Method for identifying side form based on 2D plane vision and form removal equipment

Abstract

The invention discloses a form removal device for identifying a side form based on 2D plane vision in the technical field of form removal of concrete prefabricated parts. The form removal device comprises a form removal mechanical arm, an area-array camera and a stroboscopic light source, and the form removal mechanical arm comprises a form removal mechanical arm clamping jaw set, a magnetic nail pulling mechanism, a magnetic nail pulling lifting air cylinder set, a longitudinal transmission mechanism and a transverse transmission mechanism. Compared with the prior art, the method has the beneficial effects that the light source is used for performing multi-angle irradiation on the mold table, interference similar to the characteristics of the side mold on the mold table can be accurately recognized, the recognition capability of the side mold is improved, and the mold table is irradiated and shot through the fixed light source and the camera respectively; the auxiliary link that a mechanical arm needs to move in the linear scanning process is omitted, the operation time is saved, the production efficiency is improved, and the side formwork can be efficiently and directly returned to a side formwork library through the formwork removal mechanical arm by means of photographing recognition of the camera and combination of the magnetic nail pulling function and the side formwork clamping function of the formwork removal mechanical arm.

Description

technical field [0001] The invention relates to the technical field of formwork removal of prefabricated concrete parts, in particular to a method for identifying side forms based on 2D plane vision and formwork removal equipment. Background technique [0002] In the production process of concrete prefabricated parts, the magnetic side formwork participates in the whole process of the components from scratch. Formwork removal is the last auxiliary process of the entire production process, and the speed and accuracy of formwork removal directly affect the production efficiency of the entire production line. [0003] In the existing pc (prefabricated concrete) component production line, there are two main ways to complete formwork removal, one is to manually pull out the magnetic nails, and the other is to use the line-scanning camera to locate the magnetic nails, and then use the magnetic nail pulling mechanism to complete demoulding. Manual work requires workers to use a s...

AI Technical Summary

Problems solved by technology

Manual work requires workers to use a suitable crowbar to pull out the magnetic nails adsorbed on the mold table. After pulling out all the magnetic nails, it is still necessary to manually transfer the side mold to the side mold line, which is not only laborious, but also extremely inefficient

Since the two-dimensional image formed by the line scan camera at one time has only a few pixels in width, the movement of the manipulator is needed to assist the imaging when facing the mold table with a long coverage. At the same time, the imaging of the entire mold table also requires Combining photos taken multiple times reduces the efficiency of demolition

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