An automatic stacking device and method for special-shaped pipes

Abstract

The application discloses a special-shaped pipe automatic stacking equipment and method. The equipment comprises a PC system, a roller, a traction machine, a length sensor, a visual detection device, a mechanical arm, a grabbing device, a packing drum line and an automatic steel band packing machine. The method is as follows: the MES system transmits product order information to the PC system, the PC system selects a proper stacking program; the special-shaped pipe passes through the roller, the length of the special-shaped pipe is calculated and is converted into a theoretical weight and transmitted to the PC system; the visual detection device visually detects the special-shaped pipe, removes the special-shaped pipe with defects and sends the qualified special-shaped pipe into a turnover table mechanism; then the mechanical arm grabs the qualified special-shaped pipe through the grabbing device, stacks the special-shaped pipe and sends the special-shaped pipe into a packing area; and the automatic steel band packing machine packs the stacked special-shaped pipe through steel band arrow penetration. The application has the characteristics of high case packing efficiency, low labor cost, high automation degree, low error rate, reliable performance, strong maintainability and convenient operation.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and in particular to an automatic palletizing device and method for irregularly shaped pipes. Background Technology

[0002] Irregularly shaped pipes refer to pipes with non-circular cross-sections, such as square, rectangular, and elliptical pipes. During the production process, irregularly shaped pipes may develop various defects, such as surface scratches, dents, and deformation. To ensure product quality and production efficiency, visual inspection and automated palletizing technologies are widely used in the production lines for irregularly shaped pipes.

[0003] Visual inspection technology utilizes computer vision and image processing algorithms to detect and classify defects by analyzing and processing images of irregularly shaped pipe surfaces. Commonly used visual inspection algorithms include edge detection, texture analysis, and shape matching. By acquiring high-resolution image data and combining it with advanced image processing algorithms, high-precision and high-efficiency detection of surface defects in irregularly shaped pipes can be achieved.

[0004] Automated palletizing technology utilizes robots or automated equipment to automatically stack and palletize irregularly shaped pipes. By combining with vision systems or other sensors, it can perceive and identify information such as the position and orientation of the irregularly shaped pipes. According to preset palletizing rules and algorithms, automated equipment can stack and palletize irregularly shaped pipes in a prescribed manner. This can improve production efficiency, reduce manual operation, and ensure the stability and accuracy of palletizing.

[0005] The key technologies behind these include computer vision, image processing, machine learning, and robot control. By combining these technologies, irregularly shaped pipe production lines can achieve efficient, accurate, and automated defect detection and palletizing processes, improving product quality and production efficiency. At the same time, system design, algorithm optimization, and equipment debugging are required based on specific application scenarios and needs to achieve optimal detection and palletizing results. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic palletizing equipment and method for irregularly shaped pipes that is simple and reasonable, has high packing efficiency, low labor intensity, low labor cost, high degree of automation, low error rate, reliable performance, strong maintainability, and convenient operation.

[0007] The technical solution to achieve the purpose of this invention is: an automatic palletizing equipment for irregularly shaped pipes, including a PC system, roller conveyor, traction machine, length sensor, vision inspection device, robotic arm, gripping device, packing roller line, and automatic steel strapping machine;

[0008] The PC terminal is used to receive product order information, process the data, and send the processed data to the automatic palletizing equipment.

[0009] The roller conveyor is used to transport irregularly shaped pipes;

[0010] The traction machine is used to pull the shaped pipe onto the roller conveyor;

[0011] The length sensor is used to measure the length of irregularly shaped pipes;

[0012] The visual inspection device is installed around the roller conveyor to inspect irregularly shaped pipes, obtain inspection results and visual positioning data of the irregularly shaped pipes, determine whether the irregularly shaped pipes are qualified, and provide data support for the operation of the robotic arm and gripping device.

[0013] The robotic arm is equipped with a gripping device for gripping and stacking irregularly shaped pipes;

[0014] The packing roller line is used to feed irregularly shaped pipes into the packing area;

[0015] The automatic steel strapping machine is used to pack irregularly shaped pipes.

