An assembly device and method for thermal insulation steel truss floor deck based on visual processing

Abstract

The present invention discloses an assembly device and method for a thermal insulation steel truss floor deck based on visual processing, comprising a bracket, a truss, a stamping mechanism, a connector feeding mechanism, a collection mechanism, an auxiliary positioning mechanism, and an industrial control computer, all of which are arranged on the bracket. The industrial control computer is electrically connected with a first drive motor, a plane moving mechanism, a connector feeding mechanism, a collection mechanism, and an auxiliary positioning mechanism. The overall structure of the present invention is reasonably arranged, and the loading and unloading operations are reasonable. Through the arrangement of the collection mechanism, the stamping mechanism, and the connector feeding mechanism, based on visual collection and processing, the assembly line can be automatically controlled to work automatically, and the feeding and positioning of the connectors in the connector feeding mechanism, and the positioning and stamping assembly of the stamping mechanism can be performed; through the arrangement of the auxiliary positioning mechanism, the distance between two thermal insulation steel truss floor decks can be assisted to be reduced through visual collection, calculation and processing, thereby improving the tightness after connection.

Description

Technical Field

[0001] The present invention relates to the technical field of floor deck assembly, and in particular to an assembly device and method for a thermal insulation steel truss floor deck based on visual processing. Background Art

[0002] With the development of society, the application of floor decking in the construction industry is becoming more and more extensive. It has the advantages of low construction cost, short construction period, and high structural strength. The thermal insulation extruded board is used as a steel truss floor decking. It is mainly composed of three steel trusses welded with web bars, and the bottom of the web bars is welded with flat irons. The thermal insulation extruded board is used as the bottom plate and fixed under the flat iron. After the thermal insulation extruded board and steel truss floor decking are formed and installed after the construction, the finished product not only has the effect of heat preservation, heat insulation and sound insulation, but also can be directly used for the construction and decoration of the building's suspended ceiling.

[0003] However, in the actual assembly process of existing thermal insulation steel truss floor decking, it is often necessary to assemble multiple groups of thermal insulation steel truss floor decking. There is no equipment on the market for assembling thermal insulation steel truss floor decking. The traditional manual assembly is not only inefficient, time-consuming and labor-intensive, but also difficult to achieve mass production. In addition, due to the different assembly processes of different assemblers, the quality and structural strength are difficult to guarantee. Summary of the invention

[0004] The technical problem solved by the present invention is to overcome the defects of the prior art such as cumbersome assembly operation, time-consuming and labor-intensive, and difficulty in large-scale mass production, and provide an assembly device and method for thermal insulation steel truss floor decks based on visual processing. The assembly device and method for thermal insulation steel truss floor decks based on visual processing have the function of automatic assembly, realize highly automated assembly operation, improve assembly efficiency, have a high degree of automation, and have the characteristics of processing excessive gaps during assembly.

[0005] To achieve the above object, the present invention provides the following technical solution: an assembly device and method for thermal insulation steel truss floor deck based on visual processing, comprising:

[0006] A bracket, wherein the bracket is horizontally linearly provided with a feed guide roller group, an assembly station guide roller group and a downwardly inclined discharge guide roller group in sequence, the assembly station guide roller group is set as a stamping assembly station, and the assembly station guide roller group is transmission-connected to a first drive motor installed under the bracket;

[0007] A truss is arranged above the bracket, and a plane moving mechanism is arranged on the truss;

[0008] A stamping mechanism is arranged directly below the truss, and the top of the stamping mechanism is fixedly connected to the plane moving mechanism;

[0009] There are at least two connecting piece blanking mechanisms disposed below the truss, and the connecting piece blanking mechanisms are mounted on the side wall of the stamping mechanism through connecting rods;

[0010] The collecting mechanism comprises a first camera and a second camera, wherein the first camera and the second camera are arranged on a bracket and are arranged at a connection between the feed guide roller group and the assembly station guide roller group;

[0011] The auxiliary positioning mechanism comprises a first auxiliary positioning guide roller and a second auxiliary positioning guide roller; and

[0012] The industrial computer is arranged on the bracket and is electrically connected to the first driving motor, the plane moving mechanism, the connecting piece unloading mechanism, the collecting mechanism and the auxiliary positioning mechanism;

[0013] Among them, the feed guide roller group, the assembly station guide roller group and the downward inclined discharge guide roller group on the bracket can control the movement of the floor decking in a horizontal position, the collection mechanism can take pictures, collect, convert images and calculate the floor decking on the stamping assembly station, and the auxiliary positioning mechanism makes the two floor decking move closer to each other. The corresponding stamping mechanism and the connecting part unloading mechanism move on the stamping assembly station to feed the connecting part body and stamp.

