Waterproof roll conveying and stacking device and method

Abstract

The waterproof roll conveying and stacking device comprises a rack, a guide rail horizontally extending front and back is arranged on the rack, an electric sliding structure is arranged on the guide rail, and an electric lifting driving structure is arranged on the electric sliding structure; the electric sliding structure drives the electric lifting driving structure to move front and back along the guide rail, a bearing station is formed at the rear end of the guide rail, a transferring station is formed at the front end of the guide rail, and the electric lifting driving structure is provided with a lifting table used for bearing the middle of the waterproof coiled material which is horizontally placed. Two guide swash plates used for guiding waterproof coiled materials to fall onto the lifting table from the tail end of the production line are arranged behind the upper end of the electric lifting driving structure, swing adjusting driving structures are arranged between the two guide swash plates and the rack, and a coiled material image shooting structure used for shooting images is arranged above the position between the two guide swash plates. The waterproof coiled material stacking device achieves efficient stacking of waterproof coiled materials, is high in stacking quality and facilitates forklift transfer.

Description

Technical Field

[0001] The invention belongs to the technical field of transmission and stacking of waterproof coiled materials, and in particular relates to a device and method for transmission and stacking of waterproof coiled materials. Background Art

[0002] As a key material in building waterproofing projects, waterproofing membranes are stacked in a standardized manner at the end of production, which is helpful for subsequent packaging, handling and transportation. Its significance is mainly reflected in the following three points: 1. At the end of the waterproofing membrane production line, the stacking of waterproofing membranes is a key preparation link before packaging. By stacking the membranes neatly according to the specified standards, the automation and efficiency of the subsequent packaging links can be significantly improved. Neat stacking is convenient for mechanical equipment to grab, transfer and wrap, reduce manual intervention, improve the work efficiency of the overall production line, and thus reduce time costs. 2. Neat stacking of waterproofing membranes can avoid problems such as tilting, staggering or partial overlap of materials during packaging, ensure that the shape and appearance after packaging are regular, which not only improves the aesthetics of the packaging, but also reduces the risk of damage caused by loose packaging during transportation and storage. 3. The standardized stacked membranes are more stable after packaging, easy to stack and load, and the improvement of packaging quality helps to reduce the risk of displacement and tipping caused by center of gravity offset or uneven force during transportation, and also facilitates more efficient use of warehouse space in the storage link.

[0003] In order to achieve efficient stacking of waterproof membranes, a robotic arm is generally set at the end of the waterproof membrane production line to grab the waterproof membranes from the production line and stack them on a pallet to facilitate subsequent transportation by forklift. However, the investment and maintenance costs of the robotic arm are relatively high. If a simple automated receiving structure is used, due to the uneven distribution of the outer packaging of a single roll of waterproof membrane, speed differences are likely to occur at both ends during the rolling process, causing tilting, resulting in messy stacking. Summary of the invention

[0004] In order to overcome the technical problems described in the above background technology, the present invention provides a waterproof membrane transmission and stacking device and method, so that the waterproof membrane can be stacked efficiently and with high quality, which is convenient for subsequent bundling and forklift transportation.

[0005] The technical solution of the present invention is: a waterproof coiled material transmission and stacking device, including a guiding inclined plate, a swing adjustment driving structure, a coiled material image shooting structure, a lifting platform, an electric lifting driving structure, a guide rail, an electric sliding structure and a frame, the frame is provided with a guide rail extending horizontally front and back, the guide rail is provided with an electric sliding structure, the electric sliding structure is provided with an electric lifting driving structure, the electric sliding structure drives the electric lifting driving structure to move forward and backward along the guide rail and respectively forms a receiving station at the rear end of the guide rail and a transfer station at the front end of the guide rail, the electric lifting driving structure is provided with a lifting platform for receiving the middle part of the horizontally placed waterproof coiled material, two guiding inclined plates for guiding the waterproof coiled material to fall from the end of the production line to the lifting platform are provided at the rear of the upper end of the electric lifting driving structure, swing adjustment driving structures are respectively provided between the two guiding inclined plates and the frame, and a coiled material image shooting structure for image shooting is provided above the two guiding inclined plates.