[0016] An automatic stacking method for irregularly shaped pipes includes the following steps:

[0017] Step 1: The MES system obtains product order information and transmits it to the PC system. The PC system then selects the appropriate palletizing program.

[0018] Step 2: The irregularly shaped pipes pass through the roller conveyor, the length of the irregularly shaped pipes is calculated, and the data is sent to the PC system to be converted into theoretical weight;

[0019] Step 3: After the irregularly shaped pipe enters the roller conveyor, the vision inspection device performs visual inspection on the irregularly shaped pipe.

[0020] Step 4: Use a cylinder lifting mechanism to push the defective pipes found in the inspection results into the waste bin;

[0021] Step 5: Qualified special-shaped pipes enter the turnover table mechanism;

[0022] Step 6: Align the qualified irregular-shaped pipes using the edge-aligning and flattening mechanism;

[0023] Step 7: The robotic arm uses a gripping device to pick up and stack the qualified irregular-shaped pipes.

[0024] Step 8: After palletizing is completed, start the packing roller line to send the irregularly shaped pipes into the packing area;

[0025] Step 9: The automatic steel strapping machine uses steel straps to pack the stacked irregular-shaped pipes.

[0026] Furthermore, the product order information mentioned in step 1 includes product model, product quantity, customer information, and machine type information.

[0027] Furthermore, the irregularly shaped pipe described in step 2 passes through a roller conveyor, and its length is calculated and transmitted to the PC system for conversion into a theoretical weight, as detailed below:

[0028] Step 2.1: The shaped pipe enters the roller conveyor through the traction machine, and the length sensor measures the length of the shaped pipe in real time;

[0029] Step 2.2: Transmit the length information of the irregular-shaped pipe to the PC system and convert it into theoretical weight for data retrieval.

[0030] Further, the shaped pipe described in step 2.1 enters the roller conveyor via a traction machine, and the length sensor measures the length of the shaped pipe in real time, as follows:

[0031] The length sensor includes an ultrasonic sensor and a rotary encoder. The ultrasonic sensor emits ultrasonic pulses and measures their return time to measure the length of the material. The rotary encoder is installed on the drum or roller of the material conveying system and rotates in the direction of material movement to calculate the linear velocity and length of the material.

[0032] Furthermore, in step 3, after the irregularly shaped pipe enters the roller conveyor, the vision inspection device performs visual inspection on the irregularly shaped pipe, as detailed below:

[0033] Step 3.1: After the irregularly shaped pipe enters the roller conveyor, use a vision inspection device to capture multiple frames of images of the irregularly shaped pipe and combine the images into one to reduce image noise.

[0034] Step 3.2: Image preprocessing, including image denoising, image enhancement, and image smoothing, to improve image quality and reduce the impact of noise on detection results;

[0035] Step 3.3: Feature extraction. Edge detection, texture analysis, and color analysis methods are used to extract edge, texture, and color features from the image to describe the surface features of the irregularly shaped pipe.

[0036] Step 3.4: Segmentation algorithm. Threshold segmentation, edge segmentation, or region growing algorithm are used to segment the image into different regions so that each region can be analyzed and processed independently.

[0037] Step 3.5: Defect detection algorithm. Template matching, shape matching, or machine learning algorithms are used to detect defects on the surface of irregular-shaped pipes by comparing them with predefined templates or standards.

[0038] Step 3.5: Deep learning algorithm. Use a deep learning model to detect and classify surface defects of irregularly shaped pipes.

[0039] Step 3.6: Statistical analysis. Use grayscale histograms, mean or variance methods to perform statistical analysis on the pixel values ​​in the image to evaluate the quality and defects of the irregular pipe surface.

[0040] Furthermore, in step 7, the robotic arm uses a gripping device to pick up and stack the qualified irregularly shaped pipes, as detailed below:

[0041] Step 7.1: Identification and positioning. Using a vision system, the irregular-shaped pipes to be stacked are identified and positioned by detecting their size, shape, and color characteristics.

