A can body rotation positioning method and device

Abstract

The application discloses a kind of tank rotation positioning method and device.The device includes jacking unit, detection unit, control unit, execution unit, rack, push cylinder and guide rail, wherein the tank jacking unit is used to lift the tank to separate from the guide rail;The clamping mechanism is installed on the rack for suspending and clamping the jacked tank;The detection unit is used to determine whether the tank is rotated to position;The control unit controls the execution unit to drive the tank to rotate to position based on the detection result of the detection unit;The push cylinder is used to control the extension and retraction of the clamping mechanism.The application provides a simple and easy-to-operate positioning method and positioning device for the rotation positioning of the tank, and provides a better choice for collecting tank information in industry.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of machine vision, in particular to a tank rotating positioning method and device. BACKGROUND

[0002] When manufacturers produce gas tanks, they need to collect some characters engraved on the tank body and generate electronic tags, such as steel stamp codes and two-dimensional codes. However, the factory environment has problems such as messy background, poor lighting conditions, and small characters on the tank body that are difficult to identify with the naked eye. If manual collection is used, it may cause false detection and missed detection due to human factors, and the efficiency is not high. In recent years, with the continuous development of target detection and image recognition algorithms, using machine vision technology to replace manual work for tank character recognition is the best choice. The difficulty of this technology lies in how to rotate each tank to the same position for detection. The traditional method is to manually rotate the tank, but this is not feasible today. Currently, there is a method that uses a camera to collect the pattern of the tank, and a control program drives the power assembly to rotate the tank to adjust the position and achieve tank positioning. Although this method can accurately achieve positioning, it has the disadvantage that the recognition degree of the pattern is not very high, and a new model needs to be retrained every time a new pattern is replaced to achieve the effect of recognizing the new pattern, which undoubtedly increases the workload of the entire project and increases the work intensity. To solve this problem, an easy-to-operate and accurate tank positioning method and device is urgently needed. SUMMARY

[0003] The present application aims to provide a tank rotating positioning method and device to solve the problem of rotating and positioning the gas tank. In order to achieve the above-mentioned purpose, the present application provides a tank rotating positioning method, which comprises the following steps:

[0004] Step S1, the jacking unit jacks up the tank to be detected, so that the tank is separated from the guide rail and suspended by the clamping mechanism;

[0005] Step S2, the detection unit receives the laser sensor signal in real time, the laser sensor is located on the periphery of the tank, and the installation height of the laser sensor enables the laser beam emitted by the laser sensor to pass through the gap formed by the tank cover handle;

[0006] Step S3, the detection unit determines whether all laser sensor signals are in low level state, if it is determined that all laser sensor signals are not in low level state, step S4 is executed, if it is determined that all laser sensor signals are in low level state, step S5 is executed;

[0007] Step S4, the control unit sends a motion instruction to the execution unit based on the determination result of the detection unit, so that the execution unit drives the tank to rotate, and steps S2-S4 are repeatedly executed.

[0008] Step S5, the lifting unit lowers the tank body to the guide rail, and the rotation positioning of the tank body is completed.

[0009] Further, the lifting unit in step S1 is a lifting cylinder or a lifting oil cylinder, and the lifting of the tank body is completed by the action of the lifting cylinder or the lifting oil cylinder; the clamping mechanism is three rubber rollers distributed around the tank body, and the three rubber rollers are distributed in a triangular position.

[0010] Further, the detection unit in step S2 includes a laser sensor and a data acquisition device; the laser sensor is symmetrical arranged on both sides of the tank body through two bent steel plates, so that the two laser beams emitted by the laser sensor are staggered with each other, and the steel plate is fixed on the rack through an adjustable height connecting piece; the installation height of the laser sensor is higher than the tank body cover handle, and when the tank body is lifted, the laser sensor is the same height as the tank body cover handle; the data acquisition device is used for collecting the laser sensor signal and monitoring the signal state of the laser sensor in real time.

