An automatic control method for aluminum alloy frame structure loading mistake proofing

Abstract

This invention relates to the field of automatic control in the material loading area of ​​an automated machining production line, specifically a method for error-proof control of loading aluminum alloy frame structural parts of different specifications and quantities. The method includes the following steps: 1) Scanning the product work order before loading to automatically input information; 2) Executing the loading operation, with in-and-out cylinders driving the pallet and multiple stacked structural parts of the same size to complete the entry into the line; 3) After entering the line, using a smart camera's contour search tool to detect the position of the structural part's movable positioning rod; 4) After correct position detection, using a laser displacement sensor to detect the number of structural parts; 5) After correct quantity detection, using a smart camera's edge width measurement tool to detect the external dimensions (length and width) of the structural parts. This invention achieves automatic control of the material loading section of an automated machining production line, simplifies the manual loading process, automatically verifies workpiece information, and is an important component of a fully automated intelligent machining production line.

Description

Technical Field

[0001] This invention relates to the field of automatic control of the material feeding area on an automated machining production line, and to a method for preventing errors in the feeding of aluminum alloy frame structural parts of different specifications and quantities. Background Technology

[0002] An automated machining production line consists of multiple processing equipment, handling equipment, cleaning equipment, and independent functional workstations. The handling equipment connects all other discrete equipment and workstations, handling pallets and workpieces according to the production task flow, including loading and unloading. Components of the same specification are stacked layer by layer on pallets. Each pallet has multiple evenly spaced locating pin holes. By inserting movable locating rods into different pin holes, and cooperating with the fixed support rods at the top of the pallet, diagonal fixation of different specifications of frame-type structural components can be achieved. The two diagonal support rods are of a certain length and can fix multiple structural components to be processed on the pallet, keeping them neatly aligned vertically. Once the pallet enters the line, the handling equipment performs processes such as handling, layer-by-layer marking, layer-by-layer material removal, individual processing, cleaning, and unloading according to the workpiece information entered into the system. The accuracy of the material loading information directly affects almost all processes in the production flow. Incorrect information can cause inconsistencies in the material removal positions of the handling equipment, easily leading to collisions, and in severe cases, damage to processing equipment, cleaning equipment, and other specialized equipment.

[0003] Currently, the information input for loading is mostly done manually by the operator, who inputs parameters such as the length, width, height, and quantity of structural components before executing the loading operation. This presents a significant possibility of mismatch between the entered information and the actual workpiece being loaded. If loading work orders are scanned for information input, multiple work orders may lead to discrepancies between the work order number and the material. Therefore, error prevention control for loading information in the loading area is not only a verification and protection measure against manual operations, but also an essential verification process for the input of critical information on automated production lines. Summary of the Invention

[0004] This invention focuses on the control of pallet entry and exit, and the collection of multi-sensor information on palletized structural components and movable positioning rods. This enables the verification of movable positioning rods, the number of stacked structural components, and the size specifications of structural components on the pallet. The verification information is then displayed on a host computer, ensuring the accuracy of key object information input in automated production lines.

[0005] The technical solution adopted by the present invention to achieve the above objectives is as follows:

[0006] An automatic control system for preventing errors in the feeding of aluminum alloy frame structural components includes: an intelligent detection and servo drive unit, a multi-station slide, a pallet fixing support rod, and a movable positioning rod, wherein:

[0007] The intelligent detection and servo drive unit is vertically mounted on the plane of the multi-station slide. Each workpiece tray on the slide is fixed with a tray fixing rod by screws at the same corner. The workpiece tray is uniformly provided with m*n pin holes, where m and n are constants. The lower end of the movable positioning rod has a cylindrical pin for inserting into the pin hole on the workpiece tray to fix the movable positioning rod at any position.