[0014] Preferably, the planar moving mechanism is mainly composed of an x-axis frame and a y-axis frame in a vertically crossed shape, and the x-axis frame and the y-axis frame are both installed on the top of the truss;

[0015] The ends of the x-axis frame and the y-axis frame are both fixedly mounted with a first servo motor, and the output shafts of the first servo motors are correspondingly mounted with screw rods;

[0016] The y-axis frame is arranged below the x-axis frame, and a guide block is transmission-connected to the lead screw in the y-axis frame, the top end of the stamping mechanism is fixedly connected to the outer wall of the guide block, and a side wall of the y-axis frame adjacent to the x-axis frame is movably connected via the guide block.

[0017] Based on the above, the planar moving mechanism can be rotated by the corresponding first servo motor through the setting of the x-axis frame and the y-axis frame, and the meshing transmission between the lead screw and the guide block can realize the x-axis movement of the y-axis frame below the x-axis frame, and the y-axis movement of the guide block under the y-axis frame under the y-axis frame, thereby realizing the operation of the connecting part blanking mechanism and the stamping mechanism.

[0018] Preferably, the connecting piece unloading mechanism comprises a connecting piece storage bin, a second servo motor, a first rotating plate, a connecting shaft, a second rotating plate, and a connecting piece body;

[0019] The top of the connector storage bin is fixedly connected to the stamping mechanism via a mounting rod, the second servo motor is mounted on the side wall of the connector storage bin, and the first rotating plate is fixedly mounted on the output shaft of the second servo motor, a connecting shaft is fixedly mounted on the bottom center of the first rotating plate, a second rotating plate is fixedly mounted on the bottom end of the connecting shaft, and notches are provided on both the first rotating plate and the second rotating plate;

[0020] The bottom input port of the connector storage bin is arranged above the first rotating plate, and the spacing is set at 2-3CM;

[0021] The connecting piece main body is arranged in a stacked state in the connecting piece storage bin.

[0022] Based on the above, the connector unloading mechanism can be controlled by the industrial computer, and the second servo motor can rotate step by step. Under normal circumstances, the connector body in the connector storage bin falls on the top of the first rotating plate, and the second servo motor can drive the first rotating plate, the connecting shaft, and the second rotating plate to rotate. At this time, the connector body can fall to the top surface of the second rotating plate through the notch. At the same time, the connector body in the connector storage bin falls on the top of the first rotating plate again, and the second servo motor is rotated again, so that the first connector body on the second rotating plate falls through the notch to the upper surface of the floor decking to be installed. Similarly, the second connector body falls to the top surface of the second rotating plate, and the feeding operation of the connector body is performed by analogy.

[0023] Preferably, the upper surfaces of the first rotating plate and the second rotating plate are both smooth surfaces, the notches of the first rotating plate and the second rotating plate are opposite to each other, and the area of ​​the notches is one quarter of the positive area.

[0024] Based on the above, the notch structures of the first rotating plate and the second rotating plate are reasonably arranged, and the feeding operation of the connecting member body can be controlled.

[0025] Preferably, the height of the connecting shaft is higher than the thickness of the connecting member body and is set to be twice the thickness of the connecting member body.

[0026] Based on the above, the setting of the connecting shaft makes the spacing between the first rotating plate and the second rotating plate set reasonably, and the falling is rapid, thereby reducing the error.

[0027] Preferably, the first auxiliary positioning guide roller is arranged at the connection between the feed guide roller group and the assembly station guide roller group, and the second auxiliary positioning guide roller is arranged at the connection between the assembly station guide roller group and the discharge guide roller group;

[0028] The heights of the first auxiliary positioning guide roller and the second auxiliary positioning guide roller are set to be consistent and higher than the feed guide roller group, the assembly station guide roller group and the downwardly inclined discharge guide roller group;

[0029] The input shafts of the first auxiliary positioning guide roller and the second auxiliary positioning guide roller both pass through the bracket and are connected to the second drive motor, and the second drive motor is fixedly mounted on the bottom outer wall of the bracket.

[0030] Based on the above, through the setting of the first auxiliary positioning guide roller and the second auxiliary positioning guide roller, not only the material guiding work of the feeding and discharging of the floor decking can be realized, but also after visual processing, the two upper floor deckings can be made to move in relative directions, thereby assisting in reducing the distance between the two insulated steel truss floor deckings, improving the tightness after connection, and having the advantages of high degree of automation, small error, high precision, etc.