[0011] Further, the control unit in step S4 is a PLC controller, which judges whether to issue a motion instruction to the execution unit according to the laser sensor signal collected by the data acquisition device; the execution unit in step S4 includes a driving motor, a chain wheel and a chain; the driving motor output end and one end of the rubber roller are respectively provided with a chain wheel, and the two chain wheels are connected through the chain; the execution unit receives the motion instruction issued by the detection unit, the driving motor is started and drives the rubber roller to rotate through the chain wheel and the chain, and the rubber roller directly drives the tank body to rotate through friction transmission.

[0012] The application also provides a tank body rotation positioning device, which comprises a lifting unit, a detection unit, a control unit, an execution unit, a pushing cylinder, a rack and a guide rail, wherein the tank body lifting unit is used for lifting the tank body to separate from the guide rail; the clamping mechanism is installed on the rack for clamping the lifted tank body in the air; the detection unit is used for detecting whether the tank body is rotated to the position; the control unit controls the execution unit to drive the tank body to rotate to the position based on the detection result of the detection unit; and the pushing cylinder is used for controlling the extension and retraction of the clamping mechanism.

[0013] Further, the lifting unit is a lifting oil cylinder or a lifting cylinder, which is installed at the bottom of the tank body rotation positioning device and below the guide rail, and the clamping mechanism is three rubber rollers distributed around the tank body, and the three rubber rollers are distributed in a triangular position.

[0014] Further, the detection unit comprises a laser sensor and a data acquisition device; the laser sensor is connected to the data acquisition device, the data acquisition device is used for collecting the laser sensor signal, and the signal state of the laser sensor is monitored in real time; the laser sensor is two, two laser sensors are fixed on the rack by two bent steel plates, two laser beams emitted by the laser sensor are staggered, the installation height is higher than the handle of the tank body cover, when the tank body is jacked up, the gap formed by the laser sensor and the handle of the tank body cover is at the same height, so as to ensure that the laser beam emitted by the laser sensor can pass through the gap formed by the handle; when the laser beam emitted by the laser sensor is in an unshielded state, the signal of the laser sensor is low, when the tank body enters the detection device, the laser beam emitted by the laser sensor becomes a shielded state, and the signal of the laser sensor is high; when the tank body rotates to the position, the two laser beams can be emitted from the near end limit position of the gap formed by the handle on the same side of the laser sensor and emitted from the far end limit position of the gap formed by the handle on the other side, the two laser beams are not shielded by the tank body, and the signal of the laser sensor becomes low again.

[0015] Further, the control unit is a PLC controller, the data acquisition device is connected to the PLC controller, and the PLC controller judges whether to issue a motion instruction to the execution unit according to the laser sensor signal collected by the data acquisition device.

[0016] Further, the execution unit comprises a driving motor, a chain wheel and a chain; the chain wheel is two, one is installed on the output end of the driving motor, and the other is installed on one end of the rubber roller; the two chain wheels are connected through the chain, and the driving motor drives the rubber roller to rotate through the chain wheel and the chain; the driving motor is connected with the PLC controller.

[0017] Further, the clamping mechanism is composed of a fixed plate and a bearing, and the clamping mechanism is installed on the rack, wherein the fixed plate is installed on one side of the tank body to install two rubber rollers, and the bearing is installed on the other side of the tank body and is used to install the rubber roller connected with the driving motor; when the tank body is jacked up by the jacking unit, the clamping mechanism clamps the tank body in the air.

[0018] Furthermore, the propulsion cylinder is horizontally mounted on the frame, with the installation height being the same as the middle position of the clamping mechanism fixing plate. The extended end of the piston rod of the propulsion cylinder is connected to the clamping mechanism fixing plate. The propulsion cylinder is used to push and retract the clamping mechanism. When the gas tank is lifted, the propulsion cylinder extends to push the clamping mechanism to extend, so that the tank is suspended and clamped. After the tank is positioned, the propulsion cylinder retracts, causing the clamping mechanism to retract as well, and then the lifting unit lowers the tank onto the guide rail.