[0006] Furthermore, the swing adjustment driving structure includes a rear end hinge connection structure, a vertical electric push rod and a swing connecting block. The rear ends of the two guide inclined plates are arranged on the frame through the rear end hinge connection structure and can realize the up and down swing of the front end. The lower parts of the front ends of the two guide inclined plates are respectively provided with swing connecting blocks through hinge pairs. The lower ends of the swing connecting blocks are provided with vertical electric push rods. The lower ends of the vertical electric push rods are arranged on the frame through hinge pairs, so that the telescopic action of the vertical electric push rod drives the corresponding front end of the guide inclined plate to flap up and down around the rear end.

[0007] Furthermore, the rear end hinge connection structure includes a rear connecting sleeve, a rear rotating shaft and a rear supporting leg. The rear ends of the two guide swash plates are respectively arranged on the rear connecting sleeve on the left and the right. The two ends of the rear connecting sleeve are respectively abutted against the rear supporting legs. The abutting parts of the rear connecting sleeve and the rear supporting leg are penetrated by the rear rotating shaft and are hingedly connected, so that the guide swash plate can flap up and down relative to the rear supporting leg at the rear end of the frame.

[0008] Furthermore, the electric sliding structure includes a sliding seat, a front connecting plate and a horizontal electric push rod. The sliding seat is arranged on a guide rail. The sliding seat is provided with an electric lifting drive structure and a front connecting plate is provided at the front end. The lower end of the front connecting plate is located below the guide rail and is connected to a horizontal electric push rod. The horizontal electric push rod is placed horizontally and the rear end is locked on the frame.

[0009] Furthermore, the electric lifting drive structure includes a light rod, a lead screw, a vertical motor and a driving arm. The front ends of the sliding seat of the electric sliding structure are respectively provided with driving arms extending vertically upward. The driving arms are respectively provided with vertically extending light rods and lead screws. The ends of the lifting platform are correspondingly nested in the corresponding driving arms and nested in the corresponding light rods and lead screws. The lead screw thread passes through the corresponding ends of the lifting platform and is connected to the vertical motor at the lower end. The vertical motor is arranged on the sliding seat and drives the lead screw to rotate. The lead screw thread drives the lifting platform to move up and down.

[0010] Furthermore, a side baffle is provided on the part of the frame close to the opposite sides of the two guide inclined plates, and the two side baffles are correspondingly abutted against the left and right ends of the waterproof membrane roll at the receiving station.

[0011] Furthermore, the coil image shooting structure includes a camera, an upper supporting plate and a side vertical plate. The two side vertical plates are respectively arranged on the corresponding side baffles and an upper supporting plate is provided between the upper ends. A camera runs through the center of the upper supporting plate, and the camera shoots at the two guiding inclined plates.

[0012] Furthermore, a front blocking block for preventing the sliding seat from disengaging forward is provided at the front end of the guide rail, and a joint flat plate for preventing the sliding seat from disengaging backward is provided at the rear end.

[0013] Furthermore, a control cabinet is provided on the frame, which is electrically connected to the vertical motor, vertical electric push rod, horizontal electric push rod and camera respectively, wherein the control cabinet serves as the controller end, the camera serves as the sensor end, and the vertical motor, vertical electric push rod and horizontal electric push rod serve as the responder end.