[0042] Step 7.2: Based on the identification and positioning results, the robotic arm controls the gripping device to grab the irregular-shaped pipes to be stacked and transport them to the target stacking position;

[0043] Step 7.3, Release and Stack: After reaching the target position, the robotic arm releases the gripped irregular-shaped pipe and stacks it on the existing stack.

[0044] Step 7.4: Repeat steps 7.2 to 7.5 until all irregularly shaped pipes have been stacked.

[0045] Step 7.5: After all the irregularly shaped pipes have been stacked, the robotic arm and gripping device stop working and wait for the next operation or task.

[0046] Furthermore, the automatic steel strapping machine described in step 9 performs steel strapping and slinging on the stacked irregularly shaped pipes, as detailed below:

[0047] Step 9.1: Prepare the steel strapping to be packaged and ensure that the automatic steel strapping machine and related equipment are in normal working condition;

[0048] Step 9.2: According to the size and requirements of the steel strip, adjust the parameters of the baling machine through the PC system interface, including arrow position, arrow height and arrow tension;

[0049] Step 9.3: Place one end of the steel strapping on the worktable of the automatic steel strapping machine and ensure that the steel strapping enters the packaging area correctly;

[0050] Step 9.4: When the special-shaped pipe reaches the designated packaging position, start the automatic arrow-threading function. The automatic steel strapping machine will thread the arrow through the steel strap and fix it to the other side.

[0051] Step 9.5: After the arrow is fixed to the other side, the automatic steel strapping machine tensions the steel strapping to ensure a stable sealing effect.

[0052] Compared with the prior art, the present invention has the following significant advantages: (1) It realizes automatic palletizing of special-shaped pipes, reducing the need for manual intervention and thus improving production efficiency; (2) The robotic arm and system perform tasks according to the predetermined program, reducing the risk of human error; (3) The robotic arm can accurately stack and arrange special-shaped pipes, ensuring the stability and safety of palletizing, thereby reducing damage and waste; (4) It realizes real-time quality control. The vision inspection system can detect scratches and other defects on the surface of special-shaped pipes, ensuring that only high-quality special-shaped pipes are palletized and shipped, thus improving product quality and customer satisfaction; (5) It realizes automated order processing. Through integration with the MES order system, the factory can realize real-time transmission and processing of order information; (6) It realizes real-time monitoring and reporting. Factory managers can monitor the production process in real time through the system, including order execution status, output, efficiency, etc., and the system can generate production reports, which helps to optimize and improve the production process; (7) It enhances safety. Since the automation process can reduce the need for personnel to handle heavy materials, it reduces the safety risks associated with the operation of industrial equipment. Attached Figure Description

[0053] Figure 1 This is a flowchart illustrating an automatic stacking method for irregularly shaped pipes according to the present invention. Detailed Implementation

[0054] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] This invention provides an automatic palletizing equipment for irregularly shaped pipes, comprising a PC system, roller conveyor, traction machine, length sensor, vision inspection device, robotic arm, gripping device, packing roller line, and automatic steel strapping machine;

[0056] The PC terminal is used to receive product order information, process the data, and send the processed data to the automatic palletizing equipment.

[0057] The roller conveyor is used to transport irregularly shaped pipes;

[0058] The traction machine is used to pull the shaped pipe onto the roller conveyor;

[0059] The length sensor is used to measure the length of irregularly shaped pipes;

[0060] The visual inspection device is installed around the roller conveyor to inspect irregularly shaped pipes, obtain inspection results and visual positioning data of the irregularly shaped pipes, determine whether the irregularly shaped pipes are qualified, and provide data support for the operation of the robotic arm and gripping device.

[0061] The robotic arm is equipped with a gripping device for gripping and stacking irregularly shaped pipes;

[0062] The packing roller line is used to feed irregularly shaped pipes into the packing area;

[0063] The automatic steel strapping machine is used to pack irregularly shaped pipes.