[0008] The intelligent detection and servo drive unit includes: a gantry truss, an intelligent camera, a ring light source, and a laser displacement sensor, wherein:

[0009] The intelligent camera, the ring light source, and the laser displacement sensor are all located on the end plane of the two-dimensional servo mechanism of the gantry truss. The intelligent camera is located at the center of the plane, the ring light source is located around the plane, and the laser displacement sensor is located directly above the tray fixing support.

[0010] The top of the movable positioning rod is equipped with a reflective sticker.

[0011] An automatic control method for preventing errors in the feeding of aluminum alloy frame structural components includes the following steps:

[0012] Position detection: Move the two-dimensional servo mechanism in the intelligent detection and servo drive unit to directly above the slide table where the workpiece tray is located, and when the height is H1, use the intelligent camera to detect the position of the movable positioning rod. If the position detection is qualified, proceed to the next step; otherwise, the slide table moves out of the automatic control system.

[0013] Workpiece quantity detection: Lower the two-dimensional servo mechanism to height H2, and use a laser displacement sensor to detect the number of workpieces. If the detection is qualified, proceed to the next step; otherwise, the slide table moves out of the automatic control system.

[0014] Workpiece size inspection: Based on the number of workpieces and the thickness of each workpiece, the workpiece size inspection position H3 is calculated, and the two-dimensional servo mechanism is moved to the height of H3. The length and width of the workpiece are measured by a smart camera. If the inspection is qualified, the workpiece tray is completed and enters the line; otherwise, the slide is moved out of the automatic control system.

[0015] The location detection specifically refers to:

[0016] 1.1) At a height of H1, the coordinate information of the movable positioning rod is obtained by capturing the reflective label at the top of the movable positioning rod using a smart camera;

[0017] 1.2) Change the position of the movable positioning rod multiple times and record the coordinate information of the movable positioning rod each time until the coordinate information of all the pin holes used to fix the movable positioning rod in the workpiece tray is obtained, and a movable positioning rod coordinate data table is formed.

[0018] 1.3) During inspection, the estimated position value of the workpiece is retrieved from the coordinate data table of the movable positioning rod based on the workpiece's dimensions;

[0019] 1.4) Place the workpiece in the workpiece tray and, when the height is H1, use a smart camera to capture the reflective label at the top of the movable positioning rod to obtain the actual coordinate value of the movable positioning rod;

[0020] 1.5) Compare the actual coordinate values ​​with the estimated position values. If the error is less than the threshold, the position detection is qualified.

[0021] The workpiece quantity detection specifically involves:

[0022] 2.1) Place multiple workpieces on a workpiece tray, measure the actual total thickness of the workpieces, and simultaneously measure the total thickness of the workpieces using a laser displacement sensor at a height of H2.

[0023] 2.2) Change the number of workpieces and execute step 2.1) multiple times to obtain the calculation relationship between the actual value and the measured value of the total thickness of the workpieces;

[0024] 2.3) During inspection, multiply the number of workpieces on the workpiece tray by the thickness of a single workpiece to obtain an estimated total workpiece thickness:

[0025] 2.4) When the height is H2, the total thickness of the workpiece is measured by a laser displacement sensor, and the actual value of the total thickness of the workpiece is obtained by solving the relationship.

[0026] 2.5) Compare the actual value of the total thickness of the workpiece with the estimated value. If the error is less than the threshold, the workpiece quantity inspection is qualified.

[0027] The workpiece size detection specifically involves:

[0028] 3.1) When the distance between the smart camera and the top of the workpiece is h3, place the largest workpiece in the workpiece tray, collect image information of the workpiece through the smart camera, measure the edge thickness of the length and width of the workpiece, and correct it to obtain the actual measured value of the workpiece size.

[0029] 3.2) Using workpieces of different sizes, repeat step 3.1) to obtain the actual measured values ​​of different workpiece sizes;

[0030] 3.3) During inspection, the position H3 of the two-dimensional servo mechanism is determined based on the total thickness h0 of the workpiece, where H3 = h3 + h0;

[0031] 3.4) When the height is H3, the length and width of the workpiece are detected by the intelligent camera and used as the detection value of the workpiece size. The detection value of the workpiece size is compared with the input value. If the error is less than the threshold, the workpiece size detection is qualified.