[0014] A method for transporting and stacking waterproof coiled materials, comprising the following steps: S1. Set the presentation state, set the electric lifting drive structure to the receiving position, at which time the lifting platform is in a state where there is a distance of the waterproofing membrane roll outer diameter from the upper end of the driving arm, so as to realize the first-order waterproofing membrane roll receiving state of the lifting platform; S2, placing the rear ends of the two guide inclined plates against the lower side of the output end of the universal guide platform at the end of the production conveyor line, and the waterproofing roll rolls from the output end of the waterproofing roll production conveyor line onto the two guide inclined plates; S3, the camera shoots the rolling process of the waterproofing coil on the guide inclined plate at a frequency of 15-60 frames per second, and sends the picture to the controller in the control cabinet. The image recognition model in the controller recognizes and processes the picture to obtain the four coordinate points of the waterproofing coil in the picture. , , , , to determine whether the two ends of the waterproof membrane are aligned at the same level, the judgment conditions are: , where ∨ means or, ∧ means and; S4: If the judgment condition is met, the vertical electric push rod will not be started. If the judgment condition is not met, that is, the two ends of the waterproof membrane are not aligned at the same level, the coordinate points will be compared. and The vertical electric push rod at the lower end extends upward to push the inclined guide plate up, and the movement of the corresponding end is blocked, thereby adjusting the rolling posture of the waterproof membrane; S5. Calculate the number of first-order waterproofing rolls to be received according to the preset length L of the lifting platform and the outer diameter D of the waterproofing roll. , According to the change of the waterproofing roll position in the pictures taken by the camera continuously, the number of waterproofing rolls R is calculated. , the control cabinet controls the two vertical motors to rotate synchronously, so that the lifting platform drops to a distance of D, and the lifting platform realizes the second-order waterproofing roll receiving state. At this time, the corresponding number of waterproofing rolls received is one less than the number of waterproofing rolls received in the first-order waterproofing roll receiving state, that is, the number of waterproofing rolls received in the odd-numbered waterproofing roll receiving state is The number of waterproofing rolls to be taken up in the even-numbered waterproofing rolls is ; S6. According to the preset rated number of waterproofing rolls to be received by the lifting platform, when the rated number of waterproofing rolls to be received by the lifting platform is reached, the control cabinet sends a pause signal to the plant control center, so that the corresponding universal guide platform rotates to other unloaded waterproofing roll transmission and stacking devices; S7, the control cabinet controls the horizontal electric push rod to extend, and the horizontal electric push rod drives the sliding seat to move forward along the guide rail through the front connecting plate, and the sliding seat moves from the rear half of the guide rail to the front half of the guide rail, and the sliding seat is transferred from the receiving station to the transfer station; S8. At the transfer station, the left and right ends of the waterproofing roll on the sliding seat are sealed by a manual or automatic baling machine, and finally the forklift takes the bundled waterproofing roll away in front of the guide rail; S9, the control cabinet controls the horizontal electric push rod to retract, and the sliding seat is reset to the receiving position, and starts again from step S1.

[0015] The present invention adopts the above technology, and the beneficial effects produced are:

[0016] 1. The present invention can realize accurate monitoring and dynamic adjustment of the rolling process of the waterproof membrane by calculating the number of receiving and rolling of the lifting platform, ensuring that the receiving process of each step is orderly and stable, avoiding the two ends of the waterproof membrane from falling onto the side inclined guide plate without horizontal alignment, that is, avoiding accumulation, overload or uncontrolled rolling, and improving production efficiency and safety.

[0017] 2. According to the rule of the number of odd and even orders (the number of odd orders is one more than that of even orders), the lifting platform can automatically adjust the acceptance status of each order without complicated manual intervention. Through regular processing, the equipment is highly automated and flexible and adaptable, reducing errors and waste of resources.

[0018] 3. The present invention arranges the lifting platform to descend each time with a distance that is exactly the outer diameter of the waterproof membrane, ensuring that the receiving surface of the next step is stable and accurate, achieving the accuracy of the lifting platform movement, avoiding tilting or falling of the waterproof membrane due to improper position, and improving the stability of the equipment.

[0019] 4. The present invention monitors the number of rolls through a camera and compares it with the number of acceptances in real time to ensure the timeliness and accuracy of action execution, form a closed-loop control system, reduce equipment downtime and error probability, and improve overall efficiency.

[0020] 5. In the present invention, when the lifting platform reaches the rated receiving quantity, the control cabinet sends a signal to the control center, which links the universal guide table to adjust the transmission direction, thereby realizing intelligent collaboration among multiple devices, optimizing the resource utilization of the production line, and avoiding overall shutdown due to full load of a single device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] Figure 2 It is the front view of the present invention.

[0023] Figure 3 It is a left side view of the present invention.

[0024] Figure 4 It is a rear view of the present invention.

[0025] Figure 5 It is a bottom view of the present invention.

[0026] Figure 6 It is a top view of the present invention.

[0027] Figure 7 It is a schematic structural diagram of the present invention after the left side baffle is removed.

[0028] Figure 8 It is a schematic diagram of the structure of the present invention after the waterproofing coil and two side baffles are removed.

[0029] Fig. 9 It is a schematic diagram of the deployment of the waterproofing membrane production conveyor line used in the present invention.