[0064] The MES order system receives customer order information, including product model, quantity, customer information, and machine type. The order system then transmits this information to the automated palletizing system for palletizing according to the order requirements. Based on the parsed order information, the automated palletizing system selects an appropriate palletizing program, determining how to arrange and stack the shaped tubing to meet the order requirements. Each different specification of shaped tubing requires a different palletizing program, which can be freely switched using order information data. The robotic arm uses a path planning algorithm to begin stacking the shaped tubing together according to the selected palletizing program. This process is typically highly precise to ensure the stability and safety of the palletizing. The robotic arm makes real-time adjustments based on feedback from the vision positioning system to adapt to shaped tubing of different shapes and sizes. The robotic arm acquires environmental information through sensors, including obstacle positions and movement status, to ensure operational safety and avoid collisions. Based on the grasping strategy and motion planning algorithm, the robotic arm selects a suitable grasping posture and precisely controls the grasping device to execute grasping and palletizing actions. The robotic arm repeats the above steps, continuously grasping and palletizing according to the order quantity requirements until all shaped tubing is palletized.

[0065] Combination Figure 1 An automatic stacking method for irregularly shaped pipes includes the following steps:

[0066] Step 1: The MES system obtains product order information and transmits it to the PC system. The PC system then selects the appropriate palletizing program.

[0067] As a specific example, the product order information includes product model, product quantity, customer information, and machine type information.

[0068] Step 2: The irregularly shaped pipes pass through the roller conveyor, the length of the irregularly shaped pipes is calculated, and the data is sent to the PC system to be converted into theoretical weight, as detailed below:

[0069] Step 2.1: The shaped pipes enter the roller conveyor via a traction machine, and the length sensor measures the length of the shaped pipes in real time, as detailed below:

[0070] The length sensor includes an ultrasonic sensor and a rotary encoder. The ultrasonic sensor emits ultrasonic pulses and measures their return time to measure the length of the material. The rotary encoder is installed on the drum or roller of the material conveying system and rotates in the direction of material movement to calculate the linear velocity and length of the material.

[0071] Step 2.2: Transmit the length information of the irregular-shaped pipe to the PC system and convert it into theoretical weight for data retrieval.

[0072] Step 3: After the irregularly shaped pipe enters the roller conveyor, the vision inspection device performs visual inspection on the irregularly shaped pipe, as follows:

[0073] Step 3.1: After the irregularly shaped pipe enters the roller conveyor, use a vision inspection device to capture multiple frames of images of the irregularly shaped pipe and combine the images into one to reduce image noise.

[0074] Step 3.2: Image preprocessing, including image denoising, image enhancement, and image smoothing, to improve image quality and reduce the impact of noise on detection results;

[0075] Step 3.3: Feature extraction. Edge detection, texture analysis, and color analysis methods are used to extract edge, texture, and color features from the image to describe the surface features of the irregularly shaped pipe.

[0076] Step 3.4: Segmentation algorithm. Threshold segmentation, edge segmentation, or region growing algorithm are used to segment the image into different regions so that each region can be analyzed and processed independently.

[0077] Step 3.5: Defect detection algorithm. Template matching, shape matching, or machine learning algorithms are used to detect defects on the surface of irregular-shaped pipes by comparing them with predefined templates or standards.

[0078] Step 3.5: Deep learning algorithm. Use a deep learning model to detect and classify surface defects of irregularly shaped pipes.

[0079] Step 3.6: Statistical analysis. Use grayscale histograms, mean or variance methods to perform statistical analysis on the pixel values ​​in the image to evaluate the quality and defects of the irregular pipe surface.

[0080] The visual inspection device employs a deep learning-based object detection algorithm, YOLO, to detect and locate products within a scene. YOLO uses a single-stage object detection method, combined with anchor boxes for bounding box prediction, resulting in high detection speed and accuracy. Based on a pre-trained model, the algorithm is fine-tuned using a large amount of product data to detect and recognize different products. Deep learning methods, such as Convolutional Neural Networks (CNNs), can be used to learn the impact of oil stains on images and attempt to remove them. This typically requires a large amount of labeled training data so that the network can learn oil stain patterns and accurately remove them, improving the system's adaptability.

