CN105729472A - Bulb lamp sorting and packing system and method based on machine vision - Google Patents
Bulb lamp sorting and packing system and method based on machine vision Download PDFInfo
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- CN105729472A CN105729472A CN201610243128.XA CN201610243128A CN105729472A CN 105729472 A CN105729472 A CN 105729472A CN 201610243128 A CN201610243128 A CN 201610243128A CN 105729472 A CN105729472 A CN 105729472A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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Abstract
The invention discloses a bulb lamp sorting and packing system based on machine vision. The system comprises a working platform; the working platform is provided with a robot module, a visual system module and a workpiece platform module; the robot module includes a six-axle robot, a mechanical jaw and a PLC control box; the mechanical jaw is mounted on a rotating manipulator at the end part of the six-axle robot; the workpiece platform module includes a shooting area platform, a detecting platform, a finished product box and a defective product box; the visual system module includes a 2D camera, light sources, an industrial controller all-in-one machine and a visual software system; the 2D camera is fixed on the mechanical jaw through a bracket; and multiple light sources are uniformly distributed around a shooting area. The bulb lamp sorting and packing system based on machine vision is simple in structure, high in integration degree, convenient for installation, fast in sorting speed, high in efficiency, low in cost and excellent in safety, and effectively realizes sorting and packing of bulb lamps based on machine vision.
Description
Technical field
The present invention relates to machine vision technique, be specially a kind of bulb lamp based on machine vision and sort and packaging system and method.
Background technology
It is similar to blistered outside LEDbulb lamp, is the general illumination product of a new generation's energy-conserving and environment-protective.Traditional LEDbulb lamp is mostly by manual production, and its manual production operating type production efficiency is low, and quality is difficult to ensure that.Along with the development of China's manufacturing industry in recent years, the life of LEDbulb lamp progressively realizes automatization, improves production efficiency to a certain extent, it is ensured that product quality.
It is known that finished product detection is the key link of LEDbulb lamp quality guarantee, the efficiency of finished product detection and quality control is directly affected the quality that product is finally cased.Through retrieval discovery, existing bulb lamp finished product detection and sorting arrangement and method, it is mostly to adopt work position rotation table constructional device or equipment.If application number is 2013103480307, denomination of invention is the Apparatus and method for of LEDbulb lamp finished product on-line checking and sorting, the day for announcing is the patent of invention of on 05 13rd, 2015, it discloses a kind of LEDbulb lamp finished product on-line checking and sorting arrangement, including work position rotation table, work position rotation table is provided with detection station, sortation process and multiple detection frock, work position rotation table drives and detects frock and the corresponding bulb lamp sequentially round placed on it through each station, by testing agency, bulb lamp station being detected is sent into detection system and carry out finished product detection, bulb lamp after detection is undertaken the bulb lamp after detection is carried out sorting operation by mechanism for sorting.This bulb lamp finished product detection and sorting arrangement are to a certain degree being effectively improved production efficiency relative to traditional-handwork production operation, quality is also necessarily ensured, but it belongs to traditional work position rotation table structure, its structure is complicated, install inconvenience, manufacturing cost is high, precision is low.
Summary of the invention
The invention provides a kind of simple in construction, integrated level is high, easy for installation, sorting speed is fast, efficiency is high, cost is low and safety is good sorts and packaging system based on the bulb lamp of machine vision.