[0030] In the figure: 100, side inclined guide plate, 101, side baffle, 102, front baffle, 103, lower connecting rod, 200, camera, 201, upper bearing plate, 202, side vertical plate, 300, guide inclined plate, 301, rear connecting sleeve, 302, rear shaft, 303, rear supporting leg, 304, joint plate, 305, swing connecting block, 306, vertical electric push rod, 400, driving arm, 401, optical bar, 402, lead screw, 403, lifting platform, 404, vertical motor, 500, sliding seat, 501 , front connecting plate, 502, push-pull rod, 503, horizontal electric push rod, 504, oblique reinforcing rod, 505, front set block, 506, rear set block, 507, locking block, 600, guide rail, 601, front blocking block, 602, vertical connecting rod, 603, lower connecting rod, 604, front supporting leg, 700, waterproof membrane roll, A, waterproof membrane production transmission line, B, universal guide table, C, first waterproof membrane transmission and stacking device, D, second waterproof membrane transmission and stacking device, E, third waterproof membrane transmission and stacking device. DETAILED DESCRIPTION

[0031] Embodiment 1: Figure 1-Figure 8 As shown, the present invention provides a waterproof coiled material transmission and stacking device, comprising a guide inclined plate 300, a swing adjustment driving structure, a coiled material image shooting structure, a lifting platform 403, an electric lifting driving structure, a guide rail 600, an electric sliding structure and a frame, the frame is provided with a guide rail 600 extending horizontally forward and backward, the guide rail 600 is provided with an electric sliding structure, the electric sliding structure is provided with an electric lifting driving structure, the electric sliding structure drives the electric lifting driving structure to move forward and backward along the guide rail 600 and respectively forms a receiving station at the rear end of the guide rail 600 and a transfer station at the front end of the guide rail 600, the electric lifting driving structure is provided with a lifting platform 403 for receiving the middle part of the horizontally placed waterproof coiled material, two guide inclined plates 300 for guiding the waterproof coiled material to fall from the end of the production line to the lifting platform 403 are provided at the rear of the upper end of the electric lifting driving structure, the swing adjustment driving structure is respectively provided between the two guide inclined plates 300 and the frame, and a coiled material image shooting structure for image shooting is provided above the two guide inclined plates 300.

[0032] The frame includes a vertical connecting rod 602, a lower connecting rod 603, a front support leg 604, a lower connecting rod 103, and a rear support leg 303. Two guide rails 600 are arranged in parallel and a lower connecting rod 603 is arranged below. A plurality of vertical connecting rods 602 are arranged between the guide rail 600 and the lower connecting rod 603. Front support legs 604 are arranged on the left and right sides of the guide rail 600 at the junction of the receiving station and the transfer station. The upper end of the front support leg 604 is flush with the sliding seat 500 and the upper end is provided with a lower connecting rod 103. The lower connecting rod 103 extends horizontally backward from the front support leg 604 and the rear end is provided with a A rear supporting leg 303 is provided, which extends vertically upward and has a rear connecting sleeve 301 at the upper end in the form of a hinge connection. The two front sides of the rear connecting sleeve 301 are respectively provided with a guide swash plate 300 extending obliquely forward and downward. The lower end of the guide swash plate 300 and the upper end of the driving arm 400 are on the same horizontal plane, and the rear driving arm 400 of the two driving arms 400 is located between the two guide swash plates 300 and does not contact the guide swash plates 300, so it does not hinder the telescopic movement of the guide swash plate 300 under the action of the vertical electric push rod 306.

[0033] Among them, the swing adjustment driving structure includes a rear end hinge connection structure, a vertical electric push rod 306 and a swing connecting block 305. The rear ends of the two guide inclined plates 300 are set on the frame through the rear end hinge connection structure and can realize the up and down swing of the front end. The lower parts of the front ends of the two guide inclined plates 300 are respectively provided with swing connecting blocks 305 through hinge pairs. The lower ends of the swing connecting blocks 305 are provided with vertical electric push rods 306. The lower ends of the vertical electric push rods 306 are set on the frame through hinge pairs, so that the telescopic action of the vertical electric push rods 306 drives the corresponding front end of the guide inclined plates 300 to swing up and down around the rear end.

[0034] Among them, the rear end hinge connection structure includes a rear connecting sleeve 301, a rear rotating shaft 302 and a rear supporting leg 303. The rear ends of the two guide swash plates 300 are respectively arranged on the rear connecting sleeve 301 on the left and the right. The two ends of the rear connecting sleeve 301 are respectively abutted against the rear supporting legs 303. The abutting parts of the rear connecting sleeve 301 and the rear supporting legs 303 are penetrated by the rear rotating shaft 302 and are hingedly connected, so that the guide swash plate 300 can flap up and down relative to the rear supporting legs 303 at the rear end of the frame.