[0081] Oil stains on the surface of irregularly shaped pipes affect the clarity of drawings acquired by the vision system. An automated mechanism for removing oil stains is adopted. The oil stains on the steel surface are cleaned by a high-atomization cleaning spray gun, and then the surface cleaning agent is removed by a soft sponge mechanism.

[0082] Oil stains on the surface of irregularly shaped pipes affect the clarity of drawings acquired by the vision system. The vision system is also designed with filters to help remove oil stains or other noise from the image. For example, a median filter can be used to smooth the image and remove the effects of oil stains. Image enhancement algorithms are also employed to enhance image contrast and clarity, making it easier to detect surface defects. For example, histogram equalization is used to improve the brightness distribution of the image, and color correction algorithms are used to correct color distortion caused by oil stains. These algorithms can correct the color balance of the image, making it closer to the actual colors. Multi-view imaging can improve the detection of surface defects. By capturing images from different angles, reflections caused by oil stains can be reduced, and more information can be provided for defect detection.

[0083] Step 4: Use a cylinder lifting mechanism to push the defective pipes found in the inspection results into the waste bin;

[0084] Step 5: Qualified special-shaped pipes enter the turnover table mechanism;

[0085] Step 6: Align the qualified irregular-shaped pipes using the edge-aligning and flattening mechanism;

[0086] Step 7: The robotic arm uses a gripping device to pick up and stack the qualified irregular-shaped pipes, as detailed below:

[0087] Step 7.1: Identification and positioning. Using a vision system, the irregular-shaped pipes to be stacked are identified and positioned by detecting their size, shape, and color characteristics.

[0088] Step 7.2: Based on the identification and positioning results, the robotic arm controls the gripping device to grab the irregular-shaped pipes to be stacked and transport them to the target stacking position;

[0089] Step 7.3, Release and Stack: After reaching the target position, the robotic arm releases the gripped irregular-shaped pipe and stacks it on the existing stack.

[0090] Step 7.4: Repeat steps 7.2 to 7.5 until all irregularly shaped pipes have been stacked.

[0091] Step 7.5: After all the irregularly shaped pipes have been stacked, the robotic arm and gripping device stop working and wait for the next operation or task.

[0092] Step 8: After palletizing is completed, start the packing roller line to send the irregularly shaped pipes into the packing area;

[0093] Step 9: The automatic steel strapping machine uses steel straps to pack the stacked irregular-shaped pipes, as detailed below:

[0094] Step 9.1: Prepare the steel strapping to be packaged and ensure that the automatic steel strapping machine and related equipment are in normal working condition;

[0095] Step 9.2: According to the size and requirements of the steel strip, adjust the parameters of the baling machine through the PC system interface, including arrow position, arrow height and arrow tension;

[0096] Step 9.3: Place one end of the steel strapping on the worktable of the automatic steel strapping machine and ensure that the steel strapping enters the packaging area correctly;

[0097] Step 9.4: When the special-shaped pipe reaches the designated packaging position, start the automatic arrow-threading function. The automatic steel strapping machine will thread the arrow through the steel strap and fix it to the other side.

[0098] Step 9.5: After the arrow is fixed to the other side, the automatic steel strapping machine tensions the steel strapping to ensure a stable sealing effect.

[0099] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent.

[0100] In all the examples shown and discussed here, any specific values ​​should be interpreted as merely exemplary, not as limitations.

[0101] Example

[0102] The purpose of this invention is to provide a visual inspection process for surface defects in irregularly shaped pipes and an automated palletizing process, which solves the problems of existing manual handling, high labor costs, low palletizing efficiency, inadequate quality inspection, and high risk of work-related injuries.

[0103] To solve the above problems, this embodiment is implemented through the following technical solution:

[0104] S1: The MES order system receives customer order information. This includes the specifications, quantity, and other relevant information for irregularly shaped steel. The order system then transmits the order information to the automated palletizing system for palletizing according to the order requirements.

