Angle steel automatic identification, destacking and buffer feeding system and method

Abstract

The present invention belongs to the technical field of angle steel, and relates to an angle steel automatic identification, destacking and buffering feeding system and method, which is used for destacking and feeding of angle steel production lines. The angle steel automatic identification, destacking and buffering feeding system comprises a truss robot, and a lateral feeding platform, a mechanical flipping mechanism, a lateral conveying mechanism, a magnetic flipping mechanism and a feeding roller are arranged from the rear end to the front end within the coverage range of the truss robot, and a visual recognition device is arranged on the side of the truss robot; the mechanical flipping mechanism comprises a circular flipping tray, and the outer periphery of the circular flipping tray is evenly provided with notches for placing angle steels, and the surface of the circular flipping tray is provided with two groups of detection holes symmetrically arranged along the center of the circular flipping tray, and a second sensor and a third sensor are installed on the side of the circular flipping tray, and the detection signal direction of the second sensor is toward the detection hole, and the detection signal direction of the third sensor is toward the front end of the mechanical flipping mechanism. The present invention can identify the state of the angle steel, and automatically grasp and place the angle steels in a positive V shape and the angle steels in an inverted V shape.

Description

Technical Field

[0001] The invention belongs to the technical field of angle steels, and in particular relates to a system and method for automatic identification, destacking and buffer feeding of angle steels, which are used for automatic destacking and feeding of angle steel raw materials on an angle steel production line. Background Art

[0002] Angle steel raw materials are stacked in a positive V shape or an inverted V shape. Therefore, when designing a fully automatic production line for angle steel, in order to achieve fully automatic loading of angle steel, it is necessary to first unstack the angle steel raw materials and adjust all the angle steels to a positive V shape by flipping them for loading. During the transmission process, the inverted V shape of the angle steel is more stable, while the positive V shape requires tooling to be placed stably. Therefore, the loading process involves multiple steps such as angle steel grabbing, unstacking, conveying, and flipping. Whether the process design is scientific and reasonable is more critical.

[0003] During the loading process of the existing angle steel production line, the stacking of the angle steel raw material stacks is not completely placed in a positive V-shape or an inverted V-shape due to human intervention during the transfer process. Therefore, it is impossible to use a truss robot to automatically grab them according to a fixed stacking rule, which affects the loading efficiency of the angle steel production line. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a system and method for automatically identifying and destacking angle steels and caching and loading them. The technical solution adopted by the present invention is as follows:

[0005] An angle steel automatic identification, destacking and cache feeding system includes a truss robot. A transverse feeding platform, a mechanical flipping mechanism, a transverse conveying mechanism, a magnetic flipping mechanism and a feeding roller are arranged in sequence from the rear end to the front end within the moving coverage range of the truss robot. A visual recognition device is arranged on the side of the truss robot. The transverse feeding platform includes a rear end loading station and a front end destacking station; the mechanical flipping mechanism includes a plurality of circular flipping trays, a plurality of angle steel placement notches are evenly distributed on the outer circumference of the circular flipping tray, two groups of detection holes symmetrically arranged along the center of the circular flipping tray are arranged on the surface of the circular flipping tray, a second sensor and a third sensor are installed on the side of the circular flipping tray, the detection signal direction of the second sensor is toward the detection hole, and the detection signal direction of the third sensor is toward the front end of the mechanical flipping mechanism; the magnetic flipping mechanism.

[0006] Preferably, the first flip shaft is rotatably mounted on the upper ends of several flip brackets, several circular flip material trays are installed at intervals on the first flip shaft, a flip motor is installed on the left side of the left end flip bracket, the rotating shaft of the flip motor is connected to the right end of the first flip shaft through a motor reducer and a coupling, and a support frame is installed below the motor reducer.

[0007] Preferably, a limiting protrusion is integrally formed on the upper end of one side of the angle steel where the notch is placed, and the protruding direction of the limiting protrusion is consistent with the rotation direction of the circular flip tray.