[0031] Preferably, a method for using an assembly device for an insulating steel truss floor deck based on visual processing comprises the following steps:

[0032] S101: The feed guide roller group feeds the material, and the first driving motor is controlled by the industrial computer to work, so as to convey the first floor deck to one side of the stamping station, and then convey the second floor deck to the side wall of the connecting part of the first floor deck;

[0033] S102: The industrial computer extracts separate images of the first camera and the second camera at independent positions in the acquisition mechanism, performs acquisition camera calibration, and obtains an internal parameter matrix and a conversion matrix of the acquisition camera;

[0034] S103: The position of the gap between the two floor decking bodies on the stamping station is imaged by the acquisition mechanism, and then the acquired image is transmitted to the industrial computer, and the image is converted by the image processing module in the industrial computer, and the gap features between the floor decking bodies are extracted and judged, and the world coordinates of the connector to be installed are calculated according to the conversion matrix obtained by calibration; similarly, the world coordinates of the connector blanking mechanism are calculated; the industrial computer controls the first servo motor in the x-axis frame and the y-axis frame according to the obtained world coordinates of the connector installation position and the world coordinates of the connector blanking mechanism, and can control the connector blanking mechanism on the stamping mechanism and the action of the stamping mechanism, and transport the connector blanking mechanism to the predetermined stamping position to blank the connector body;

[0035] S104: Based on the world coordinates of the gap between the two floor deck bodies, the first servo motor is controlled to move the x-axis frame and the y-axis frame on the truss, so as to move the plane of the truss, and the stamping mechanism moves up and down on the Z axis to perform stamping and assembly operations on the connecting parts;

[0036] S105: The first drive motor is controlled by the industrial computer to rotate the guide roller group of the assembly station, and the second drive motor is controlled by the second auxiliary positioning guide roller to rotate the material guide mechanism to work, so as to transport the first floor deck and the second floor deck out of the stamping assembly station, and the material discharging guide roller group performs the unloading operation.

[0037] Preferably, in step S103, the industrial computer obtains the world coordinates of the gap between the two floor decking bodies and makes a judgment based on the set threshold. If the gap is too large, the industrial computer controls the second drive motor to control the auxiliary positioning mechanism to guide the two floor decking bodies away from the one side wall to reduce the gap between the two floor decking bodies. The gap between the two floor decking bodies after auxiliary positioning is again judged by the acquisition mechanism to see if it meets the threshold of the distance between the two floor decking bodies. The auxiliary positioning mechanism is controlled in a cycle to perform auxiliary positioning operations until the distance between the two floor decking bodies is met.

[0038] Preferably, in step S102, the XY-axis manipulator motion platform is reset, the connector blanking mechanism is reset, and the world coordinates of the connector blanking mechanism are calculated through the matrix conversion function of OPenCV.

[0039] Preferably, in step 103;

[0040] The actual distance between the two floor deck bodies to be measured is set as: D;

[0041] The measured spacing value on the equivalent imaging plane is set as: d;

[0042] The focal length of the floor deck to be measured is set to: F;

[0043] The focal length of the camera lens is set to: f.

[0044] Based on the above, the overall operation method is simple and convenient, with a high degree of automation and high assembly efficiency, which reduces the input of human resources and saves equipment operation and maintenance costs.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. The overall structure of the present invention is reasonably set up, and the loading and unloading operations are reasonable. Through the setting of the collection mechanism, the stamping mechanism, and the connector unloading mechanism, based on visual collection and processing, the assembly line can be automatically controlled to work automatically, and the feeding and positioning of the connectors in the connector unloading mechanism, the positioning and stamping assembly of the stamping mechanism are performed, thus avoiding the tedious manual operation and having a high degree of automation;

[0047] 2. Through the setting of the auxiliary positioning mechanism, the distance between the two insulation steel truss floor decks can be reduced through visual acquisition, calculation and processing, thereby improving the tightness after connection, which is beneficial to the overall strength of the floor deck after installation and assembly. In summary, the assembly equipment of the insulation steel truss floor deck based on visual processing has the advantages of high degree of automation, small error, high precision, high assembly efficiency, reduced human resource investment, and saving equipment operation and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the overall structure of the assembly equipment of the thermal insulation steel truss floor deck of the present invention;

[0049] Figure 2 This is a flowchart of the use of Example 1 of the present invention;

[0050] Figure 3 It is a front view of the assembly equipment of the thermal insulation steel truss floor deck of the present invention;

[0051] Figure 4 For the present invention Figure 1 The enlarged view of point A in the middle;

[0052] Figure 5 It is a side view of the assembly equipment of the thermal insulation steel truss floor deck of the present invention;

[0053] Figure 6 It is a rear view of the assembly equipment of the thermal insulation steel truss floor deck of the present invention;

[0054] Figure 7 It is a schematic diagram of the overall structure of the assembly equipment of the thermal insulation steel truss floor deck of the present invention from another perspective;

[0055] Figure 8 It is a schematic diagram of the transmission structure of the truss of the present invention;

[0056] Fig. 9 It is a structural schematic diagram of the connecting piece blanking mechanism of the present invention;

[0057] Fig.10 It is a front view of the connecting piece blanking mechanism of the present invention;

[0058] Fig.11 This is a working principle diagram of the camera of the present invention;

[0059] Fig.12 This is a flowchart of the use of embodiment 2 of the present invention;

[0060] Fig.13 It is a schematic structural diagram of two floor decking plates and a connecting member body after being assembled according to embodiments 1 and 2 of the present invention.