[0105] S2: The length of the material is measured by emitting ultrasonic pulses and measuring their return time using an ultrasonic sensor and a rotary encoder. The rotary encoder is mounted on the material conveying system, where rollers or drums rotate in the direction the material is moving, thereby calculating the linear velocity and length of the material.

[0106] S3: When the irregular steel material enters the roller conveyor, the circular industrial camera performs visual inspection on the irregular steel material to detect whether there are scratches, dents or other defects on the surface.

[0107] The MES order system receives customer order information, including the specifications, quantity, and other relevant information of irregularly shaped steel. The order system then transmits this information to the automated palletizing system for palletizing according to the order requirements. Based on the parsed order information, the automated palletizing system selects an appropriate palletizing program. This program determines how to arrange and stack the irregularly shaped steel to meet the order requirements. Each different specification of steel requires a different palletizing program. Programs can be freely switched using order information data. The robotic arm uses a path planning algorithm to begin stacking the irregularly shaped steel together according to the selected palletizing program. This process is typically highly precise to ensure the stability and safety of the palletizing. The robotic arm makes real-time adjustments based on feedback from the vision positioning system to accommodate steel of different shapes and sizes. The robotic arm acquires information about the surrounding environment through sensors, including the position and movement of obstacles, to ensure operational safety and avoid collisions. Based on the grasping strategy and motion planning algorithm, the robotic arm selects a suitable grasping posture and precisely controls the mechanical gripper to perform grasping and palletizing actions. The robotic arm repeats the above steps, continuously grasping and palletizing according to the order quantity requirements until all products are palletized.

[0108] A circular industrial camera is installed above the roller conveyor. When the irregular steel material moves into the roller conveyor, the circular industrial camera takes multiple frames of images in a short time and combines the images into one, which can effectively reduce the noise of the image.

[0109] The visual recognition system employs the YOLO algorithm, a deep learning-based object detection algorithm, to detect and locate products within a scene. The YOLO algorithm uses a single-stage object detection method, combined with anchor boxes for bounding box prediction, resulting in high detection speed and accuracy. Based on a pre-trained model, the algorithm is fine-tuned using a large amount of product data to achieve the detection and recognition of different products. Deep learning methods such as Convolutional Neural Networks (CNNs) can be used to learn the impact of oil stains on images and attempt to remove them. This typically requires a large amount of labeled training data so that the network can learn oil stain patterns and accurately remove them, improving the system's adaptability.

[0110] Oil stains on the surface of irregularly shaped steel affect the clarity of drawings acquired by the vision system. This system first designs an automated mechanism to remove oil stains, which cleans the oil stains on the steel surface with a high-atomization cleaning spray gun, and then uses a soft sponge mechanism to clean the surface with cleaning agent.

[0111] Oil stains on irregularly shaped steel surfaces can impair the clarity of drawings captured by a vision system. The vision system incorporates filters to help remove oil stains and other noise from the image. For example, a median filter can smooth the image and remove the effects of oil. Image enhancement algorithms are also employed to improve contrast and clarity, making it easier to detect surface defects. For instance, histogram equalization can improve the brightness distribution of the image. Color correction algorithms are used to correct color distortion caused by oil stains, bringing the color balance closer to reality. Multi-view imaging improves the detection of surface defects. By capturing images from different angles, reflections caused by oil stains can be reduced, providing more information for defect detection.

[0112] S4: Remove defective or irregularly shaped products. For products that fail visual inspection, activate the cylinder lifting mechanism to push the defective products into the waste bin.

[0113] S5: Defect-free irregular-shaped products enter the flipping table mechanism, where the system's internal algorithm determines whether the irregular-shaped pipe needs to be flipped before stacking. Some products require front and back stacking according to process requirements, mainly to prevent the process surfaces of the pipe products from being scratched or damaged during transportation or hoisting.