The present invention can be achieved through the following technical solutions:
A kind of bulb lamp based on machine vision sorts and packaging system, including work platforms, described work platforms is provided with robot module, visual system module and work piece platform module, described robot module includes six-joint robot, mechanical paw and PLC control cabinet, described mechanical paw is arranged on the rotation machinery of six-joint robot end on hand, and described six-joint robot and mechanical paw are connected with PLC control cabinet respectively；Described work piece platform module includes the district's platform of taking pictures for placing bulb lamp to be detected, the detection platform whether good for testing bulb lamp, for depositing the finished product box of the qualified bulb lamp of detection, with be used for deposit the substandard products case detecting underproof substandard products bulb lamp, described district's platform of taking pictures is positioned at the side of work platforms, described detection platform is positioned at the centre of work platforms, described finished product box and substandard products case and is positioned at the opposite side of work platforms；nullDescribed visual system module includes 2D camera、Light source、Industrial computer all-in-one and vision software system，Described 2D camera is Cognex camera，Described 2D camera is fixed on mechanical paw by support，Described light source is multiple，It is evenly distributed on the surrounding in district of taking pictures，Described 2D camera and industrial computer all-in-one are connected with PLC control cabinet respectively，Described vision software system includes In-Sight software，This software uses FindPatterns algorithm，Set up image comparison model，Use CalibrateAdvanced algorithm，Correction world coordinates，Use SortPatterns algorithm and the contrast of previously established model，Calculate the position of current bulb lamp，Use TransPixelToWorld algorithm that the pixel coordinate of workpiece is converted to world coordinates，Different attitudes for bulb lamp，After vision software system analytic operation，Draw the position coordinates of bulb lamp，Guide six-joint robot to carry out crawl bulb lamp and movement detects to detection platform place，Detection judges that qualified bulb lamp is controlled mechanical paw by six-joint robot and moves it to case in finished product box，Detection judges that underproof bulb lamp is controlled mechanical paw by six-joint robot and moves it to case in substandard products case.The present invention sorts with packaging system by robot module and visual system module being combined based on the bulb lamp of machine vision, visual analysis computing is carried out by visual system module, draw the position coordinates of bulb lamp, then six-joint robot is guided to carry out capturing to each station, detect, sorting, then case in order, it adopts six-joint robot to replace traditional turret design, it is effectively simplified equipment or apparatus structure on the one hand, easy for installation, six-joint robot integrated level is high on the other hand, degree of freedom is high, motion is flexibly, quickly, stable, its sorting speed is fast, vanning speed is fast, greatly improve work efficiency, and it is steady to effectively ensure that high-speed job moves, good stability, precision is high；Visual system module adopts 2D visual system to be effectively improved location certainty of measurement, accurate positioning, the setting of industrial computer all-in-one, adopts and customizes operation interface, and operational efficiency is high, simple to operate, safety；Visual system module and the combination of robot module, effectively achieve sorting and the vanning of the bulb lamp based on machine vision, and its simple in construction, integrated level are high, easy for installation, sorting speed is fast, efficiency is high, cost is low and safety is good.
Further, described mechanical paw designs for external clamping, and including the jig arm portion of the finger section of outer end, the clamping part at middle part and inner end, described jig arm portion is connected with finger section by clamping part, and the distance between two jig arm portions is less than the distance between two finger section.
Further, described clamping part is arcuate shape, and described clamping part is coated with or is bonded with cushion.The design of the clamping part of arcuate shape, can be used for clamping the bulb lamp of various different attitude, effectively guarantees that mechanical paw captures the bulb lamp of various different attitude, the setting of cushion, effectively guarantees the safety of crawl process.
Further, described cushion is rubber, and described rubber surface is provided with the ripple bar for increasing coefficient of friction; the setting of ripple bar; increase the frictional force between bulb lamp and mechanical paw, effectively guarantee that mechanical paw captures the steadiness of bulb lamp, it is prevented that bulb lamp landing in crawl process.
Further, described light source is strip source, the quantity of described strip source is four, article four, strip source is uniformly placed in the surrounding in district of taking pictures, the setting of strip source, for making up that indoor natural light is not enough or other light source is at district's skewness of taking pictures, the abundance of the light in the district that effectively guarantees to take pictures and the uniformity of distribution of light sources, it is ensured that quality of taking pictures.
Further, described finished product box and be all placed with foam plastics in substandard products case, it is evenly distributed with several in described foam plastics for placing and the groove of fixing bulb lamp, the setting of groove, it is simple to fixing and isolate each bulb lamp.
Present invention also offers and a kind of adopt the above-mentioned bulb lamp based on machine vision to sort and packaging system carries out sorting and case the method for bulb lamp.