[0061] Numbers in the figure:

[0062] 1. Bracket; 11. Feed guide roller; 12. Discharge guide roller; 13. Stamping assembly station; 14. Assembly station guide roller; 14a. First drive motor;

[0063] 2. Truss; 2a. First servo motor; 2b. Screw; 21. X-axis frame; 22. Y-axis frame; 23. Guide block;

[0064] 3. Stamping mechanism;

[0065] 4. Connector unloading mechanism; 41. Connector storage bin; 42. Second servo motor; 43. First rotating plate; 44. Connecting shaft; 45. Second rotating plate; 46. Connector body;

[0066] 5. Collection mechanism; 51. First camera; 52. Second camera;

[0067] 6. Auxiliary positioning mechanism; 6a. Second driving motor; 61. First auxiliary positioning guide roller; 62. Second auxiliary positioning guide roller. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] Embodiment 1:

[0070] See also Figure 1-11 as well as Fig.13 The present invention provides a technical solution: comprising a bracket 1, the bracket 1 is horizontally linearly provided with a feed guide roller group 11, an assembly station guide roller group 14 and a downwardly inclined discharge guide roller group 12 in sequence, the assembly station guide roller group 14 is set as a stamping assembly station 13, and the assembly station guide roller group 14 is transmission-connected to a first drive motor 14a installed under the bracket 1;

[0071] See also Figure 1-8 , truss 2 is arranged above the bracket 1, and a plane moving mechanism is provided on the truss 2;

[0072] Specifically, the planar moving mechanism is mainly composed of an x-axis frame 21 and a y-axis frame 22 in a vertically crossed shape, and the x-axis frame 21 and the y-axis frame 22 are both installed on the top of the truss 2; the ends of the x-axis frame 21 and the y-axis frame 22 are fixedly installed with a first servo motor 2a, and the output shaft of the first servo motor 2a is correspondingly installed with a lead screw 2b; the y-axis frame 22 is arranged below the x-axis frame 21, and the lead screw 2b in the y-axis frame 22 is transmission-connected with a guide block 23, the top end of the stamping mechanism 3 is fixedly connected to the outer wall of the guide block 23, and the side wall of the y-axis frame 22 adjacent to the x-axis frame 21 is movably connected through the guide block 23.

[0073] Based on the above, the planar moving mechanism can be rotated by the corresponding first servo motor 2a through the setting of the x-axis frame 21 and the y-axis frame 22, and the meshing transmission between the screw rod 2b and the guide block 23 can realize the x-axis movement of the y-axis frame 22 below the x-axis frame 21, and the y-axis movement of the guide block 23 under the y-axis frame 22 under the y-axis frame 22, thereby realizing the operation of the connecting part blanking mechanism 4 and the stamping mechanism 3.

[0074] See also Figure 1-7 The stamping mechanism 3 is arranged directly below the truss 2, and the top of the stamping mechanism 3 is fixedly connected to the plane moving mechanism; the stamping mechanism 3 can realize the stamping operation on the connecting member body 46, and fix the connecting member body 46 between the two steel truss floor decks by pins, thereby completing the assembly combination of the steel truss floor decks;

[0075] See also Figure 1-7 , 9, 10, connecting piece blanking mechanisms 4, at least two in number and arranged below the truss 2, and the connecting piece blanking mechanisms 4 are installed on the side wall of the stamping mechanism 3 through a connecting rod;

[0076] Specifically, the connector unloading mechanism 4 includes a connector storage bin body 41, a second servo motor 42, a first rotating plate 43, a connecting shaft 44, a second rotating plate 45, and a connector body 46; the top of the connector storage bin body 41 is fixedly connected to the stamping mechanism 3 through a mounting rod, the second servo motor 42 is mounted on the side wall of the connector storage bin body 41, and the first rotating plate 43 is fixedly mounted on the output shaft of the second servo motor 42, a connecting shaft 44 is fixedly mounted at the bottom center of the first rotating plate 43, a second rotating plate 45 is fixedly mounted at the bottom end of the connecting shaft 44, and notches are provided on the first rotating plate 43 and the second rotating plate 45; the bottom input port of the connector storage bin body 41 is arranged above the first rotating plate 43, and the spacing is set at 2-3CM; the connector body 46 is stacked and arranged in the connector storage bin body 41.