[0019] Compared with the prior art, the tank rotation positioning method and device provided by the present invention have the following advantages:

[0020] I. This invention uses laser sensor detection and data acquisition equipment to collect signals, and compares them with machine vision recognition of patterns on the tank for rotational positioning. Considering that machine vision recognition of images has a certain failure rate, this method improves the positioning accuracy. Compared with traditional manual rotation positioning, this method reduces the labor intensity of workers.

[0021] Second, the present invention uses laser sensors and data acquisition system equipment, which has low operating costs and high cost performance.

[0022] Third, the present invention uses three rubber rollers arranged in a triangle to clamp the tank body, and directly drives the tank body to rotate through friction, without the need for a separate rotation platform. Moreover, the rubber rollers are lightweight and have low inertia, making it easier to control the rotation start and stop.

[0023] Fourth, the present invention uses a rubber roller that is large at both ends and small in the middle, with a diamond pattern processed at the large ends, which has a good transmission effect for driving gas cylinders with smooth surfaces; the diamond pattern does not need to cover the entire surface of the rubber roller, and the overall processing cost of the rubber roller is low.

[0024] V. This invention can be used for the rotational positioning of most tanks, and has a good market prospect.

[0025] This invention provides a simple and easy-to-operate positioning method and device for the rotational positioning of tanks, offering a better option for collecting tank information in industry. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof.

[0027] Figure 1 This invention provides the positioning principle and laser beam distribution diagram of the tank rotation positioning method.

[0028] Figure 2 This is a flowchart of the tank rotation positioning provided by the present invention.

[0029] Figure 3 is a schematic diagram of the structure of the tank rotation positioning device provided by the present application.

[0030] Figure 4 is a schematic diagram of the installation of the laser sensor provided by the present application.

[0031] Figure 5 is a schematic diagram of the connection relationship of the components of the driving unit provided by the present application.

[0032] Figure 6 、 Figure 7 is a schematic diagram of the structure of the rubber roller provided by the present application.

[0033] Figure 8 is a schematic diagram of the structure of the clamping mechanism provided by the present application. DETAILED DESCRIPTION

[0034] In order to make the technical personnel in the art better understand the technical solutions in the present application, and make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be further described below in conjunction with the drawings. It should be noted that the description of these embodiments is used to help understand the present application, but does not constitute a limitation on the present application.

[0035] Please refer to Figure 1 , the detection principle of the tank rotation positioning method provided by the present application and the laser beam distribution diagram. The structure uses the bent steel plate 201 and the bent steel plate 202 to fix the laser sensor 1 and the laser sensor 7 on the rack 6 respectively, and makes the two laser beams emitted by the laser sensor 1 and the laser sensor 7 intersect with each other. The installation height of the laser sensor 1 and the laser sensor 7 is higher than the gap formed by the handle of the tank cover 2. When the tank 2 is jacked up, the laser sensor 1 and the laser sensor 7 are at the same height with the gap formed by the handle of the tank cover 2, so as to ensure that the laser beams emitted by the laser sensor 1 and the laser sensor 7 can pass through the gap formed by the handle of the tank cover. When the tank 2 is not rotated in place, the laser beams will be blocked by the tank. After the tank 2 is rotated in place, the two laser beams can be emitted from the near-end limit position A1, A2 of the gap formed by the handle of the tank cover on the same side of the laser sensor and emitted from the far-end limit position B1, B2 of the gap formed by the handle of the tank cover on the other side. The two laser beams will not be blocked by the tank. When the tank 2 is rotated in place, it refers to the position when the opening of the tank cover is consistent with the conveying direction of the guide rail 11. When the laser beams are in the unblocked state, the signal of the laser sensor is low. When the laser beams are in the blocked state, the signal of the laser sensor is high. The method can determine whether the tank is rotated in place by detecting the signal state of the two laser sensors.