[0114] S6: The edge-aligning and flattening mechanism aligns irregularly shaped products;

[0115] S7: The robotic arm uses electro-permanent magnets to attract irregularly shaped products for palletizing. First, the robotic arm is guided to the location of the irregularly shaped steel. This may require the use of a vision positioning system or other sensing technology to ensure that the robotic arm is accurately positioned above the irregularly shaped steel. Once the robotic arm is in the appropriate position, the electro-permanent magnet grippers are activated to attract the irregularly shaped steel. This ensures that the steel will not fall off during transport. After the irregularly shaped steel is successfully attracted, the robotic arm begins to move to the palletizing area. The robotic arm gently places the attracted irregularly shaped steel onto the palletizing area. This process requires precise control to ensure that the steel is correctly arranged to meet specific palletizing requirements. The above process can be repeated until all irregularly shaped steel has been palletized, or until a specific stacking quantity is met.

[0116] S8: After palletizing is completed, the packing roller line will automatically start to send irregularly shaped products into the packing area.

[0117] S9: The automatic steel strapping machine straps palletized irregularly shaped products with arrow-shaped steel straps. Prepare the steel straps to be strapped and ensure the strapping machine and related equipment are in normal working order. Adjust the strapping machine parameters, such as arrow position, arrow height, and arrow tension, according to the size and requirements of the steel straps. These parameters can be adjusted via the control panel or computer interface. Place one end of the steel strap on the strapping machine's worktable, ensuring the strap enters the strapping area correctly. Once the product reaches the designated strapping position, activate the automatic arrow-threading function. The strapping machine will automatically thread the arrow through the steel strap and secure it to the other side. This process may involve electric or pneumatic devices to achieve the arrow-threading operation. With the arrow secured to the other side, the strapping machine will automatically tension the steel strap to ensure a stable sealing effect.

[0118] In the description of this invention patent, it should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the implementation conditions of this invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," "first," and "second" used in this specification are merely for clarity and not intended to limit the scope of implementation of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of implementation of this invention.

[0119] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0120] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0121] For those skilled in the art, various variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of the claims of this invention.