[0032] The present invention has the following beneficial effects and advantages:

[0033] 1. Using barcode scanning reduces manual information verification and input, improving material loading efficiency;

[0034] 2. It avoids the harm caused by discrepancies between material loading information and actual material requirements due to incorrect work order information;

[0035] 3. By measuring dimensions, it prevents operators from placing workpieces with their long and wide sides reversed.

[0036] 4. By using the movable positioning rod detection, accidents such as workpiece tipping during pallet handling are avoided due to missing or incorrectly placed positioning rods in the pallet.

[0037] 5. It avoids the situation where the number of workpieces loaded does not match the actual number loaded. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the workstation structure in the material loading area;

[0039] Figure 2 This is a flowchart illustrating the specific implementation steps. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0041] like Figure 1 As shown, the loading area is equipped with a four-station slide table for positioning and clamping different structural parts before they enter the production line. The same type of structural parts are stacked on the same station slide table in the form of pallet stacking. The manual control button drives the pneumatic slide table to move the pallets of each channel into and out of the production line. The two ends of the slide table are equipped with position sensors, stops and buffers.

[0042] Perpendicular to the plane of the multi-station slide is the intelligent detection and servo drive unit. A gantry truss structure integrates intelligent detection equipment, such as intelligent cameras, ring light sources, and laser displacement sensors, at the end of the gantry truss two-dimensional servo mechanism. Under the control of the servo mechanism, the intelligent detection equipment can move arbitrarily in the horizontal and vertical directions (X-axis and Z-axis) of the truss. After the slide enters the line, the detection device can be moved directly above any of the entered slides and can be raised and lowered directly above the tray to be inspected to adjust the appropriate measurement height.

[0043] Because the aluminum alloy frame structure inside the pallet is reflective, the entire pallet is made of black non-reflective material, and reflective stickers of the same size are affixed to the top of the movable positioning rod. The adjustable height range of the camera and light source is adjusted to ensure that the maximum and minimum stacking heights inside the pallet, as well as the image information of the largest and smallest sized workpieces and the top of the movable positioning rod, are all captured completely.

[0044] Like a camera, the laser displacement sensor is integrated at the end of the gantry 2D servo mechanism. Since the laser beam is a linear beam, the goal is to ensure that the beam can reach the surface of any size workpiece on the top layer of the pallet, while simultaneously ensuring that the laser displacement sensor's detection range covers the entire stacking height of the workpieces. Based on the fixing method of the pallet's fixed support rods and movable positioning rods, any workpiece will have one corner positioned at the fixed support rod. Therefore, by integrating the laser displacement sensor above the corresponding fixed support rod, the detection of workpiece surfaces of any size can be achieved.

[0045] like Figure 2 As shown, when the slide table delivers the pallet and aluminum alloy frame structure into the production line, the pallet is directly below the gantry truss. The intelligent inspection device is moved to directly above the pallet via the horizontal axis (X-axis) of the gantry, and at the current height H1, the position of the movable positioning rod is detected. After passing the inspection, the vertical axis (Z-axis) of the gantry is moved to height H2 to measure the distance of the laser displacement sensor, completing the detection of the workpiece quantity information. After passing the quantity detection, the workpiece size detection position H3 = h3 + D*N is calculated based on the input workpiece quantity N and single-piece thickness D. The vertical axis (Z-axis) of the gantry is then moved to move the camera to H3, and the workpiece length L and width W are measured. Once both are passed, the workpiece pallet is considered to have entered the production line. Otherwise, the host computer interface issues a corresponding alarm, prompting the user to check the pallet's exit from the production line.