[0077] The connector unloading mechanism 4 can be controlled by the industrial computer, and the second servo motor 42 is rotated in a step-by-step manner. Under normal circumstances, the connector body 46 in the connector storage bin 41 falls on the top of the first rotating plate 43, and the second servo motor 42 can drive the first rotating plate 43, the connecting shaft 44, and the second rotating plate 45 to rotate. At this time, the connector body 46 can fall to the top surface of the second rotating plate 45 through the notch. At the same time, the connector body 46 in the connector storage bin 41 falls on the top of the first rotating plate 43 again, and the second servo motor 42 is rotated again, so that the first connector body 46 on the second rotating plate 45 falls to the upper surface of the floor decking to be installed through the notch. Similarly, the second connector body 46 falls to the top surface of the second rotating plate 45, and the feeding operation of the connector body 46 is performed by analogy.

[0078] Furthermore, the upper surfaces of the first rotating plate 43 and the second rotating plate 45 are both smooth surfaces, and the connector body 46 can slide on the surface when the first rotating plate 43 and the second rotating plate 45 rotate, and slide to the notch portion for unloading operation, and the notch portions of the first rotating plate 43 and the second rotating plate 45 are arranged opposite to each other, and the notch portion area is set to one quarter of the positive area. The notch portion structure of the first rotating plate 43 and the second rotating plate 45 is reasonably arranged, and the control feeding operation of the connector body 46 can be realized. The overall unloading structure is reasonably arranged, and can be suitable for the storage and unloading operation of the flat and long connector.

[0079] Further, the height of the connecting shaft 44 is higher than the thickness of the connecting member body 46 and is set to be twice the thickness of the connecting member body 46. The setting of the connecting shaft 44 makes the spacing between the first rotating plate 43 and the second rotating plate 45 reasonably set, and the falling is fast, which reduces the error.

[0080] See also Figure 1-7 The collection mechanism 5 includes a first camera 51 and a second camera 52. The first camera 51 and the second camera 52 are arranged on the bracket and are located at the connection between the feed guide roller group 11 and the assembly station guide roller group 14. The two camera settings of the first camera 51 and the second camera 52 can collect multiple groups of data during calculation and processing, and perform average calculation, which improves the accuracy of the collected data and reduces the collection error.

[0081] See also Figure 1-7 , the auxiliary positioning mechanism 6 includes a first auxiliary positioning guide roller 61 and a second auxiliary positioning guide roller 62;

[0082] Specifically, the first auxiliary positioning guide roller 61 is arranged at the connection between the feed guide roller group 11 and the assembly station guide roller group 14, and the second auxiliary positioning guide roller 62 is arranged at the connection between the assembly station guide roller group 14 and the discharge guide roller group 12; the heights of the first auxiliary positioning guide roller 61 and the second auxiliary positioning guide roller 62 are set consistently and are higher than the feed guide roller group 11, the assembly station guide roller group 14 and the downwardly inclined discharge guide roller group 12; the input shafts of the first auxiliary positioning guide roller 61 and the second auxiliary positioning guide roller 62 both pass through the bracket 1 and are connected to the second drive motor 6a, and the second drive motor 6a is fixedly mounted on the bottom outer wall of the bracket 1.

[0083] By setting the first auxiliary positioning guide roller 61 and the second auxiliary positioning guide roller 62, not only can the material feeding and discharging of the floor decking be achieved, but also after visual processing, the two upper floor decking plates can be moved in relative directions, thereby assisting in reducing the distance between the two insulated steel truss floor decking plates, improving the tightness after connection, and having the advantages of high degree of automation, small error, high precision, etc.

[0084] The industrial computer is arranged on the bracket 1 and is electrically connected to the first driving motor 14a, the plane moving mechanism, the connecting piece unloading mechanism 4, the collecting mechanism 5 and the auxiliary positioning mechanism 6;

[0085] Among them, the feed guide roller group 11, the assembly station guide roller group 14 and the downward inclined discharge guide roller group 12 on the bracket 1 can control the movement of the floor decking in a horizontal position, the collection mechanism 5 can take pictures, collect, convert images, and calculate the floor decking on the stamping assembly station 13, and the auxiliary positioning mechanism 6 makes the two floor decking move closer to each other. The corresponding stamping mechanism 3 and the connecting part unloading mechanism 4 move on the stamping assembly station 13 to feed the connecting part body 46 and stamp.

[0086] Please refer to 1-7. Specifically, a method for using an assembly device for an insulating steel truss floor deck based on visual processing includes the following steps:

[0087] S101: The feed guide roller group 11 feeds the material, and the first driving motor 14a is controlled by the industrial computer to work, so as to convey the first floor deck to one side of the stamping station, and then convey the second floor deck to the side wall of the connecting part of the first floor deck;

[0088] S102: The industrial computer extracts separate images of the first camera 51 and the second camera 52 at independent positions in the acquisition mechanism 5, performs acquisition camera calibration, and obtains an internal parameter matrix and a conversion matrix of the acquisition camera;