[0036] Please refer to Figure 2is a tank rotation positioning flowchart provided by the application, and the tank rotation positioning detection method comprises the following steps:

[0037] Step S1, the jacking unit jacks up the tank to be detected, so that the tank is separated from the guide rail and is suspended and clamped by the clamping mechanism;

[0038] Step S2, the detection unit receives the signals of the laser sensors 1 and 7 in real time, the laser sensors 1 and 7 are located on the periphery of the tank and are installed at a height such that the laser beams emitted thereby can pass through the gap formed by the tank cover handle at the specified position;

[0039] Step S3, the detection unit judges whether all the laser sensor signals are in a low level state, if it is judged that all the laser sensor signals are not in a low level state, step S4 is executed, and if it is judged that all the laser sensor signals are in a low level state, step S5 is executed; Step S4, the control unit sends a motion instruction to the execution unit based on the judgment result of the detection unit, so that the execution unit drives the tank to rotate, and steps S2-S4 are repeatedly executed;

[0040] Step S5, the jacking unit lowers the tank to the guide rail, and the rotation positioning of the tank is completed.

[0041] Specifically, in step S1, a pressure sensor is arranged above the jacking unit, the pressure sensor detects the change of the pressure value when the tank enters the detection device, the jacking cylinder 5 or the jacking oil cylinder 5 is lifted to jack up the tank to separate from the guide rail, and when the piston rod of the jacking cylinder 5 or the jacking oil cylinder 5 extends to a certain threshold, the advancing cylinder 4 is extended to suspend and clamp the tank by the clamping mechanism, so as to facilitate the subsequent rotation positioning of the tank;

[0042] Specifically, in step S2, the laser sensors 1 and 7 are connected to a data acquisition device, the data acquisition device is connected to a PLC controller, and the PLC controller can send a motion instruction to the execution unit in real time according to the received laser sensor potential change;

[0043] Specifically, in step S3, whether the laser sensor laser beam is in a shielding state or a non-shielding state is judged by the change of the laser sensor electrical signal, if it is in a shielding state, the tank is rotated in the next step, and if it is in a non-shielding state, the tank does not need to be rotated;

[0044] Specifically, in step S4, the PLC controller sends a motion instruction to the driving unit according to the change of the laser sensor signal to high level;

[0045] Specifically, in step S5, the tank is rotated to the position, the advancing cylinder 4 is retracted to make the clamping mechanism retract, and the jacking cylinder 5 or the jacking oil cylinder 5 is retracted to lower the tank to the guide rail.

[0046] The embodiment also provides a tank rotating positioning device, please refer to Figure 3 , which is a structural diagram of the tank rotating positioning device provided by the application. The device comprises a jacking unit, a detection unit, a control unit, an execution unit, a clamping mechanism, a pushing cylinder, a rack and a guide rail, wherein the jacking unit is used for jacking the tank 2 to separate from the guide rail 11; the clamping mechanism is installed on the rack 11 and used for clamping the jacked tank 2 in the air; the detection unit is used for detecting whether the tank 2 is rotated to the position; the control unit controls the execution unit to drive the tank 2 to rotate to the position based on the detection result of the detection unit; and the pushing cylinder 4 is used for controlling the extension and retraction of the clamping mechanism.

[0047] Figure 4 and Figure 5 are respectively a schematic diagram of the installation of the laser sensor and a schematic diagram of the connection relationship of each component of the execution unit.

[0048] In a preferred embodiment, the jacking unit is a jacking oil cylinder 5 or a jacking cylinder 5, which is installed below the tank rotating positioning device and below the guide rail 11. The tank 2 is sent into the detection device by the guide rail 11, and after being positioned, the tank 2 is jacked up by the jacking unit to separate the tank 2 from the guide rail 11. The tank 2 is clamped by the clamping mechanism and rotated. After the tank rotating positioning is completed, the jacking unit lowers the tank to the guide rail 11.

[0049] In a preferred embodiment, the detection unit comprises a laser sensor 1 and a laser sensor 7 and a data acquisition device. The laser sensors are installed on the rack 6 through two bent steel plates and symmetrically arranged on both sides of the tank 2, so that the laser beams emitted by the two laser sensors are staggered with each other. The data acquisition device is used for acquiring the laser sensor signals and monitoring and judging the signal state of the laser sensor in real time.