[0046] The intelligent detection equipment, servo drives, and slide control signals are all integrated into the PLC control system for unified control. Meanwhile, the laser displacement sensor provides analog input signals, which are connected to the PLC's analog input module. The host computer and the PLC control system communicate via a network interface.

[0047] As described above, the technical solution adopted by the present invention to achieve the objectives of error prevention detection of movable positioning rods, workpiece quantity, and workpiece size after the workpiece pallet enters the line is as follows:

[0048] • Design an intelligent detection and control method for the position of the movable positioning rod;

[0049] • Design an intelligent detection and control method for the number of workpieces;

[0050] • Design intelligent detection and control methods for workpiece dimensions;

[0051] • Construct a multi-dimensional control process for preventing errors during material feeding.

[0052] Therefore, an automatic control method for preventing errors in the feeding of aluminum alloy frame structural components includes the following four parts, which are described below:

[0053] (I) Intelligent Detection and Control Method for Movable Positioning Rods

[0054] 1) Attach a reflective sticker of the same size to the top of the movable positioning rod and insert it near the center of the tray;

[0055] 2) Insert the empty tray into the line, adjust the acquisition height of the camera and the light source to ensure that all positions of the tray within the camera's field of view can be effectively seen, and finally determine that the distance H1 between the camera and the tray surface is 800mm when the movable positioning rod is being detected;

[0056] 3) Turn on the camera and ring light source and align them with the center of the tray to collect information from the reflective sticker and record the top contour information of the movable positioning rod;

[0057] 4) Change the position of the movable positioning rod, use the contour search tool in the intelligent camera to compare and retrieve the top information of the movable positioning rod with the recorded information, and store the camera coordinate values ​​of the matching results in the data table. The coordinate values ​​reflect the position information of the movable positioning rod.

[0058] 5) Repeat step 4 to collect the coordinates of the movable positioning rods at all pin hole positions in the tray. Based on the assumed workpiece size, form a complete movable positioning rod coordinate data table, as shown in Table 1 and Table 2.

[0059] Table 1 X-coordinate of the movable positioning rod

[0060]

[0061]

[0062] Table 2 Y-coordinate of the movable positioning rod

[0063]

[0064] 6) During inspection, the loading information is entered by the host computer and transmitted to the PLC. The PLC retrieves the estimated position value (i.e., the position of the movable positioning rod corresponding to the workpiece input value) using the coordinate data table based on the input dimension information.

[0065] 7) Use an intelligent camera to perform contour search at height H1 to obtain the actual coordinate values ​​and compare them with the estimated position values. Calculate the difference between the x and y coordinates of the coordinate values ​​and the corresponding estimated position coordinates. If the absolute value of the difference is less than the threshold, it is considered qualified; otherwise, it is considered unqualified. The positioning rod threshold parameter D1 = 20.

[0066] (II) Intelligent Detection and Control Method for Workpiece Quantity

[0067] 1) Fix the laser displacement sensor above the end of the truss near the fixed support to ensure that the laser beam can hit the surface of a workpiece of any size;

[0068] 2) Based on the detection range of the laser displacement sensor (200-600mm), adjust the appropriate detection height to ensure that the distance from the upper surface of any palletized workpiece to the sensor is within the effective detection range. The size range of the palletized workpiece is 15mm-300mm. When finally determining the number of workpieces to be detected, the distance H2 from the camera to the pallet surface is 570mm, which corresponds to a range of 270-555mm from the camera to the surface of the palletized workpiece, which meets the sensor's specifications.

[0069] 3) Place multiple palletized workpieces on the incoming line tray, measure the actual total thickness of the workpieces, move the Z-axis of the gantry to the 570mm position, and collect the electrical signal data through the PLC analog module.

[0070] 4) Repeat step 3 and solve the total thickness of multiple workpieces and the collected data using a linear equation in one variable to obtain the calculation formula from the sensor detection data to the actual value of the total thickness of the workpiece.