[0089] S103: The position of the gap between the two floor decking bodies on the stamping station is imaged by the acquisition mechanism 5, and then the acquired image is transmitted to the industrial computer, and the image is converted by the image processing module in the industrial computer, and the gap features between the floor decking bodies are extracted and judged, and the world coordinates of the connector to be installed are calculated according to the conversion matrix obtained by calibration; similarly, the world coordinates of the connector blanking mechanism 4 are calculated; the industrial computer controls the first servo motor 2a in the x-axis frame 21 and the y-axis frame 22 according to the obtained world coordinates of the connector installation position and the world coordinates of the connector blanking mechanism 4, and can control the connector blanking mechanism 4 on the stamping mechanism 3 and the stamping mechanism 3 to move, and transport the connector blanking mechanism 4 to the predetermined stamping position to blank the connector body 46;

[0090] S104: Based on the world coordinates of the gap between the two floor decking bodies, the first servo motor 2a is controlled to work to realize the movement of the x-axis frame 21 and the y-axis frame 22 on the truss 2, and the plane movement of the truss 2 is realized, and the stamping mechanism 3 moves up and down on the Z axis to realize the stamping assembly operation of the connecting piece;

[0091] S105: The first driving motor 14a is again controlled by the industrial computer to rotate the guide roller group 14 of the assembly station, and the second driving motor 6a controls the second auxiliary positioning guide roller 62 to rotate the material guiding mechanism to transport the first floor deck and the second floor deck out of the stamping assembly station 13, and the material discharging guide roller group 12 performs the unloading operation.

[0092] Preferably, the calibration in S102 adopts a chessboard-format calibration method, and the calibration block is a plane with a square unit of 10 mm. Its origin coincides with the corresponding world coordinate origin, and then the calibration function in OpenCV is used for calibration; the x-axis frame 21 and the y-axis frame 22 can be reset on the truss, and the world coordinates of the connector blanking mechanism 4 are calculated through the matrix conversion function of OPenCV.

[0093] Furthermore, in step S103, the industrial computer makes a judgment based on the set threshold according to the obtained world coordinates of the gap between the two floor decking bodies. If the gap is too large, the industrial computer controls the second drive motor 6a to control the auxiliary positioning mechanism 6 to guide the two floor decking bodies away from one side wall to reduce the gap between the two floor decking bodies. The gap between the two floor decking bodies after auxiliary positioning is again judged by the acquisition mechanism 5 to see whether it meets the threshold of the distance between the two floor decking bodies. The auxiliary positioning mechanism is controlled in a cycle to perform auxiliary positioning operations until the distance between the two floor decking bodies is met.

[0094] refer to Fig.11It should be noted that: in step 103, the actual distance between the two floor decking bodies to be measured is set to: D; the measured distance value on the equivalent imaging plane is set to: d; the focal length of the floor decking to be measured is set to: F; the focal length of the camera lens is set to: f. And the formula 1 is obtained: The focal length of the floor deck to be measured is set to F; the focal length of the camera lens is set to f; the measured spacing value on the equivalent imaging surface is set to d; the actual spacing between the two floor deck bodies to be measured can be calculated to be D; according to the actual spacing D between the two floor deck bodies, the spacing threshold is judged to determine whether the spacing threshold between the two floor deck bodies is met;

[0095] If the conditions are met, the material feeding of the connecting piece feeding mechanism 4 in step S103 and the plane movement of the punching mechanism 3 in step S104 are performed, and the punching mechanism 3 moves up and down on the Z axis to realize the punching and assembly operation of the connecting piece; if the conditions are not met, the industrial computer controls the second drive motor 6a and the auxiliary positioning mechanism 6 to guide and move the side wall away from the two floor decking bodies according to the world coordinates of the gap between the two floor decking bodies, so as to reduce the gap between the two floor decking bodies, and then determines whether the threshold of the distance between the two floor decking bodies is met, and performs the feeding and punching of the connecting piece. The overall operation method is simple and convenient, with a high degree of automation and high assembly efficiency, reducing the input of human resources and saving equipment operation and maintenance costs.

[0096] Embodiment 2:

[0097] It includes a bracket 1, a truss 2, a punching mechanism 3, a connecting piece blanking mechanism 4, a collecting mechanism 5, an auxiliary positioning mechanism 6 and an industrial computer. The truss 2, the punching mechanism 3, the connecting piece blanking mechanism 4, the collecting mechanism 5, the auxiliary positioning mechanism 6 and the industrial computer are all arranged on the bracket 1, and the structure and function are the same as those in Example 1;

[0098] refer to Fig.12 Specifically, a method for using an assembly device for an insulated steel truss floor deck based on visual processing, firstly, two floor decks are fed and conveyed; then a camera is used for imaging; secondly, the world coordinates of the connector and the connector transport mechanism are calculated according to the calibration; then, the connector transport mechanism is controlled to transport the connector to a predetermined stamping position; the stamping mechanism is controlled to move and then stamping and assembling operations are performed on the connector; finally, two floor decks are discharged and conveyed.