[0008] Preferably, the second flip shaft is installed on the ground through several fixed brackets, and a bearing seat is provided at the upper end of the fixed bracket. The second flip shaft is rotatably installed in the bearing seat. A reciprocating motor is installed on the left side of the leftmost fixed bracket. The rotating shaft of the reciprocating motor is connected to the right end of the second flip shaft through a motor reducer and a coupling. A support frame is installed below the motor reducer, and the flip grip is fixedly installed on the second flip shaft.

[0009] Preferably, the transverse loading platform includes a plurality of transverse loading machines arranged in parallel, and the distance between two adjacent transverse loading machines gradually decreases from left to right. The ends of the transverse loading machines are respectively rotatably connected to the outer periphery of the transmission shaft, and the transmission shaft is rotatably connected to the output shaft of the loading motor through the first chain transmission assembly. The loading motor is installed on the ground below the middle section of the transmission shaft.

[0010] Preferably, a magnetic block is provided on the front-end depalletizing station of the transverse loader, the magnetic block is an electromagnet structure, and a first sensor and a limit stop block are installed at the front of the front-end depalletizing station.

[0011] Preferably, the truss robot includes a supporting truss installed on the ground, a three-dimensionally movable mounting rod is movably installed on the supporting truss, a plurality of magnetic grippers are evenly installed on the lower end of the mounting rod, a group of electromagnets are arranged at the lower end of the magnetic grippers, and a photoelectric sensor is arranged on the leftmost magnetic gripper, and the photoelectric sensor includes three laterally arranged single sensors.

[0012] Preferably, the transverse conveying mechanism includes a plurality of chain conveyors arranged in parallel, the front and rear ends of the chain conveyors are respectively provided with a front sprocket and a rear sprocket, the front sprocket and the rear sprocket are connected by meshing transmission of the transverse conveying chain, a conveying motor is installed on the ground on the left side of the middle chain conveyor, the rotating wheel on the rotating shaft of the conveying motor is meshed transmission connected with the driving wheel on the conveying shaft through a second chain transmission mechanism, a plurality of driven wheels are arranged on the conveying shaft corresponding to the positions of the transverse conveying chain, the driven wheels are meshed transmission connected with the transverse conveying chain, a conveying stopper is installed on the front upper surface of the chain conveyor, and a fourth sensor is installed on the right side of the conveying stopper.

[0013] The angle steel automatic identification, destacking and buffer feeding method uses the above-mentioned angle steel automatic identification, destacking and buffer feeding system, including the following steps:

[0014] Step 1: Place the angle steel raw material stack on the rear end loading station of the transverse loading platform; the upper computer controls the transverse loading platform to transport the angle steel raw material stack as a whole to the front end destacking station for destacking;

[0015] Step 2: The visual recognition device takes a photo and sends it to the host computer. The host computer identifies the shape of the angle steel currently grabbed. The host computer controls the truss robot to place the inverted V-shaped angle steel on the transverse conveying mechanism, and places the positive V-shaped angle steel into the top angle steel placement notch of the circular flip tray of the mechanical flip mechanism;

[0016] Step 3, if the third sensor detects that there is an idle conveying station on the transverse conveying mechanism, the third sensor sends a detection signal to the upper computer, and the upper computer controls the flip motor to drive the circular flip tray to rotate, the positive V-shaped angle steel completes the flipping and turns into an inverted V-shaped angle steel and slides onto the transverse conveying mechanism, the circular flip tray rotates 180 degrees clockwise, the second sensor detects the detection hole, the second sensor sends a detection signal to the upper computer, the upper computer controls the flip motor to stop, and waits for the truss robot to place the next positive V-shaped angle steel; if the third sensor detects that there is no idle conveying station on the transverse conveying mechanism on the front side of the circular flip tray, the third sensor sends a detection signal to the upper computer, and the upper computer controls the flip motor to temporarily stop rotating and wait;

[0017] Step 4: The transverse conveying mechanism conveys the inverted V-shaped angle steel to a conveying station close to the magnetic flipping mechanism;

[0018] Step 5: After the host computer receives the signal that the angle steel has been delivered to the right position on the transverse conveying mechanism, it controls the magnetic flipping mechanism to flip the angle steel and place it on the loading roller by flipping the hand gripper.

