The invention provides a steel coil grabbing centering method and a centering device thereof. The steel coil grabbing centering method comprises the following steps that S1, a crown block, a clamp, a 3D scanner, a 2D line laser scanner and a PLC are configured; s2, establishing a coordinate system where the 2D line laser scanner is located and a coordinate system where the clamp is located, and calibrating the coordinate system where the 2D line laser scanner is located and the coordinate system where the clamp is located; s3, the 3D scanner conducts 3D scanning on the area where the steel coil is located, effective steel coil point cloud is extracted, and coordinates of the center point of the steel coil are calculated; s4, the PLC drives the clamp to move to the position over the steel coil, and the height of the clamp is lowered; starting the 2D line laser, identifying the relative position and angle of the clamp and the steel coil, and when the center line of the movable end of the clamp basically coincides with the center line of the steel coil, considering that the movable end of the clamp and the steel coil are centered.
本发明提供了一种钢卷抓取对中方法及其对中装置,包括以下步骤:S1:配置天车、夹钳、3D扫描仪、2D线激光扫描仪和PLC;S2:建立2D线激光扫描仪所在坐标系和夹钳所在坐标系,并标定2D线激光扫描仪所在坐标系和夹钳所在坐标系;S3:3D扫描仪对钢卷所在区域进行3D扫描,提取有效的钢卷点云,计算钢卷中心点的坐标;S4:PLC驱动夹钳移动到钢卷的正上方,并下降夹钳的高度;开启2D线激光,识别夹钳和钢卷相对位置和角度,当夹钳的活动端的中心线与钢卷的中心线基本重合时,认为夹钳的活动端与钢卷完成对中。
Steel coil grabbing centering method and centering device thereof
一种钢卷抓取对中方法及其对中装置
2023-04-28
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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