagnetic chuck assemblies are rigidly connected to the synchronous transmission shaft. The rotational force generated by the driving mechanism drives each electromagnetic chuck assembly to flip synchronously.

4. The profile automatic rejection system according to claim 3, wherein, The driving mechanism includes a driving motor, a speed reducer connected to the driving motor, a synchronous transmission shaft connected to the electromagnetic chuck assemblies, and a synchronous coupling connecting the speed reducer and the synchronous transmission shaft.

5. The profile automatic waste rejection system according to claim 4, characterized in that, The reject removal execution device further includes a steel pushing mechanism for moving the unqualified profiles at the transfer position to the storage bin. The steel pushing mechanism includes a steel pushing support, a rotatable steel pushing member arranged on the steel pushing support, and a steel pushing actuator connected to the steel pushing member and used to control the rotation of the steel pushing member.

6. The profile automatic rejection system according to claim 5, characterized in that, The reject removal execution device further includes a first frame beam, a second frame beam, and a second cross beam connecting the first frame beam and the second frame beam and used to place unqualified profiles. The steel pushing support is arranged on the first frame beam. The transfer position is located on the top surface of the first frame beam. The rotation center line of the steel pushing member is a vertical line and is perpendicular to the top surface of the first frame beam.

7. The profile automatic rejection system according to any one of claims 1 to 6, characterized in that, The reject removal conveying device includes a plurality of conveying chain groups arranged side by side.

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