[0019] Preferably, in step 5, the sixth sensor at the front of the magnetic flipping mechanism detects the flipping gripper and sends a signal to the upper computer, and the upper computer controls the reciprocating motor to rotate in the opposite direction to reset the flipping gripper; after the flipping gripper is reset, the fifth sensor at the back of the magnetic flipping mechanism detects the flipping gripper and sends a signal to the upper computer, and the upper computer controls the transverse conveying mechanism to continue conveying the angle steel.

[0020] Beneficial effects of the present invention:

[0021] 1. The truss robot in the present invention is provided with a visual recognition device, which can identify the state of the angle steel, and classify the angle steels in a positive V shape and the angle steels in an inverted V shape for grabbing and placement; 2. The transverse loading table of the present invention has a double magnetic positioning design, which can prevent the coordinate offset of the angle steel at the bottom of the raw material pile during grabbing; 3. The magnetic suction manipulator adds a photoelectric sensor to detect whether the grabbing of the angle steel is abnormal, and can determine whether a single angle steel is grabbed at one time, preventing the direct grabbing of double-layer angle steels, and judging the abnormal grabbing state, to ensure that the visual recognition device guides the magnetic suction manipulator to grab the angle steel stably; 4. The transverse conveying mechanism in the present invention adopts an inverted V-shaped loading method, and the conveying process is stable and reliable. The subsequent magnetic flipping mechanism supports the material from the bottom of the angle steel, avoiding the phenomenon of the angle steel falling due to insufficient magnetic force set by the magnetic suction manipulator, and ensuring the stability of the angle steel during the flipping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of the angle steel automatic identification, destacking and buffer feeding system according to an embodiment of the present invention;

[0024] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the transverse loading platform;

[0025] Figure 3 for Figure 2 Left view of

[0026] Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the truss robot;

[0027] Figure 5 for Figure 1 A three-dimensional diagram of the mechanical flipping mechanism in FIG.

[0028] Figure 6 for Figure 5 A partial enlarged view of the middle A;

[0029] Figure 7 for Figure 1 A three-dimensional diagram of the transverse conveying mechanism in FIG.

[0030] Figure 8 for Figure 7 Left view of

[0031] Fig. 9 for Figure 1 A schematic diagram of the three-dimensional structure of the magnetic flip mechanism;

[0032] In the figure, 1 is a truss robot, 2 is a transverse feeding platform, 3 is a mechanical turning mechanism, 4 is a transverse conveying mechanism, 5 is a magnetic turning mechanism, 6 is a feeding roller, 7 is a transverse feeding machine, 8 is an angle steel raw material pile, 9 is a magnetic suction block, 10 is a feeding motor, 11 is a transmission shaft, 12 is a first sensor, 13 is a first chain transmission assembly, 14 is a supporting truss, 15 is a magnetic suction gripper, 16 is a photoelectric sensor, 17 is a visual recognition device, 18 is a first turning axis, 19 is a circular turning tray, 20 is a turning motor, 21 is a turning bracket, 22 is a second sensor, 23 is a third sensor, 24 is a detection hole, 25 is a chain conveyor, 26 is a conveying motor, 27 is a conveying shaft, 28 is a fourth sensor, 29 is a conveying block, 30 is a second chain transmission mechanism, 31 is a second turning axis, 32 is a turning gripper, 33 is a reciprocating motor, and 34 is a fixed bracket. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0034] like Figure 1 As shown, the angle steel automatic identification, destacking and caching feeding system includes a truss robot 1. On the ground within the movable coverage range of the truss robot 1, a transverse feeding platform 2, a mechanical turning mechanism 3, a transverse conveying mechanism 4, a magnetic turning mechanism 5 and a feeding roller 6 are fixedly arranged in sequence from the rear end to the front end, and the length directions of the mechanical turning mechanism 3, the magnetic turning mechanism 5 and the feeding roller 6 are consistent.