[0050] In a preferred embodiment, the control unit is a PLC controller. The PLC controller judges whether to issue a motion instruction to the execution unit according to the laser sensor signals acquired by the data acquisition device.

[0051] In a preferred embodiment, the execution unit is a drive motor 8, a sprocket 9, a sprocket 12 and a chain 13. The output end of the drive motor 8 and one end of a rubber roller 10 are respectively provided with a sprocket. The sprocket 9 and the sprocket 12 are connected through the chain 13. The execution unit receives the motion instruction issued by the detection unit, the drive motor 8 is started and drives the rubber roller 10 to rotate through the sprocket 9, the sprocket 12 and the chain 13, and the rubber roller 10 directly drives the tank 2 to rotate through friction transmission.

[0052] Please refer to Figure 6 , Figure 7, is the structure schematic view of the rubber roller 3, rubber roller 10 and rubber roller 14 provided by the application.The rubber roller is in the shape of two big heads and a small middle part, and rhombic patterns are processed on the surface of the two big heads to increase the friction force when driving.The surface patterns of the rubber roller are processed by rotation, and the rotation angle between every two grooves with the same rotation direction is 9°, and the depth of the groove is 2mm.

[0053] Please refer to Figure 8 , is the structure schematic view of the clamping mechanism provided by the application.The clamping mechanism is composed of a fixed plate 15, bearing 16 and bearing 17, and is installed on the frame 6, wherein the fixed plate 15 is installed on one side of the tank body 2 to install the rubber roller 3 and rubber roller 14, and the bearing 16 and bearing 17 are installed on the other side of the tank body 2 to install the rubber roller 10 connected with the driving motor 8, and when the tank body 2 is lifted by the lifting unit, the clamping mechanism suspends and clamps the tank body 2.

[0054] The advancing cylinder 4 is used to advance and retract the clamping mechanism, and when the gas tank 2 is lifted, the advancing cylinder 4 extends to push the clamping mechanism to extend to suspend and clamp the tank body 2, and when the tank body 2 is positioned, the advancing cylinder 4 retracts to make the clamping mechanism retract together, and then the tank body 2 is lowered to the guide rail 11 by the lifting unit.

[0055] The above detailed description is made to the embodiments of the application in combination with the drawings, but the application is not limited to the described embodiments. For those skilled in the art, various changes, modifications, replacements and variations made to the embodiments without departing from the principles and spirits of the application still fall within the protection scope of the application.

Claims

1. A method of rotating a can body to a specified position, the method comprising: The tank body rotating positioning method comprises the following steps: ​ Step S1, the lifting unit lifts the tank body to be detected, so that the tank body is separated from the guide rail and is suspended and clamped by the clamping mechanism; Step S2, the detection unit receives the laser sensor signals in real time, two laser sensors are arranged on the periphery of the tank body, and the installation height of the laser sensors is such that the laser beams emitted thereby can pass through the gaps formed by the handle of the tank body cover at specified positions, so as to ensure that the laser beams emitted by the laser sensors can pass through the gaps formed by the handle of the tank body cover; when the tank body is not rotated to the position, the laser beams are blocked by the tank body, and the laser sensor signals are high level; when the tank body is rotated to the position, the laser beams can enter from the proximal limit position of the gap formed by the handle of the tank body cover on the same side of the laser sensor and exit from the distal limit position of the gap formed by the handle of the tank body cover on the other side, and the laser sensor signals are low level; Step S3, the detection unit judges whether all the laser sensor signals are in low level state, if it is judged that all the laser sensor signals are not in low level state, step S4 is executed, and if it is judged that all the laser sensor signals are in low level state, step S5 is executed; Step S4, the control unit sends a motion instruction to the execution unit based on the judgment result of the detection unit, so that the execution unit drives the tank body to rotate, and steps S2-S4 are repeatedly executed; Step S5, the lifting unit lowers the tank body to the guide rail, and the rotating positioning of the tank body is completed.