A kind of the above-mentioned bulb lamp based on machine vision is adopted to sort and packaging system carries out sorting and case the method for bulb lamp, it is characterised in that: comprise the steps:
The first step, taking pictures in location, PLC control cabinet control six-joint robot starts six-joint robot after being reset to reduction point, and six-joint robot drives 2D camera running fix thereon to taking pictures on district's platform of taking pictures a little to carry out collection bulb lamp image of taking pictures；
Second step, captures bulb lamp, and six-joint robot drives mechanical paw thereon to be displaced downwardly to the bulb lamp place of a lower section of taking pictures, and then PLC control cabinet controls mechanical paw startup grasping movement and carries out crawl bulb lamp；
3rd step, test, sorting, six-joint robot again drive mechanical paw thereon move to the detection platform place being positioned in the middle part of work platforms carry out test bulb lamp whether qualified, in test process, bulb lamp is normally bright for qualified, bulb lamp do not work or with normally bright be not all defective；
4th step, vanning, the bulb lamp of test passes is controlled above mobile groove to finished product box with mechanical paw by six-joint robot, then mechanical paw unclamps and is placed to the groove of finished product box by the bulb lamp of test passes, the bulb lamp of test failure is substandard products, substandard products bulb lamp is controlled above mobile groove to substandard products case with mechanical paw by six-joint robot, and then mechanical paw unclamps and placed to the groove of substandard products case by the substandard products bulb lamp of test failure.
nullNeed to first pass through described vision software system before above-mentioned steps to be analyzed computing and draw to obtain the position coordinates of bulb lamp of taking pictures，Described vision software system includes In-Sight software，This software uses FindPatterns algorithm，Set up image comparison model，Use CalibrateAdvanced algorithm，Correction world coordinates，Use SortPatterns algorithm and the contrast of previously established model，Calculate the position of current bulb lamp，Use TransPixelToWorld algorithm that the pixel coordinate of workpiece is converted to world coordinates，Different attitudes for bulb lamp，After vision software system analytic operation，Draw the position coordinates of bulb lamp，Guide six-joint robot to carry out crawl bulb lamp and movement detects to detection platform place，Detection judges that qualified bulb lamp is controlled mechanical paw by six-joint robot and moves it to case in finished product box，Detection judges that underproof bulb lamp is controlled mechanical paw by six-joint robot and moves it to case in substandard products case.
Further, the described surrounding taking pictures district's platform is equipped with strip source, the setting of strip source, is used for making up indoor natural light deficiency or other light source at district's skewness of taking pictures, effectively guarantee to take pictures the abundance of light in district and the uniformity of distribution of light sources, it is ensured that quality of taking pictures.
Further, described mechanical paw designs for external clamping, and including the jig arm portion of the finger section of outer end, the clamping part at middle part and inner end, described jig arm portion is connected with finger section by clamping part, and the distance between two jig arm portions is less than the distance between two finger section.
Further, described clamping part is arcuate shape, and described clamping part is coated with or is bonded with cushion, and described cushion is rubber, and described rubber surface is provided with the ripple bar for increasing coefficient of friction.The design of the clamping part of arcuate shape, can be used for clamping the bulb lamp of various different attitude, effectively guarantees that mechanical paw captures the bulb lamp of various different attitude, the setting of cushion, effectively guarantees the safety of crawl process.The setting of ripple bar, increases the frictional force between bulb lamp and mechanical paw, effectively guarantees that mechanical paw captures the steadiness of bulb lamp, it is prevented that bulb lamp landing in crawl process.
The present invention sorts and packaging system and detection method based on the bulb lamp of machine vision, has following beneficial effect:
The first, the present invention based on machine vision bulb lamp sort and packaging system by robot module and visual system module are combined, visual analysis computing is carried out by visual system module, draw the position coordinates of bulb lamp, then six-joint robot is guided to carry out capturing to each station, carry out detecting, sorting, then case in order, effectively achieve sorting and the vanning of the bulb lamp based on machine vision；
The second, simple in construction, easy for installation, adopt six-joint robot to replace traditional turret design, it is effectively simplified equipment or apparatus structure on the one hand, easy for installation；
3rd, integrated level is high, precision high, efficiency is high, six-joint robot integrated level is high, degree of freedom is high, motion flexibly, quickly, stable, its sorting speed is fast, vanning speed is fast, greatly improve work efficiency, and it is steady to effectively ensure that high-speed job moves, good stability, precision is high；
4th, accurate positioning, simple to operate, safety, visual system module adopts 2D visual system to be effectively improved location certainty of measurement, accurate positioning, the setting of industrial computer all-in-one, adopts and customizes operation interface, and operational efficiency is high, simple to operate, safety.