[0035] Among them, the electric sliding structure includes a sliding seat 500, a front connecting plate 501 and a horizontal electric push rod 503. The sliding seat 500 is arranged on the guide rail 600. The sliding seat 500 is provided with an electric lifting drive structure and a front connecting plate 501 is provided at the front end. An oblique reinforcing rod 504 for enhancing the structural stability is provided between the lower end of the front connecting plate 501 and the rear end of the sliding seat 500. The lower end of the front connecting plate 501 is located below the guide rail 600 and is connected to a horizontal electric push rod 503. The horizontal electric push rod 503 is placed horizontally and the rear end is locked to a locking block 507 on the frame. A front sleeve block 505 and a rear sleeve block 506 are provided on the lower connecting rod 603 to carry and limit the movement of the fixed part of the horizontal electric push rod 503. The front end of the horizontal electric push rod 503 is a push-pull rod 502, and the push-pull rod 502 is embedded in and pinned to the front connecting plate 501.

[0036] Among them, the electric lifting drive structure includes a light bar 401, a lead screw 402, a vertical motor 404 and a driving arm 400. The front ends of the sliding seat 500 of the electric sliding structure are respectively provided with driving arms 400 extending vertically upward. The driving arms 400 are respectively provided with vertically extending light bars 401 and lead screws 402. The ends of the lifting platform 403 are correspondingly nested in the corresponding driving arms 400 and nested in the corresponding light bars 401 and lead screws 402. The lead screw 402 threads through the ends of the corresponding lifting platform 403 and is connected to the vertical motor 404 at the lower end. The vertical motor 404 is set on the sliding seat 500 and drives the lead screw 402 to rotate. The lead screw 402 threads drive the lifting platform 403 to move up and down.

[0037] Among them, a side baffle 101 is provided on the part of the frame close to the two guide inclined plates 300 facing each other, the lower end of the side baffle 101 is arranged on the lower connecting rod 103 and the rear end is arranged on the rear supporting leg 303, the two side baffles 101 are correspondingly abutted against the left and right ends of the waterproof membrane roll 700 at the receiving station, and the part of the side baffle 101 close to the rear connecting sleeve 301 is provided with an outwardly bent side inclined guide plate 100, which facilitates the waterproof membrane roll 700 to enter the guide inclined plate 300, and at the same time, a front baffle 102 is provided between the front ends of the two side baffles 101 above the driving arm 400 to prevent the waterproof membrane roll 700 from accidentally rolling forward.

[0038] Among them, the roll material image shooting structure includes a camera 200, an upper supporting plate 201 and a side vertical plate 202. The two side vertical plates 202 are respectively arranged on the corresponding side baffles 101 and an upper supporting plate 201 is arranged between the upper ends. The center of the upper supporting plate 201 is penetrated by a camera 200, and the camera 200 shoots at the two guide inclined plates 300.

[0039] The front end of the guide rail 600 is provided with a front blocking block 601 for preventing the sliding seat 500 from disengaging forward, and the rear end is provided with a joint plate 304 for preventing the sliding seat 500 from disengaging backward.

[0040] Among them, a control cabinet is also provided on the frame, and the control cabinet is electrically connected to the vertical motor 404, the vertical electric push rod 306, the horizontal electric push rod 503 and the camera 200 respectively, wherein the control cabinet serves as the controller end, the camera 200 serves as the sensor end, and the vertical motor 404, the vertical electric push rod 306 and the horizontal electric push rod 503 serve as the responder end.

[0041] Among them, Fig. 9 As shown, an electric universal guide platform B for controlling the transmission direction of the waterproofing membrane roll 700 is provided at the end of the waterproofing membrane production transmission line A, and three waterproofing membrane transmission and stacking devices, namely, a first waterproofing membrane transmission and stacking device C, a second waterproofing membrane transmission and stacking device D, and a third waterproofing membrane transmission and stacking device E, are deployed around the universal guide platform B. That is, the rear connecting sleeves 301 of these three waterproofing membrane transmission and stacking devices are respectively attached to the lower side of the universal guide platform B at the terminal output end of the production transmission line.