[0099] Among them, the auxiliary positioning mechanism 6 mainly functions to transport and guide the two floor decks. The difference from the first embodiment is that the feeding of the stamping connector body 46 and the stamping work of the stamping mechanism 3 can be directly performed through the calibration, collection, calculation and processing of the camera; the auxiliary positioning mechanism 6 can assist the floor deck in the feeding and unloading work. If the gap between the two floor decks is small under the action of the material guiding mechanism, or the spacing problem when the floor decks are installed does not affect the installation strength between the two floor decks, the second embodiment can be preferred;

[0100] Compared with Example 2, Example 1 has an auxiliary positioning mechanism 6 with an auxiliary positioning function for the floor decking. It can assist in reducing the distance between the two thermal insulation steel truss floor decking plates according to the control of the industrial computer, thereby improving the tightness after connection and the accuracy of stamping assembly, with small error and high accuracy. Therefore, Example 1 is preferred under normal conditions.

[0101] Based on the above, the overall structure of the present invention is reasonably set up, and the loading and unloading operations are reasonable. Through the setting of the collection mechanism, the stamping mechanism, and the connecting part unloading mechanism, based on visual collection and processing, the assembly line can be automatically controlled to perform automatic work, and the feeding and positioning of the connecting parts in the connecting part unloading mechanism, the positioning and stamping assembly of the stamping mechanism are performed, thereby avoiding the tedious manual operation and having a high degree of automation; at the same time, through the setting of the auxiliary positioning mechanism, visual collection, calculation and processing can be used to assist in reducing the distance between the two insulating steel truss floor decking plates, thereby improving the tightness after connection, and being beneficial to improving the overall strength of the floor decking plates after installation and assembly. In summary, the assembly equipment of the insulating steel truss floor decking plates based on visual processing has the advantages of high degree of automation, small error, high precision, high assembly efficiency, reduced human resource investment, and saving equipment operation and maintenance costs.

[0102] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An assembly device for thermal insulation steel truss floor deck based on visual processing, characterized in that: include A support (1), wherein the support (1) is horizontally and linearly provided with a feed guide roller group (11), an assembly station guide roller group (14), and a downwardly inclined discharge guide roller group (12) in sequence, the assembly station guide roller group (14) being provided as a stamping assembly station (13), and the assembly station guide roller group (14) being transmission-connected to a first drive motor (14a) installed under the support (1); A truss (2) is arranged above the bracket (1); a planar moving mechanism is arranged on the truss (2); the planar moving mechanism mainly consists of an x-axis frame (21) and a y-axis frame (22) in a vertically crossed shape; the x-axis frame (21) and the y-axis frame (22) are both mounted on the top of the truss (2); first servo motors (2a) are fixedly mounted on the ends of the x-axis frame (21) and the y-axis frame (22); a lead screw (2b) is correspondingly mounted on the output shaft of the first servo motor (2a); the y-axis frame (22) is arranged below the x-axis frame (21), and a guide block (23) is drivingly connected to the lead screw (2b) in the y-axis frame (22); a side wall of the y-axis frame (22) adjacent to the x-axis frame (21) is movably connected via the guide block (23); A punching mechanism (3) is arranged directly below the truss (2), the top of the punching mechanism (3) is fixedly connected to the plane moving mechanism, and the top end of the punching mechanism (3) is fixedly connected to the outer wall of the guide block (23); The connecting piece blanking mechanisms (4) are at least two in number and are arranged below the truss (2). The connecting piece blanking mechanisms (4) are mounted on the side wall of the punching mechanism (3) via a connecting rod. The connecting piece blanking mechanisms (4) comprise a connecting piece storage bin (41), a second servo motor (42), a first rotating plate (43), a connecting shaft (44), a second rotating plate (45), and a connecting piece body (46). The top of the connecting piece storage bin (41) is fixedly connected to the punching mechanism (3) via a mounting rod. The second servo motor (42) is mounted on the connecting piece storage bin (41). ), and a first rotating plate (43) is fixedly mounted on the output shaft of the second servo motor (42); a connecting shaft (44) is fixedly mounted at the bottom center of the first rotating plate (43); a second rotating plate (45) is fixedly mounted at the bottom end of the connecting shaft (44); and a notch is provided on both the first rotating plate (43) and the second rotating plate (45); a bottom input port of the connecting piece storage bin body (41) is arranged above the first rotating plate (43), with a spacing of 2-3 cm; and the connecting piece main body (46) is arranged in a stacked manner in the connecting piece storage bin body (41); The collecting mechanism (5) comprises a first camera (51) and a second camera (52), wherein the first camera (51) and the second camera (52) are arranged on a bracket and are located at the connection between the feed guide roller group (11) and the assembly station guide roller group (14); The auxiliary positioning mechanism (6) comprises a first auxiliary positioning guide roller (61) and a second auxiliary positioning guide roller (62); and The industrial computer is arranged on the bracket (1) and is electrically signal-connected to the first drive motor (14a), the plane moving mechanism, the connecting piece unloading mechanism (4), the collecting mechanism (5) and the auxiliary positioning mechanism (6); The feed guide roller group (11), the assembly station guide roller group (14) and the downwardly inclined discharge guide roller group (12) on the support (1) can control the floor deck to move in a horizontal position, the collection mechanism (5) can take pictures, collect, convert images and calculate the floor deck on the stamping assembly station (13), the auxiliary positioning mechanism (6) makes the two floor decks move closer to each other, and the corresponding stamping mechanism (3) and the connecting piece unloading mechanism (4) move on the stamping assembly station (13) to feed the connecting piece body (46) and perform stamping.