To sum up state, the present invention sorts with packaging system by robot module and visual system module being combined based on the bulb lamp of machine vision, its simple in construction, integrated level are high, easy for installation, sorting speed is fast, efficiency is high, cost is low and safety is good, effectively achieve sorting and the vanning of the bulb lamp based on machine vision.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention bulb lamp sorting based on machine vision and packaging system；
Fig. 2 is the structural representation that in Fig. 1, mechanical paw is connected with rotation mechanical hand；
Fig. 3 is the present invention based on the bulb lamp of machine vision to be sorted and packaging system carries out sorting and case the frame principle figure of method of bulb lamp.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that technical scheme, below in conjunction with embodiment and accompanying drawing, product of the present invention is described in further detail.
As depicted in figs. 1 and 2, a kind of bulb lamp based on machine vision sorts and packaging system, including work platforms 1, described work platforms 1 is provided with robot module, visual system module and work piece platform module, described robot module includes six-joint robot 7, mechanical paw 5 and PLC control cabinet 8, described mechanical paw 5 is arranged on the rotation mechanical hand 6 of six-joint robot 7 end, and described six-joint robot 7 and mechanical paw 5 are connected with PLC control cabinet 8 respectively；Described work piece platform module includes the district's platform 10 of taking pictures for placing bulb lamp to be detected, for testing the whether good detection platform of bulb lamp 11, for depositing the finished product box 2 of the qualified bulb lamp of detection, and for depositing the substandard products case 3 detecting underproof substandard products bulb lamp, described district's platform 10 of taking pictures is positioned at the side of work platforms 1, described detection platform 11 is positioned at the centre of work platforms 1, described finished product box 2 and substandard products case 3 are positioned at the opposite side of work platforms 1, foam plastics all it is placed with in described finished product box 2 and substandard products case 3, several it are evenly distributed with for placing and the groove 4 of fixing bulb lamp in described foam plastics, the setting of groove 4, it is easy to fixing and isolates each bulb lamp.nullDescribed visual system module includes 2D camera 12、Light source、Industrial computer all-in-one 9 and vision software system，Described 2D camera 12 is Cognex camera，Described 2D camera 12 is fixed on mechanical paw 5 by support，Described light source is multiple，It is evenly distributed on the surrounding in district of taking pictures，Described 2D camera 12 and industrial computer all-in-one 9 are connected with PLC control cabinet 8 respectively，Described vision software system includes In-Sight software，This software uses FindPatterns algorithm，Set up image comparison model，Use CalibrateAdvanced algorithm，Correction world coordinates，Use SortPatterns algorithm and the contrast of previously established model，Calculate the position of current bulb lamp，Use TransPixelToWorld algorithm that the pixel coordinate of workpiece is converted to world coordinates，Different attitudes for bulb lamp，After vision software system analytic operation，Draw the position coordinates of bulb lamp，Guide six-joint robot 7 to carry out crawl bulb lamp and movement detects to detection platform 11 place，Detection judges that qualified bulb lamp is controlled mechanical paw 5 by six-joint robot 7 and moves it to case in finished product box 2，Detection judges that underproof bulb lamp is controlled mechanical paw 5 by six-joint robot 7 and moves it to case in substandard products case 3.The present invention sorts with packaging system by robot module and visual system module being combined based on the bulb lamp of machine vision, visual analysis computing is carried out by visual system module, draw the position coordinates of bulb lamp, then six-joint robot 7 is guided to carry out capturing to each station, detect, sorting, then case in order, it adopts six-joint robot 7 to replace traditional turret design, it is effectively simplified equipment or apparatus structure on the one hand, easy for installation, six-joint robot 7 integrated level is high on the other hand, degree of freedom is high, motion is flexibly, quickly, stable, its sorting speed is fast, vanning speed is fast, greatly improve work efficiency, and it is steady to effectively ensure that high-speed job moves, good stability, precision is high；Visual system module adopts 2D visual system to be effectively improved location certainty of measurement, accurate positioning, the setting of industrial computer all-in-one 9, adopts and customizes operation interface, and operational efficiency is high, simple to operate, safety；Visual system module and the combination of robot module, effectively achieve sorting and the vanning of the bulb lamp based on machine vision, and its simple in construction, integrated level are high, easy for installation, sorting speed is fast, efficiency is high, cost is low and safety is good.