[0042] A method for transporting and stacking waterproof coiled materials, comprising the following steps: S1, set the presentation state, set the electric lifting drive structure to the receiving position, at this time, the lifting platform 403 is in a state where there is a distance of the waterproofing roll 700's outer diameter from the upper end of the driving arm 400, so that the lifting platform 403 realizes the first-order waterproofing roll 700 receiving state; S2, the rear ends of the two guide inclined plates 300 are placed against the lower side of the output end of the universal guide platform B at the end of the production conveyor line, and the waterproofing coil 700 rolls down from the output end of the waterproofing coil production conveyor line onto the two guide inclined plates 300; S3, the camera 200 captures the rolling process of the waterproofing coil 700 on the guide inclined plate 300 at a frequency of 15-60 frames per second, and sends the picture to the controller in the control cabinet, uses the YOLO model in the controller to perform template detection, and then combines the edge detection algorithm to perform recognition processing to obtain the four coordinate points of the waterproofing coil in the picture , , , , to determine whether the two ends of the waterproofing membrane roll 700 are aligned at the same level, the determination conditions are: , where ∨ means or, ∧ means and; S4. If the judgment condition is met, the vertical electric push rod 306 is not started. If the judgment condition is not met, that is, the two ends of the waterproof membrane are not aligned at the same level, the coordinate points are compared. and The vertical electric push rod 306 at the lower end extends upward to push the inclined guide plate upward, and the movement of the corresponding end is blocked, thereby adjusting the rolling posture of the waterproof membrane; S5. Calculate the number of first-order waterproofing rolls 700 to be received according to the preset length L of the lifting platform 403 and the outer diameter D of the waterproofing roll 700. , According to the position change of the waterproofing roll 700 in the pictures taken continuously by the camera 200, the rolling number R of the waterproofing roll 700 is calculated. , the control cabinet controls the two vertical motors 404 to rotate synchronously, so that the lifting platform 403 drops a distance D, and the lifting platform 403 realizes the second-order waterproofing roll 700 receiving state. At this time, the corresponding number of waterproofing rolls 700 received is one less than the number of waterproofing rolls 700 received in the first-order waterproofing roll 700 receiving state, that is, the number of waterproofing rolls 700 received in the odd-numbered order waterproofing rolls 700 receiving state is The number of waterproofing rolls 700 that are accepted in the even-numbered order is This is because Figure 7 As shown, for example, if there are 5 coils in the first stage, there are 4 coils in the second stage. This is determined by the cylindrical structure and automatically pursues high stability when there is no external force. S6. According to the preset rated number of waterproofing rolls 700 to be received by the lifting platform 403, when the rated number of waterproofing rolls 700 to be received by the lifting platform 403 is reached, the control cabinet sends a pause signal to the plant control center, so that the corresponding universal guide platform B rotates and turns to other unloaded waterproofing roll transmission and stacking devices; S7, the control cabinet controls the horizontal electric push rod 503 to extend, and the horizontal electric push rod 503 drives the sliding seat 500 to move forward along the guide rail 600 through the front connecting plate 501, and the sliding seat 500 moves from the rear half of the guide rail 600 to the front half of the guide rail 600, and the sliding seat 500 is transferred from the receiving station to the transfer station; S8. At the transfer station, the left and right ends of the waterproofing coil 700 on the sliding seat 500 are sealed by a manual or automatic baling machine, and finally the bundled waterproofing coil is forked away in front of the guide rail 600 by a forklift; S9, the control cabinet controls the horizontal electric push rod 503 to retract, and the sliding seat 500 is reset to the receiving position, and starts again from step S1.

[0043] Among them, in step S3, according to the position change of the waterproofing roll 700 in the pictures continuously taken by the camera 200, the rolling number R of the waterproofing roll 700 is calculated, and the specific steps are: S31, the camera 200 continuously shoots the rolling process of the waterproofing membrane at a fixed frame rate (such as 15 frames / second) to generate a series of continuous frame images , ,.., ; S32, since the position of the camera 200 is fixed, the portion below the side oblique guide plate 100 of the image is cut off to avoid interference with the waterproofing membrane roll 700 below the side oblique guide plate 100; S33, using the trained YOLO target detection model to locate the coordinates of the waterproof membrane in each frame; S34, tracking the trajectory of the waterproofing membrane through the target position change in the continuous frame images; S34. If it is detected that the vertical position change of two tumbles is less than D, this count is ignored; otherwise, it is counted as a valid tumble event, and the value of the tumble number R is increased by 1.