[0035] like Figure 2 , 3 As shown, the transverse loading platform 2 includes five transverse loading machines 7 arranged in parallel. The five transverse loading machines 7 are installed on the ground at a certain interval. The interval between two adjacent transverse loading machines 7 from left to right gradually decreases. The intervals of different sizes between the transverse loading machines 7 can adapt to angle steels of different lengths. The transverse loading machine 7 adopts a heavy-duty chain plate transverse loading machine. The front ends of the five transverse loading machines 7 are rotatably connected to the outer periphery of the transmission shaft 11 respectively. The transmission shaft 11 is rotatably connected to the output shaft of the feeding motor 10 through the first chain transmission assembly 13. The feeding motor 10 is fixedly installed on the ground below the middle section of the transmission shaft 11. The top of the transverse loading machine 7 is divided into two stations, namely the rear-end loading station and the front-end destacking station. The angle steel raw material stack 8 is first placed on the rear-end loading station, and then the angle steel raw material stack 8 is transported to the front-end destacking station by the rotation of the chain plate of the transverse loading machine 7. A magnetic block 9 is fixedly arranged on the front end depalletizing station of the left and right transverse feeders 7, and the magnetic block 9 is an electromagnet structure. A first sensor 12 is installed at the front end depalletizing station of the first, third and fifth transverse feeders 7, and a limit stopper is installed at the front end depalletizing station of each transverse feeder 7.

[0036] like Figure 4 As shown, the truss robot 1 includes a support truss 14 fixedly mounted on the ground, and a mounting rod movably mounted on the support truss 14, and the mounting rod can move three-dimensionally along the X, Y, and Z axes on the support truss 14. A plurality of magnetic grippers 15 are evenly mounted on the lower end of the mounting rod, and a group of electromagnets are arranged at the lower end of the magnetic grippers 15. A photoelectric sensor 16 is arranged on the leftmost magnetic gripper 15, and a visual recognition device 17 is arranged on the left side of the photoelectric sensor 16 through the support frame. The photoelectric sensor 16 includes three laterally arranged single sensors.

[0037] like Figure 5 , 6As shown, the mechanical flipping mechanism 3 includes a flipping motor 20 and a circular flipping tray 19. Five circular flipping trays 19 are installed on the first flipping shaft 18 at a certain interval. The position of the circular flipping tray 19 corresponds to the position of the transverse feeder 7. The first flipping shaft 18 is rotatably installed on the upper end of the flipping bracket 21. A bearing seat is arranged on the upper end of the flipping bracket 21. The first flipping shaft 18 passes through the bearing seat to reduce the rotational friction. The flipping motor 20 is installed on the left side of the leftmost flipping bracket 21. The rotating shaft of the flipping motor 20 is connected to the right end of the first flipping shaft 18 through a motor reducer and a coupling. A support frame is installed under the motor reducer. The outer periphery of the circular flipping tray 19 is evenly distributed with eight angle steel placement notches. A limiting protrusion is integrally formed on the upper end of one side of the angle steel placement notch. The protruding direction of the limiting protrusion is consistent with the rotation direction of the circular flipping tray 19. The surface of the circular flip tray 19 is provided with two groups of detection holes 24 symmetrically arranged along the center of the circular flip tray 19, and a sensor bracket is fixedly installed on the ground on the left side of the second circular flip tray 19 at the left end, and the second sensor 22 and the third sensor 23 are respectively installed on the upper end of the sensor bracket. The second sensor 22 is a photoelectric sensor, and the detection signal direction of the second sensor 22 is toward the detection hole 24, and the detection signal direction of the third sensor 23 is toward the front end of the mechanical flip mechanism 2. The detection signal directions of the second sensor 22 and the third sensor 23 are perpendicular to each other, and the detection distance of the third sensor 23 can only reach the rearmost conveying station of the transverse conveying mechanism 4. Three conveying stations are arranged on the transverse conveying mechanism 4, and three angle steels can be conveyed at the same time.