2. The method of claim 1, wherein, The lifting unit in step S1 is a lifting cylinder or a lifting oil cylinder, and the lifting of the tank body is completed by the action of the lifting cylinder or the lifting oil cylinder; the clamping mechanism is three rubber rollers distributed around the tank body, and the three rubber rollers are distributed in a triangular position.

3. The method of claim 2, wherein, The detection unit in step S2 is a laser sensor and a data acquisition device; the two laser sensors are symmetrically arranged on both sides of the tank body through two bent steel plates, so that the two laser beams emitted by the laser sensors are interlaced with each other, and the steel plates are fixed on the rack through height-adjustable connecting pieces; the installation height of the laser sensor is higher than the handle of the tank body cover, and when the tank body is lifted, the laser sensor is at the same height as the handle of the tank body cover; the data acquisition device is used for acquiring the laser sensor signals and monitoring and judging the signal state of the laser sensor in real time.

4. The method of claim 3, wherein, The control unit in step S4 is a PLC controller, which judges whether to send a motion instruction to the execution unit according to the laser sensor signals acquired by the data acquisition device; the execution unit in step S4 comprises a driving motor, a chain wheel and a chain; one chain wheel is arranged on the output end of the driving motor and one end of the rubber roller respectively, and the two chain wheels are connected through the chain; after receiving the motion instruction sent by the detection unit, the driving motor is started and drives the rubber roller to rotate through the chain wheel and the chain, and the rubber roller directly drives the tank body to rotate through friction transmission.

5. A can body rotary positioning device for rotary positioning of a can body, characterized by, The device comprises a jacking unit, a detection unit, a control unit, an execution unit, a clamping mechanism, a pushing cylinder, a rack and a guide rail, wherein the jacking unit is used to jack up the tank body to be separated from the guide rail; the clamping mechanism is installed on the rack to suspend and clamp the jacked tank body; the detection unit is used to detect whether the tank body is rotated to the position; the control unit controls the execution unit to drive the tank body to rotate to the position based on the detection result of the detection unit; and the pushing cylinder is used to control the extension and retraction of the clamping mechanism. The detection unit comprises two laser sensors which are installed on the rack through two bent steel plates and symmetrically arranged on both sides of the tank body, so that the laser beams emitted by the two laser sensors are staggered with each other; when the tank body is rotated to the position, the laser beams of the two laser sensors can be emitted from the near-end limit position of the gap formed by the handle of the same side of the laser sensor and emitted from the far-end limit position of the gap formed by the handle of the other side of the laser sensor.

6. The apparatus of claim 5, wherein, The jacking unit is a jacking oil cylinder or a jacking cylinder which is installed below the tank body rotation positioning device and below the guide rail; the clamping mechanism is three rubber rollers which are distributed around the tank body and arranged in a triangular position.

7. The apparatus of claim 5, wherein, The detection unit comprises a data acquisition device; the data acquisition device is used to acquire the laser sensor signal and monitor the signal state of the laser sensor in real time; the control unit is a PLC controller which judges whether to issue a motion instruction to the execution unit according to the laser sensor signal acquired by the data acquisition device.

8. The apparatus of claim 6, wherein, The execution unit comprises a driving motor, a chain wheel and a chain; the chain wheel is two, one of which is installed on the output end of the driving motor and the other of which is installed on one end of the rubber roller; the two chain wheels are connected through the chain; and the driving motor drives the rubber roller to rotate through the chain wheel and the chain.

9. The apparatus of claim 6, wherein, The rubber roller is large at both ends and small in the middle, and rhombic patterns are processed on the surfaces of the two large ends to increase the friction force during transmission.

10. The apparatus of claim 9, wherein, The clamping mechanism is composed of a fixed plate and a bearing, and is installed on the rack, wherein the fixed plate is installed on one side of the tank body to install the two rubber rollers, and the bearing is installed on the other side of the tank body and is used to install the rubber roller connected with the driving motor; when the tank body is jacked up by the jacking unit, the clamping mechanism suspends and clamps the tank body.

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