Claims

1. A waterproof coiled material transmission and stacking device, characterized in that: The invention comprises a guide inclined plate (300), a swing adjustment driving structure, a coil image shooting structure, a lifting platform (403), an electric lifting driving structure, a guide rail (600), an electric sliding structure and a frame, wherein the frame is provided with the guide rail (600) extending horizontally forward and backward, the guide rail (600) is provided with the electric sliding structure, the electric lifting driving structure is provided with the electric sliding structure, the electric sliding structure drives the electric lifting driving structure to move forward and backward along the guide rail (600) and respectively forms a receiving station and a receiving station at the rear end of the guide rail (600). A transfer station is formed at the front end of the guide rail (600); the electric lifting drive structure is provided with a lifting platform (403) for receiving the middle part of the horizontally placed waterproof coiled material; two guide inclined plates (300) for guiding the waterproof coiled material to fall from the end of the production line onto the lifting platform (403) are provided at the rear of the upper end of the electric lifting drive structure; the swing adjustment drive structure is provided between the two guide inclined plates (300) and the frame respectively; and the coiled material image shooting structure for image shooting is provided above the two guide inclined plates (300).

2. The waterproof coiled material transmission and stacking device according to claim 1, characterized in that: The swing adjustment driving structure comprises a rear end hinge connection structure, a vertical electric push rod (306) and a swing connection block (305); the rear ends of the two guide swash plates (300) are arranged on the frame through the rear end hinge connection structure and can realize the front end swinging up and down; the front end lower parts of the two guide swash plates (300) are respectively provided with the swing connection blocks (305) through hinge pairs; the lower ends of the swing connection blocks (305) are provided with the vertical electric push rod (306); the lower ends of the vertical electric push rods (306) are arranged on the frame through hinge pairs, so that the telescopic action of the vertical electric push rods (306) drives the corresponding front end of the guide swash plate (300) to swing up and down around the rear end.

3. The waterproof coiled material transmission and stacking device according to claim 2, characterized in that: The rear end hinge connection structure comprises a rear connection sleeve (301), a rear rotating shaft (302) and a rear supporting leg (303); the rear ends of the two guide swash plates (300) are respectively arranged on the rear connection sleeve (301) on the left and the right; the two ends of the rear connection sleeve (301) are respectively in contact with the rear supporting legs (303); the contacting parts of the rear connection sleeve (301) and the rear supporting legs (303) are penetrated by the rear rotating shaft (302) and are hinge-connected, so that the guide swash plates (300) can swing up and down relative to the rear supporting legs (303) at the rear end of the frame.

4. The waterproof coiled material transmission and stacking device according to claim 3, characterized in that: The electric sliding structure comprises a sliding seat (500), a front connecting plate (501) and a horizontal electric push rod (503); the sliding seat (500) is arranged on the guide rail (600); the sliding seat (500) is provided with the electric lifting drive structure and the front end is provided with the front connecting plate (501); the lower end of the front connecting plate (501) is located below the guide rail (600) and is connected to the horizontal electric push rod (503); the horizontal electric push rod (503) is placed horizontally and the rear end is locked on the frame.

5. The waterproof coiled material transmission and stacking device according to claim 4, characterized in that: The electric lifting drive structure comprises an optical rod (401), a lead screw (402), a vertical motor (404) and a driving arm (400); the driving arms (400) extending vertically upward are respectively provided at both ends of the front end of the sliding seat (500) of the electric sliding structure; the optical rod (401) and the lead screw (402) extending vertically are respectively provided on the driving arms (400); the ends of the lifting platform (403) are correspondingly nested on the corresponding driving arms (400) and nested on the corresponding optical rod (401) and the lead screw (402); the lead screw (402) is threadedly passed through the end of the corresponding lifting platform (403) and is connected to the vertical motor (404) at the lower end; the vertical motor (404) is arranged on the sliding seat (500) and drives the lead screw (402) to rotate; the lead screw (402) is threadedly driven to move the lifting platform (403) up and down.

6. The waterproof coiled material transmission and stacking device according to claim 5, characterized in that: The frame is provided with side baffles (101) at the sides facing the two guide inclined plates (300), and the two side baffles (101) are respectively abutted against the left and right ends of the waterproofing coil (700) at the receiving station.

7. The waterproof coiled material transmission and stacking device according to claim 6, characterized in that: The coil image shooting structure comprises a camera (200), an upper bearing plate (201) and a side upright plate (202); the two side upright plates (202) are respectively arranged on the corresponding side baffle plates (101) and the upper bearing plate (201) is arranged between the upper ends; the camera (200) passes through the center of the upper bearing plate (201); the camera (200) shoots at the two guide inclined plates (300).