[0038] like Figure 7 , 8 As shown, the transverse conveying mechanism 4 includes five chain conveyors 25 arranged in parallel, and the position of the chain conveyor 25 corresponds to the transverse feeder 7. The front and rear ends of the chain conveyor 25 are respectively provided with a front sprocket and a rear sprocket, and the front sprocket and the rear sprocket are connected by meshing transmission of the transverse conveying chain. A conveying motor 26 is fixedly installed on the ground on the left side of the middle chain conveyor 25, and the rotating wheel on the rotating shaft of the conveying motor 26 is meshed and connected with the driving wheel on the conveying shaft 24 through the second chain transmission mechanism 30. Five driven wheels are arranged on the conveying shaft 24 at the positions corresponding to the transverse conveying chain, and the driven wheels are meshed and connected with the transverse conveying chain. A conveying stopper 29 is fixedly installed on the upper surface of the front end of the chain conveyor 25, and a fourth sensor 28 is fixedly installed on the right side of the conveying stopper 29.

[0039] like Fig. 9As shown, the magnetic flip mechanism 5 includes a second flip shaft 31, a flip hand grip 32 and a reciprocating motor 33. The second flip shaft 31 is fixedly installed on the ground through a fixed bracket 33, and a bearing seat is provided at the upper end of the fixed bracket 33, and the second flip shaft 31 is rotatably installed in the bearing seat. The reciprocating motor 33 is installed on the left side of the leftmost fixed bracket 33, and the rotating shaft of the reciprocating motor 33 is connected to the right end of the second flip shaft 31 through a motor reducer and a coupling, and a support frame is installed below the motor reducer. Five flip hand grips 32 are fixedly installed on the second flip shaft 31, and the position of the flip hand grips 32 corresponds to the position of the transverse feeder 7. The fifth sensor and the sixth sensor are fixedly installed on the left side of the second fixed bracket 33 at the left end through a sensor bracket, and the sixth sensor is located in front of the fifth sensor. The top of the flip hand grip 32 is an electromagnet structure, which can generate magnetic attraction to grab the angle steel after power is turned on. The initial position of the flip hand grip 32 is located below the front angle steel conveying station on the transverse conveying mechanism 4.

[0040] The loading roller 6 is a prior art, comprising a plurality of pairs of rollers which are vertically opposed to each other and arranged obliquely. Each pair of rollers forms a structure which matches with the regular V-shaped angle steel, and the regular V-shaped angle steel can be automatically transported to the next process by the rotation of the rollers.

[0041] The angle steel automatic identification, destacking and buffer feeding method uses the above-mentioned steel automatic identification, destacking and buffer feeding system, including the following steps:

[0042] Step 1, first use a forklift to place the angle steel raw material stack 8 transported from the previous process on the rear end loading station of the transverse feeder 7; after the first sensor 12 detects that the angle steel raw material stack 8 has been placed at the rear end loading station, it sends a signal to the upper computer, and the upper computer controls the loading motor 10 to start, and drives the transverse feeder 7 to work through the first chain transmission assembly 13 and the transmission shaft 11, and the chain plate of the transverse feeder 7 rotates to transport the angle steel raw material stack 8 as a whole to the front end destacking station for destacking. After the first sensor 12 detects that the angle steel raw material stack 8 is transported to the front end destacking station and is in place, it sends a signal to the upper computer, and the upper computer controls the loading motor 10 to stop working. The limit block is used to prevent the angle steel raw material stack 8 from moving beyond the limit in an accident. During the destacking process, the first sensor 12 determines whether the material stack has been grabbed by detecting the bottom layer of angle steel in the angle steel raw material stack 8. The magnetic blocks 9 are fixedly mounted on the transverse feeders 7 at the left and right ends. After being powered on, the magnetic blocks 9 generate a certain magnetic attraction force that will not affect the grasping of the angle steels. When the angle steels are removed from the stack and grasped, they assist in positioning the bottom angle steels to avoid grasping multiple angle steels at one time or the movement of the bottom angle steels.