As depicted in figs. 1 and 2, described mechanical paw 5 designs for external clamping, including the jig arm portion 51 of the finger section 53 of outer end, the clamping part 52 at middle part and inner end, described jig arm portion 51 is connected with finger section 53 by clamping part 52, and the distance between two jig arm portions 51 is less than the distance between two finger section 53.Described clamping part 52 is arcuate shape, and described clamping part 52 is coated with or is bonded with cushion.The design of the clamping part 52 of arcuate shape, can be used for clamping the bulb lamp of various different attitude, effectively guarantees that mechanical paw 5 captures the bulb lamp of various different attitude, the setting of cushion, effectively guarantees the safety of crawl process.Described cushion is rubber; described rubber surface is provided with the ripple bar for increasing coefficient of friction, the setting of ripple bar, increases the frictional force between bulb lamp and mechanical paw 5; effectively guarantee that mechanical paw 5 captures the steadiness of bulb lamp, it is prevented that bulb lamp landing in crawl process.
As shown in Figure 1, described light source is strip source, the quantity of described strip source is four, article four, strip source is uniformly placed in the surrounding in district of taking pictures, the setting of strip source, for making up that indoor natural light is not enough or other light source is at district's skewness of taking pictures, the abundance of the light in the district that effectively guarantees to take pictures and the uniformity of distribution of light sources, it is ensured that quality of taking pictures.
As shown in Figure 1, Figure 2 and Figure 3, a kind of adopt the above-mentioned bulb lamp based on machine vision to sort and packaging system carries out sorting and case the method for bulb lamp, comprise the steps:
The first step, taking pictures in location, PLC control cabinet 8 controls after six-joint robot 7 is reset to reduction point, to start six-joint robot 7, and six-joint robot 7 drives 2D camera 12 thereon running fix to taking pictures on district's platform 10 of taking pictures a little to carry out taking pictures and gather bulb lamp image；
Second step, capture bulb lamp, six-joint robot 7 drives mechanical paw 5 thereon to be displaced downwardly to the bulb lamp place of a lower section of taking pictures, then PLC control cabinet 8 control mechanical paw 5 start grasping movement carry out capture bulb lamp；
3rd step, test, sorting, six-joint robot 7 again drive mechanical paw 5 thereon move to detection platform 11 place being positioned in the middle part of work platforms 1 carry out test bulb lamp whether qualified, in test process, bulb lamp is normally bright for qualified, bulb lamp do not work or with normally bright be not all defective；
4th step, vanning, the bulb lamp of test passes is controlled above mobile groove 4 to finished product box 2 with mechanical paw 5 by six-joint robot 7, then mechanical paw 5 unclamps and is placed to the groove 4 of finished product box 2 by the bulb lamp of test passes, the bulb lamp of test failure is substandard products, substandard products bulb lamp is controlled above mobile groove 4 to substandard products case 3 with mechanical paw 5 by six-joint robot 7, and then mechanical paw 5 unclamps and placed to the groove 4 of substandard products case 3 by the substandard products bulb lamp of test failure.
nullAs shown in Figure 1，Need to first pass through described vision software system before above-mentioned steps to be analyzed computing and draw to obtain the position coordinates of bulb lamp of taking pictures，Described vision software system includes In-Sight software，This software uses FindPatterns algorithm，Set up image comparison model，Use CalibrateAdvanced algorithm，Correction world coordinates，Use SortPatterns algorithm and the contrast of previously established model，Calculate the position of current bulb lamp，Use TransPixelToWorld algorithm that the pixel coordinate of workpiece is converted to world coordinates，Different attitudes for bulb lamp，After vision software system analytic operation，Draw the position coordinates of bulb lamp，Guide six-joint robot 7 to carry out crawl bulb lamp and movement detects to detection platform 11 place，Detection judges that qualified bulb lamp is controlled mechanical paw 5 by six-joint robot 7 and moves it to case in finished product box 2，Detection judges that underproof bulb lamp is controlled mechanical paw 5 by six-joint robot 7 and moves it to case in substandard products case 3.
As shown in Figure 1, the described surrounding taking pictures district's platform 10 is equipped with strip source, the setting of strip source, is used for making up indoor natural light deficiency or other light source at district's skewness of taking pictures, effectively guarantee to take pictures the abundance of light in district and the uniformity of distribution of light sources, it is ensured that quality of taking pictures.