[0071] 5) During inspection, the workpiece information is entered by the host computer and transmitted to the PLC. The PLC multiplies the number of workpieces by the thickness of a single workpiece to obtain the estimated total thickness of the workpiece (i.e., the workpiece input value).

[0072] 6) Use a laser displacement sensor to detect the actual total thickness of the workpiece entering the line at height H2, and compare it with the estimated total thickness of the workpiece. If the absolute value of the difference between the two is less than a certain threshold, it is judged as qualified; otherwise, it is judged as unqualified. The workpiece quantity threshold parameter D2 = 5mm.

[0073] (III) Intelligent Dimensional Detection and Control Methods for Workpieces

[0074] 1) Place the largest workpiece (260mm*260mm) in the inlet tray, adjust the adjustable height range of the camera and light source to ensure that the image information of the workpiece in the tray can be completely captured, and the workpiece occupies as much as possible in the camera's field of view, avoiding other interference factors.

[0075] 2) To ensure measurement consistency, the camera needs to maintain a fixed distance from the top surface of the stacked workpiece. When the total thickness of the stacked workpiece is large, the required Z-axis position of the camera truss should be higher; when the total thickness of the stacked workpiece is small, the required Z-axis position of the camera truss should be lower. Maintaining the same relative distance for all workpiece surface dimension measurements, the final determined distance between the camera and the top surface of the stacked workpiece for workpiece dimension inspection is h3 = 490 mm.

[0076] 3) Using the camera's edge width measurement tool, select a measurement range for the largest workpiece within the pallet. Choose a sufficiently narrow rectangular area and measure both the length and width of the edge width. The selected range must take into account that the camera's measurement distance varies with the workpiece stacking height, resulting in a changing scene within the camera and varying external interference. Therefore, the thickest and thinnest stacking heights should be selected separately for the edge width range.

[0077] 4) Use the calibration tool in the camera to correct the actual measured values. After correction, replace the workpieces with workpieces of other sizes and place them on the tray for dimensional verification;

[0078] 5) During inspection, the workpiece information is entered by the host computer and transmitted to the PLC. The PLC performs the Z-axis positioning of the truss according to the input total thickness h0 of the workpiece and H3 = h3 + h0.

[0079] 6) Use an intelligent camera at height H3 to detect the actual length and width of the workpiece entering the line, and compare it with the workpiece input value. If the absolute value of the length difference and the absolute value of the width difference are both less than a certain threshold, it is judged as qualified; otherwise, it is judged as unqualified. The workpiece size threshold parameter D3 = 5mm.

[0080] (iv) Control process for multi-dimensional material feeding error prevention and detection

[0081] 1) Scan the product work order to automatically enter the information of the same type of workpiece, including the workpiece dimensions (length L, width W, single piece thickness D) and the number of workpieces (N), and display and confirm the information on the host computer interface.

[0082] 2) Arrange the workpieces neatly in the tray according to the actual requirements, insert the movable positioning rod to fix the workpieces, and feed the tray of workpieces into the line through the slide table by pressing the loading button on the slide table;

[0083] 3) The initial height of the Z-axis of the truss is H1 = 800mm. Control the X-axis of the truss to move directly above this tray, control the light source to turn on, and use the contour search tool to detect the movable positioning rod with reflective stickers.

[0084] 4) Perform detection and judgment according to the "Intelligent Detection and Control Method for Movable Positioning Rod". If the absolute value of the difference between the identified coordinates and the sample coordinates stored in the system is less than the threshold of D1=20, it is judged as qualified; otherwise, it is judged as unqualified. When unqualified, the PLC control system will feed back the error information to the host computer and turn off the ring light source, stopping the subsequent detection steps.