Claims

1. An automatic stacking method for irregularly shaped pipes, characterized in that, This method is based on an automatic palletizing equipment for irregularly shaped pipes, which includes a PC system, roller conveyor, traction machine, length sensor, vision inspection device, robotic arm, gripping device, packing roller line, and automatic steel strapping machine; The PC terminal is used to receive product order information, process the data, and send the processed data to the automatic palletizing equipment. The roller conveyor is used to transport irregularly shaped pipes; The traction machine is used to pull the shaped pipe onto the roller conveyor; The length sensor is used to measure the length of irregularly shaped pipes; The visual inspection device is installed around the roller conveyor to inspect irregularly shaped pipes, obtain inspection results and visual positioning data of the irregularly shaped pipes, determine whether the irregularly shaped pipes are qualified, and provide data support for the operation of the robotic arm and gripping device. The robotic arm is equipped with a gripping device for gripping and stacking irregularly shaped pipes; The packing roller line is used to feed irregularly shaped pipes into the packing area; The automatic steel strapping machine is used to pack irregularly shaped pipes. The automatic stacking method for irregularly shaped pipes includes the following steps: Step 1: The MES system obtains product order information and transmits it to the PC system. The PC system then selects the matching palletizing program. Step 2: The irregularly shaped pipes pass through the roller conveyor, the length of the irregularly shaped pipes is calculated, and the data is sent to the PC system to be converted into theoretical weight; Step 3: After the irregularly shaped pipe enters the roller conveyor, the vision inspection device performs visual inspection on the irregularly shaped pipe. Step 4: Use a cylinder lifting mechanism to push the defective pipes found in the inspection results into the waste bin; Step 5: Qualified special-shaped pipes enter the turnover table mechanism; Step 6: Align the qualified irregular-shaped pipes using the edge-aligning and flattening mechanism; Step 7: The robotic arm uses a gripping device to pick up and stack the qualified irregular-shaped pipes. Step 8: After palletizing is completed, start the packing roller line to send the irregularly shaped pipes into the packing area; Step 9: The automatic steel strapping machine uses steel straps to pack the stacked irregular-shaped pipes. In step 2, the irregularly shaped pipes pass through a roller conveyor, and their length is calculated and transmitted to the PC system for conversion into theoretical weight, as detailed below: Step 2.1: The shaped pipe enters the roller conveyor through the traction machine, and the length sensor measures the length of the shaped pipe in real time; Step 2.2: Transmit the length information of the irregular-shaped pipe to the PC system and convert it into theoretical weight for data retrieval; In step 2.1, the shaped pipes are fed into the roller conveyor via a traction machine. A length sensor measures the length of the shaped pipes in real time, as detailed below: The length sensor includes an ultrasonic sensor and a rotary encoder. The ultrasonic sensor emits ultrasonic pulses and measures their return time to measure the length of the material. The rotary encoder is installed on the drum or roller of the material conveying system and rotates in the direction of material movement to calculate the linear velocity and length of the material. In step 3, after the irregularly shaped pipe enters the roller conveyor, the vision inspection device performs visual inspection on the irregularly shaped pipe, as follows: Step 3.1: After the irregularly shaped pipe enters the roller conveyor, use a vision inspection device to capture multiple frames of images of the irregularly shaped pipe and combine the images into one; Step 3.2: Image preprocessing, including image denoising, image enhancement, and image smoothing; Step 3.3: Feature extraction. Edge detection, texture analysis, and color analysis methods are used to extract edge, texture, and color features from the image to describe the surface features of the irregularly shaped pipe. Step 3.4: Segmentation algorithm. Threshold segmentation, edge segmentation, or region growing algorithm are used to segment the image into different regions so that each region can be analyzed and processed independently. Step 3.5: Defect detection algorithm. Template matching, shape matching, or machine learning algorithms are used to detect defects on the surface of irregular-shaped pipes by comparing them with predefined templates or standards. Step 3.5: Deep learning algorithm. Use a deep learning model to detect and classify surface defects of irregularly shaped pipes. Step 3.6: Statistical analysis. Use grayscale histogram, mean or variance methods to perform statistical analysis on the pixel values ​​in the image to evaluate the quality and defects of the irregular pipe surface. In step 7, the robotic arm uses a gripping device to pick up and stack the qualified irregular-shaped pipes, as detailed below: Step 7.1, Identification and Positioning: Using a vision system, the irregularly shaped pipes to be stacked are identified and positioned by detecting their size, shape, and color characteristics. Step 7.2: Based on the identification and positioning results, the robotic arm controls the gripping device to grab the irregular-shaped pipes to be stacked and transport them to the target stacking position. Step 7.3, Release and Stack: After reaching the target position, the robotic arm releases the gripped irregular-shaped pipe and stacks it on the existing stack. Step 7.4: Repeat steps 7.2 to 7.5 until all irregularly shaped pipes have been stacked. Step 7.5: After all the irregularly shaped pipes have been stacked, the robotic arm and gripping device stop working and wait for the next operation or task. In step 9, the automatic steel strapping machine uses steel straps to pack the stacked irregularly shaped pipes, as detailed below: Step 9.1: Prepare the steel strapping to be packaged and ensure that the automatic steel strapping machine and related equipment are in normal working condition; Step 9.2: According to the size and requirements of the steel strip, adjust the parameters of the baling machine through the PC system interface, including arrow position, arrow height and arrow tension; Step 9.3: Place one end of the steel strapping on the worktable of the automatic steel strapping machine and ensure that the steel strapping enters the packaging area correctly; Step 9.4: When the special-shaped pipe reaches the designated packaging position, start the automatic arrow-threading function. The automatic steel strapping machine will thread the arrow through the steel strap and fix it to the other side. Step 9.5: After the arrow is fixed to the other side, the automatic steel strapping machine tensions the steel strapping.

2. The automatic stacking method for irregularly shaped pipes according to claim 1, characterized in that, The product order information in step 1 includes product model, product quantity, customer information, and machine type information.

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