[0043] Step 2: The host computer controls the magnetic gripper 15 to move to the top of the angle steel raw material pile 8. After the electromagnet is energized, it generates magnetic suction to grab the angle steel on the upper layer of the angle steel raw material pile 8; the visual recognition device 17 takes a photo and sends it to the host computer. The host computer identifies the shape of the angle steel currently grabbed. The host computer controls the magnetic gripper 15 to place the inverted V-shaped angle steel on the conveying station of the transverse conveying mechanism 4, and the positive V-shaped angle steel is placed in the top angle steel placement notch of the circular flip material tray 19 of the mechanical flip mechanism 3. The photoelectric sensor 16 can determine whether the current grab is a single angle steel, prevent directly grabbing two angle steels that are attached together at one time, and determine whether there is an abnormal grabbing state (grasping failure or grabbing multiple angle steels at one time).

[0044] The photoelectric sensor 16 is provided with three laterally arranged single sensors. The middle single sensor is used to detect whether the angle steel is grabbed successfully, and the two single sensors on both sides are used to determine whether multiple angle steels are grabbed at one time. The angle steels are stacked in positive and negative V-staggered shapes, so if a double layer of angle steels is grabbed at one time during destacking, the extra layer of angle steel will be on the left or right side of the first layer of angle steels. During detection, the single sensors on both sides are used to detect whether there is material to determine whether two angle steels are grabbed at one time. If it is detected that two angle steels are grabbed at one time, the upper computer controls the magnetic gripper 15 to put the angle steel back to its original position, and re-performs visual recognition guidance and angle steel grabbing. The reason for a double-layer grab is that the two angle steels fit closely together, and putting them down after grabbing creates a gap between the two angle steels. The second re-grab can grab a single angle steel at one time.

[0045] Step 3, after the upper computer controls the magnetic gripper 15 to place the positive V-shaped angle steel on the mechanical flip mechanism 3, if the third sensor 23 detects that there is no angle steel on the front side of the circular flip tray 19, it means that there is an idle conveying station on the transverse conveying mechanism 4, and the third sensor 23 sends a detection signal to the upper computer, and the upper computer controls the flip motor 20 to drive the circular flip tray 19 to rotate, and the positive V-shaped angle steel completes the flipping and turns into an inverted V-shaped angle steel and slides onto the transverse conveying mechanism 4; if the third sensor 23 detects that there is an angle steel on the front side of the circular flip tray 19, the third sensor 23 sends a detection signal to the upper computer, and the upper computer controls the flip motor 20 to temporarily stop rotating, waiting for an idle conveying station to appear on the transverse conveying mechanism 4. The flip motor 20 of the mechanical flip mechanism 3 drives the circular flip tray 19 to rotate 180 degrees clockwise, and at this time the second sensor 22 detects the detection hole 24, and the second sensor 22 sends a detection signal to the upper computer, and the upper computer controls the flip motor 20 to stop, waiting for the magnetic gripper 15 to place the next positive V-shaped angle steel. When the circular flip material tray 19 stops rotating, it is ensured that the second sensor 22 is always facing the detection hole 24 .

[0046] Step 4, the conveying motor 26 of the transverse conveying mechanism 4 is started, and the conveying shaft 27 is driven to rotate through the second chain transmission mechanism 30, and the conveying shaft 27 drives the transverse conveying chain of the chain conveyor 25 to rotate, and the rotating transverse conveying chain conveys the inverted V-shaped angle steel placed above it to the front end until the angle steel reaches the conveying block 29. The fourth sensor 28 detects that the angle steel is close to the conveying block 29 for a period of time and then sends a signal to the upper computer, and the upper computer controls the conveying motor 26 to stop working. The fourth sensor 28 delays sending a signal to ensure that the angle steel is close to the conveying block 29.