8. The waterproof coiled material transmission and stacking device according to claim 7, characterized in that: The front end of the guide rail (600) is provided with a front blocking block (601) for preventing the sliding seat (500) from disengaging forward, and the rear end is provided with a joint plate (304) for preventing the sliding seat (500) from disengaging backward.

9. The waterproof coiled material transmission and stacking device according to claim 8, characterized in that: A control cabinet is also provided on the frame, and the control cabinet is electrically connected to the vertical motor (404), the vertical electric push rod (306), the horizontal electric push rod (503) and the camera (200) respectively, wherein the control cabinet serves as a controller end, the camera (200) serves as a sensor end, and the vertical motor (404), the vertical electric push rod (306) and the horizontal electric push rod (503) serve as responder ends.

10. A method for transporting and stacking waterproof coiled materials based on the waterproof coiled material transporting and stacking device according to claims 1-9, characterized in that: The steps include: S1, setting the presentation state, setting the electric lifting drive structure to a receiving position, at which time the lifting platform (403) is in a state where there is a distance from the upper end of the driving arm (400) equal to the outer diameter of the waterproofing roll (700), so that the lifting platform (403) is in a first-order receiving state of the waterproofing roll (700); S2, placing the rear ends of the two guide inclined plates (300) against the lower side of the output end of the universal guide platform at the end of the production conveyor line, and the waterproofing coiled material roll (700) rolls down from the output end of the waterproofing coiled material production conveyor line onto the two guide inclined plates (300); S3, the camera (200) photographs the rolling process of the waterproofing coil (700) on the guide inclined plate (300) at a frequency of 15 to 60 frames per second, and sends the picture to a controller in a control cabinet, and an image recognition model in the controller performs recognition processing on the picture to obtain four coordinate points of the waterproofing coil in the picture , , , , judging whether the two ends of the waterproofing membrane roll (700) are aligned at the same level, the judging condition is: , where ∨ means or, ∧ means and; S4. If the judgment condition is met, the vertical electric push rod (306) is not started. If the judgment condition is not met, that is, the two ends of the waterproof membrane are not aligned at the same level, the coordinate points are compared. and The vertical electric push rod (306) at the lower end extends upward to push the side inclined guide plate (100) upward, and the movement of the corresponding end is blocked, thereby adjusting the rolling posture of the waterproof membrane; S5. Calculate the number of first-order waterproofing rolls (700) in a receiving state according to the preset length L of the lifting platform (403) and the outer diameter D of the waterproofing roll (700). , , according to the position change of the waterproofing roll (700) in the pictures continuously taken by the camera (200), the rolling number R of the waterproofing roll (700) is calculated, when , the control cabinet controls the two vertical motors (404) to rotate synchronously, so that the lifting platform (403) descends a distance D, and the lifting platform (403) realizes the second-order waterproofing roll (700) receiving state. At this time, the corresponding number of waterproofing rolls (700) received is one less than the number of waterproofing rolls (700) received in the first-order waterproofing roll (700) receiving state, that is, the number of waterproofing rolls (700) received in the odd-numbered order waterproofing roll (700) receiving state is The number of waterproof rolls (700) in the receiving state of the waterproof rolls (700) in the even-numbered order is ; S6, according to the preset rated number of the waterproofing coiled material rolls (700) to be received by the lifting platform (403), after the rated number of the waterproofing coiled material rolls (700) to be received on the lifting platform (403) is reached, the control cabinet sends a pause signal to the plant control center, so that the corresponding universal guide platform rotates and turns to other unloaded waterproofing coiled material transmission and stacking devices; S7, the control cabinet controls the horizontal electric push rod (503) to extend, the horizontal electric push rod (503) drives the sliding seat (500) to move forward along the guide rail (600) through the front connecting plate (501), the sliding seat (500) moves from the rear half of the guide rail (600) to the front half of the guide rail (600), and the sliding seat (500) is transformed from the receiving station to the transfer station; S8, at the transfer station, the left and right ends of the waterproofing coiled material roll (700) on the sliding seat (500) are packaged by a manual or automatic baling machine, and finally the bundled waterproofing coiled material is forked away in front of the guide rail (600) by a forklift; S9, the control cabinet controls the horizontal electric push rod (503) to retract, and the sliding seat (500) is reset to the receiving position, and starts again from step S1.

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