[0085] 5) After the movable positioning rod is detected as qualified, move the truss Z-axis to H2 = 570 mm, and verify the number of workpieces according to the "Intelligent Detection and Control Method for the Number of Workpieces". When the absolute value of the difference between the detection result and the actual total thickness h0 = D * N of the workpieces is less than the threshold value of D2 = 5 mm, it is judged as qualified; otherwise, it is judged as unqualified. When it is unqualified, the PLC control system will feedback the error information to the host computer, move the Z-axis to a height of H1 = 800 mm, turn off the annular light source, and stop the subsequent detection steps;

[0086] 6) After the number of workpieces is detected as qualified, move the truss Z-axis to H3 = h3 + h0 = 490 mm + D * N, and verify the dimensions of the workpieces according to the "Intelligent Detection and Control Method for the Dimensions of Workpieces". When the absolute values of the differences between the detection result and the actual dimensions L and W of the workpieces are both less than the threshold value of D3 = 5 mm, it is judged as qualified; otherwise, it is judged as unqualified. When it is unqualified, the PLC control system will feedback the error information to the host computer, and move the Z-axis to a height of H1 = 800 mm, and turn off the annular light source;

[0087] 7) When any detection fails, the host computer will give an information prompt, and the operator needs to use the blanking button to send out the tray on the sliding table and check the workpiece information;

[0088] 8) When all detections are qualified, the host computer will perform production processes such as marking, warehousing, and processing of the incoming workpieces according to the production plan.

[0089] The control method of the present invention integrates intelligent detection devices such as vision and laser, combines intelligent detection with control drive, and automatically realizes the error-proof detection of palletizing and loading of aluminum alloy frame structural parts, providing a more convenient and safe usage experience for the loading control of the intelligent workshop. As the first link of the intelligent production line, it provides full guarantee for the subsequent safe production of the production line.

[0090] At the same time, the present invention is not limited to the error-proof detection of loading of frame structural parts. For other loadings with obvious visual contrast, such as presence / absence judgment, hole diameter measurement, consistency detection, and other applications of thickness detection, corresponding expansions and implementations can be carried out.

Claims

1. An automatic control system for preventing errors in feeding aluminum alloy frame structural components, characterized in that, include: The system includes an intelligent detection and servo drive unit, a multi-station slide, a pallet fixing support, and a movable positioning rod, among which: The intelligent detection and servo driving unit is vertically arranged on the plane of the multi-station sliding table, a same angle of the workpiece tray on each sliding table is fixedly provided with a tray fixing support rod through a screw, and the workpiece tray is uniformly provided with m n pin holes, m and n are both constants, and the lower end of the movable positioning rod has a cylindrical pin for being inserted into the pin hole on the workpiece tray to realize the fixation of the movable positioning rod at any position. The intelligent detection and servo drive unit includes: a gantry truss, an intelligent camera, a ring light source, and a laser displacement sensor, wherein: The intelligent camera, the ring light source, and the laser displacement sensor are all located on the end plane of the two-dimensional servo mechanism of the gantry truss. The intelligent camera is located at the center of the plane, the ring light source is located around the perimeter of the plane, and the laser displacement sensor is located directly above the tray fixing support. When the slide table delivers the pallet and aluminum alloy frame structure into the production line, the pallet is directly below the gantry truss. The intelligent inspection equipment is moved to directly above the pallet by moving the horizontal axis of the truss to perform position detection of the movable positioning rod. After the detection is qualified, the vertical axis of the truss is moved to measure the distance of the laser displacement sensor to complete the detection of the workpiece quantity information. After the quantity detection is qualified, the vertical axis of the truss is moved to drive the camera to complete the measurement of the workpiece length L and width W. After all the detections are qualified, the workpiece pallet is completed to enter the line. Otherwise, the host computer interface will issue a corresponding information alarm to prompt the user to check the pallet after it leaves the line.

2. The automatic control system for preventing errors in feeding aluminum alloy frame structural components according to claim 1, characterized in that, The top of the movable positioning rod is equipped with a reflective sticker.