[0047] Step 5: After receiving the signal from the fourth sensor 28, the upper computer controls the flip gripper 32 to be powered on. The upper computer also controls the reciprocating motor 33 to start. The reciprocating motor 33 drives the second flip shaft 31 to rotate. The five flip grippers 32 on the second flip shaft 31 rotate synchronously. The flip gripper 32 flips the inverted V-shaped angle steel above it into a positive V-shaped angle steel and places it on the feeding roller 6. The sixth sensor at the front of the magnetic flip mechanism 5 detects the flip gripper 32 and sends a signal to the upper computer. The upper computer controls the reciprocating motor 33 to rotate in the opposite direction to reset the flip gripper 32. After the flip gripper 32 is reset, the fifth sensor at the rear of the magnetic flip mechanism 5 detects the flip gripper 32 and sends a signal to the upper computer. The upper computer controls the transverse conveying mechanism 4 to continue conveying the angle steel. When in use, the flip gripper 32 is located below the inverted V-shaped angle steel, which avoids the angle steel falling due to insufficient magnetic force set by the flip gripper 32.

[0048] In the embodiments of the present invention, technical features that are not described in detail are all existing technologies or conventional technical means and will not be described in detail here.

[0049] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them, and the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any technician familiar with the technical field can modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be covered within the protection scope of the present invention.

Claims

1. An automatic identification, destacking and buffer feeding method for angle steels, including an automatic identification, destacking and buffer feeding system for angle steels, the system including a truss robot, a transverse feeding platform, a mechanical flipping mechanism, a transverse conveying mechanism, a magnetic flipping mechanism and a feeding roller are arranged in sequence from the rear end to the front end within the mobile coverage range of the truss robot, a visual recognition device is arranged on the side of the truss robot, the transverse feeding platform includes a rear end loading station and a front end destacking station; the mechanical flipping mechanism includes a plurality of circular flipping trays, a plurality of angle steel placement notches are evenly distributed on the outer circumference of the circular flipping tray, two groups of detection holes symmetrically arranged along the center of the circular flipping tray are arranged on the surface of the circular flipping tray, a second sensor and a third sensor are installed on the side of the circular flipping tray, and the second sensor The detection signal direction of the sensor is toward the detection hole, and the detection signal direction of the third sensor is toward the front end of the mechanical flipping mechanism; the magnetic flipping mechanism includes a plurality of flipping grippers, and the fifth sensor and the sixth sensor are arranged on the side of the flipping grippers; the truss robot includes a supporting truss installed on the ground, and a three-dimensionally movable mounting rod is movably installed on the supporting truss, and a plurality of magnetic grippers are evenly installed on the lower end of the mounting rod, and a group of electromagnets are arranged at the lower end of the magnetic grippers, and a photoelectric sensor is arranged on the leftmost magnetic gripper, and the photoelectric sensor includes three laterally arranged single sensors, and the middle single sensor is used to detect whether the angle steel is successfully grasped, and the two single sensors on both sides are used to judge whether multiple angle steels are grasped at one time; it is characterized in that The following steps are involved: Step 1: Place the angle steel raw material stack on the rear end loading station of the transverse loading platform; the upper computer controls the transverse loading platform to transport the angle steel raw material stack as a whole to the front end destacking station for destacking; Step 2: The visual recognition device takes a photo and sends it to the host computer. The host computer identifies the shape of the angle steel currently grabbed. The host computer controls the truss robot to place the inverted V-shaped angle steel on the transverse conveying mechanism, and places the positive V-shaped angle steel into the top angle steel placement notch of the circular flip tray of the mechanical flip mechanism; Step 3, if the third sensor detects that there is an idle conveying station on the transverse conveying mechanism, the third sensor sends a detection signal to the upper computer, and the upper computer controls the flip motor to drive the circular flip tray to rotate, the positive V-shaped angle steel completes the flipping and turns into an inverted V-shaped angle steel and slides onto the transverse conveying mechanism, the circular flip tray rotates 180 degrees clockwise, the second sensor detects the detection hole, the second sensor sends a detection signal to the upper computer, the upper computer controls the flip motor to stop, and waits for the truss robot to place the next positive V-shaped angle steel; if the third sensor detects that there is no idle conveying station on the transverse conveying mechanism on the front side of the circular flip tray, the third sensor sends a detection signal to the upper computer, and the upper computer controls the flip motor to temporarily stop rotating and wait; Step 4: The transverse conveying mechanism conveys the inverted V-shaped angle steel to a conveying station close to the magnetic flipping mechanism; Step 5: After the host computer receives the signal that the angle steel has been delivered to the right position on the transverse conveying mechanism, it controls the magnetic flipping mechanism to flip the angle steel and place it on the loading roller by flipping the hand gripper.