2. The assembly equipment of the thermal insulation steel truss floor deck based on visual processing according to claim 1 is characterized by: The height of the connecting shaft (44) is higher than the thickness of the connecting member body (46) and is set to be twice the thickness of the connecting member body (46).

3. The assembly equipment of the thermal insulation steel truss floor deck based on visual processing according to claim 1 is characterized by: The first auxiliary positioning guide roller (61) is arranged at the connection between the feed guide roller group (11) and the assembly station guide roller group (14), and the second auxiliary positioning guide roller (62) is arranged at the connection between the assembly station guide roller group (14) and the discharge guide roller group (12); The first auxiliary positioning guide roller (61) and the second auxiliary positioning guide roller (62) are arranged at the same height and are higher than the feed guide roller group (11), the assembly station guide roller group (14) and the downwardly inclined discharge guide roller group (12); The input shafts of the first auxiliary positioning guide roller (61) and the second auxiliary positioning guide roller (62) both pass through the bracket (1) and are connected to the second drive motor (6a); the second drive motor (6a) is fixedly mounted on the bottom outer wall of the bracket (1).

4. A method for using the assembly equipment of the thermal insulation steel truss floor deck based on visual processing according to claim 1, characterized in that: The following steps are involved: S101: the feed guide roller group (11) feeds the material, and the first drive motor (14a) is controlled by the industrial computer to work, so as to convey the first floor deck to one side of the stamping station, and then convey the second floor deck to the side wall of the connecting portion of the first floor deck; S102: The industrial computer extracts separate images of the first camera (51) and the second camera (52) at independent positions in the acquisition mechanism (5), performs acquisition camera calibration, and obtains an internal parameter matrix and a conversion matrix of the acquisition camera; S103: The position of the gap between the two floor decking bodies at the stamping station is imaged by the acquisition mechanism (5), and the acquired image is then transmitted to the industrial computer. The image is converted by the image processing module in the industrial computer, and the gap features between the floor decking bodies are extracted and judged, and the world coordinates of the connector to be installed are calculated according to the conversion matrix obtained by calibration; the world coordinates of the connector blanking mechanism (4) are calculated; the industrial computer controls the first servo motor (2a) in the x-axis frame (21) and the y-axis frame (22) according to the obtained world coordinates of the connector installation position and the world coordinates of the connector blanking mechanism (4), and can control the connector blanking mechanism (4) on the stamping mechanism (3) and the stamping mechanism (3) to move, and transport the connector blanking mechanism (4) to a predetermined stamping position to blank the connector body (46); S104: Based on the world coordinates of the gap between the two floor decking bodies, the first servo motor (2a) is controlled to work so as to realize the movement of the x-axis frame (21) and the y-axis frame (22) on the truss (2), thereby realizing the movement of the plane of the truss (2), and the stamping mechanism (3) moves up and down on the Z axis to realize the stamping assembly operation of the connecting parts; S105: The industrial computer is again used to control the first drive motor (14a) to rotate the guide roller group (14) of the assembly station, and the second drive motor (6a) to control the second auxiliary positioning guide roller (62) to rotate the material guide mechanism to operate, so as to transport the first floor decking plate and the second floor decking plate out of the stamping assembly station (13), and the material discharge guide roller group (12) performs the material discharge operation.

5. The method for using the assembly equipment of the thermal insulation steel truss floor deck based on visual processing according to claim 4 is characterized in that: In step S103, the industrial computer determines the gap between the two floor decking bodies according to the obtained world coordinates and the set threshold. If the gap is too large, the industrial computer controls the second drive motor (6a) to control the auxiliary positioning mechanism (6) to guide the two floor decking bodies away from the side wall to reduce the gap between the two floor decking bodies. The acquisition mechanism (5) determines again whether the gap between the two floor decking bodies after auxiliary positioning meets the threshold of the spacing between the two floor decking bodies. In this way, the auxiliary positioning mechanism is controlled cyclically to perform auxiliary positioning operations until the spacing between the two floor decking bodies is met.

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