3. An automatic control method for preventing errors in the feeding of aluminum alloy frame structural components, applied to the automatic control system for preventing errors in the feeding of aluminum alloy frame structural components as described in claim 1 or 2, characterized in that, Includes the following steps: Position detection: Move the two-dimensional servo mechanism in the intelligent detection and servo drive unit to directly above the slide table where the workpiece tray is located, and when the height is H1, use the intelligent camera to detect the position of the movable positioning rod. If the position detection is qualified, proceed to the next step; otherwise, the slide table moves out of the automatic control system. Workpiece quantity detection: Lower the two-dimensional servo mechanism to height H2, and use a laser displacement sensor to detect the number of workpieces. If the detection is qualified, proceed to the next step; otherwise, the slide table moves out of the automatic control system. Workpiece size inspection: Based on the number of workpieces and the thickness of each workpiece, the workpiece size inspection position H3 is calculated, and the two-dimensional servo mechanism is moved to the height of H3. The length and width of the workpiece are measured by a smart camera. If the inspection is qualified, the workpiece tray is completed and enters the line; otherwise, the slide is moved out of the automatic control system.

4. The automatic control method for preventing errors in feeding aluminum alloy frame structural components according to claim 3, characterized in that, The location detection specifically refers to: 1.1) At a height of H1, the coordinate information of the movable positioning rod is obtained by capturing the reflective sticker at the top of the movable positioning rod using a smart camera; 1.2) Change the position of the movable positioning rod multiple times and record the coordinate information of the movable positioning rod each time until the coordinate information of all the pin holes used to fix the movable positioning rod in the workpiece tray is obtained, and a movable positioning rod coordinate data table is formed. 1.3) During inspection, the estimated position value of the workpiece is retrieved from the coordinate data table of the movable positioning rod based on the workpiece's dimensions; 1.4) Place the workpiece in the workpiece tray and, when the height is H1, use a smart camera to capture the reflective sticker at the top of the movable positioning rod to obtain the actual coordinate value of the movable positioning rod; 1.5) Compare the actual coordinate values ​​with the estimated position values. If the error is less than the threshold, the position detection is qualified.

5. The automatic control method for preventing errors in feeding aluminum alloy frame structural components according to claim 3, characterized in that, The workpiece quantity detection specifically involves: 2.1) Place multiple workpieces on a workpiece tray, measure the actual total thickness of the workpieces, and simultaneously measure the total thickness of the workpieces using a laser displacement sensor at a height of H2. 2.2) Change the number of workpieces and execute step 2.1) multiple times to obtain the calculation relationship between the actual value and the measured value of the total thickness of the workpieces; 2.3) During inspection, multiply the number of workpieces on the workpiece tray by the thickness of a single workpiece to obtain an estimated total workpiece thickness: 2.4) When the height is H2, the total thickness of the workpiece is measured by a laser displacement sensor, and the actual value of the total thickness of the workpiece is obtained by solving the relationship. 2.5) Compare the actual value of the total thickness of the workpiece with the estimated value. If the error is less than the threshold, the workpiece quantity inspection is qualified.

6. The automatic control method for preventing errors in feeding aluminum alloy frame structural components according to claim 3, characterized in that, The workpiece size detection specifically involves: 3.1) When the distance between the smart camera and the top of the workpiece is h3, place the largest workpiece in the workpiece tray, collect image information of the workpiece through the smart camera, measure the edge thickness of the length and width of the workpiece, and correct it to obtain the actual measured value of the workpiece size. 3.2) Using workpieces of different sizes, repeat step 3.1) to obtain the actual measured values ​​of different workpiece sizes; 3.3) During inspection, the position H3 of the two-dimensional servo mechanism is determined based on the total thickness h0 of the workpiece, where H3 = h3 + h0; 3.4) When the height is H3, the length and width of the workpiece are detected by the intelligent camera and used as the detection value of the workpiece size. The detection value of the workpiece size is compared with the measured value. If the error is less than the threshold, the workpiece size is qualified.

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