2. The angle steel automatic identification, destacking and buffer feeding method according to claim 1 is characterized in that: The first flip shaft is rotatably installed on the upper ends of several flip brackets, and several circular flip material trays are installed on the first flip shaft at intervals. A flip motor is installed on the left side of the left flip bracket. The rotating shaft of the flip motor is connected to the right end of the first flip shaft through a motor reducer and a coupling, and a support frame is installed below the motor reducer.

3. The method for automatically identifying, destacking and buffering angle steel according to claim 2 is characterized in that: A limiting protrusion is integrally formed on the upper end of one side of the angle steel where the notch is placed, and the protruding direction of the limiting protrusion is consistent with the rotation direction of the circular flip material tray.

4. The method for automatically identifying, destacking and buffering angle steel according to claim 1 is characterized in that: The second flip shaft is installed on the ground through several fixed brackets, and a bearing seat is provided at the upper end of the fixed bracket. The second flip shaft is rotatably installed in the bearing seat. A reciprocating motor is installed on the left side of the leftmost fixed bracket. The rotating shaft of the reciprocating motor is connected to the right end of the second flip shaft through a motor reducer and a coupling. A support frame is installed under the motor reducer, and the flip grip is fixedly installed on the second flip shaft.

5. The angle steel automatic identification, destacking and buffer feeding method according to claim 1 is characterized in that: The transverse loading platform includes several transverse loading machines arranged in parallel, and the distance between two adjacent transverse loading machines gradually decreases from left to right. The ends of the transverse loading machines are respectively rotatably connected to the outer periphery of the transmission shaft, and the transmission shaft is rotatably connected to the output shaft of the loading motor through the first chain transmission assembly. The loading motor is installed on the ground below the middle section of the transmission shaft.

6. The method for automatically identifying, destacking and buffering angle steel according to claim 5 is characterized in that: A magnetic block is arranged on the front-end depalletizing station of the transverse feeder. The magnetic block is an electromagnet structure. A first sensor and a limit stopper are installed at the front of the front-end depalletizing station.

7. The angle steel automatic identification, destacking and buffer feeding method according to claim 1 is characterized in that: The transverse conveying mechanism includes a plurality of chain conveyors arranged in parallel, and the front and rear ends of the chain conveyors are respectively provided with a front sprocket and a rear sprocket, and the front sprocket and the rear sprocket are connected by meshing transmission of a transverse conveying chain. A conveying motor is installed on the ground on the left side of the middle chain conveyor, and a rotating wheel on the rotating shaft of the conveying motor is meshed and connected with a driving wheel on the conveying shaft through a second chain transmission mechanism. A plurality of driven wheels are arranged on the conveying shaft at positions corresponding to the transverse conveying chains, and the driven wheels are meshed and connected with the transverse conveying chain. A conveying block is installed on the upper surface of the front end of the chain conveyor, and a fourth sensor is installed on the right side of the conveying block.

8. The angle steel automatic identification, destacking and buffer feeding method according to claim 1 is characterized in that: In step 5, the sixth sensor at the front of the magnetic flipping mechanism detects the flipping gripper and sends a signal to the upper computer, and the upper computer controls the reciprocating motor to rotate in the opposite direction to reset the flipping gripper; after the flipping gripper is reset, the fifth sensor at the back of the magnetic flipping mechanism detects the flipping gripper and sends a signal to the upper computer, and the upper computer controls the transverse conveying mechanism to continue conveying the angle steel.

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