As shown in Figure 2, described mechanical paw 5 designs for external clamping, including the jig arm portion 51 of the finger section 53 of outer end, the clamping part 52 at middle part and inner end, described jig arm portion 51 is connected with finger section 53 by clamping part 52, and the distance between two jig arm portions 51 is less than the distance between two finger section 53.Described clamping part 52 is arcuate shape, and described clamping part 52 is coated with or is bonded with cushion, and described cushion is rubber, and described rubber surface is provided with the ripple bar for increasing coefficient of friction.The design of the clamping part 52 of arcuate shape, can be used for clamping the bulb lamp of various different attitude, effectively guarantees that mechanical paw 5 captures the bulb lamp of various different attitude, the setting of cushion, effectively guarantees the safety of crawl process.The setting of ripple bar, increases the frictional force between bulb lamp and mechanical paw 5, effectively guarantees that mechanical paw 5 captures the steadiness of bulb lamp, it is prevented that bulb lamp landing in crawl process.
The above, be only presently preferred embodiments of the present invention, and the present invention not does any pro forma restriction；The those of ordinary skill of all industry all can shown in by specification accompanying drawing and the above and implement the present invention swimmingly；But, all those skilled in the art without departing within the scope of technical solution of the present invention, available disclosed above technology contents and make a little change, modify and the equivalent variations of differentiation, be the Equivalent embodiments of the present invention；Meanwhile, all change of any equivalent variations, modification and differentiation etc. above example made according to the substantial technological of the present invention, all still fall within the protection domain of technical scheme.
Claims (10)
1. the bulb lamp based on machine vision sorts and packaging system, including work platforms, it is characterized in that: described work platforms is provided with robot module, visual system module and work piece platform module, described robot module includes six-joint robot, mechanical paw and PLC control cabinet, described mechanical paw is arranged on the rotation machinery of six-joint robot end on hand, and described six-joint robot and mechanical paw are connected with PLC control cabinet respectively；
Described work piece platform module includes the district's platform of taking pictures for placing bulb lamp to be detected, the detection platform whether good for testing bulb lamp, for depositing the finished product box of the qualified bulb lamp of detection, with be used for deposit the substandard products case detecting underproof substandard products bulb lamp, described district's platform of taking pictures is positioned at the side of work platforms, described detection platform is positioned at the centre of work platforms, described finished product box and substandard products case and is positioned at the opposite side of work platforms；
Described visual system module includes 2D camera, light source, industrial computer all-in-one and vision software system, described 2D camera is fixed on mechanical paw by support, described light source is multiple, is evenly distributed on the surrounding in district of taking pictures, and described 2D camera and industrial computer all-in-one are connected with PLC control cabinet respectively.
2. the bulb lamp based on machine vision according to claim 1 sorts and packaging system, it is characterized in that: described mechanical paw designs for external clamping, jig arm portion including the finger section of outer end, the clamping part at middle part and inner end, described jig arm portion is connected with finger section by clamping part, and the distance between two jig arm portions is less than the distance between two finger section.
3. the bulb lamp based on machine vision according to claim 2 sorts and packaging system, it is characterised in that: described clamping part is arcuate shape, and described clamping part is coated with or is bonded with cushion.
4. the bulb lamp based on machine vision according to claim 3 sorts and packaging system, it is characterised in that: described cushion is rubber, and described rubber surface is provided with the ripple bar for increasing coefficient of friction.
5. the bulb lamp based on machine vision according to claim 4 sorts and packaging system, it is characterised in that: described light source is strip source, and the quantity of described strip source is four, and four strip sources are uniformly placed in the surrounding in district of taking pictures.
6. the bulb lamp based on machine vision according to claim 5 sorts and packaging system, it is characterized in that: described finished product box and be all placed with foam plastics in substandard products case, be evenly distributed with several in described foam plastics for placing and the groove of fixing bulb lamp.
7. one kind adopts and sorts based on the bulb lamp of machine vision described in claim 1 and packaging system carries out sorting and case the method for bulb lamp, it is characterised in that: comprise the steps:
The first step, taking pictures in location, PLC control cabinet control six-joint robot starts six-joint robot after being reset to reduction point, and six-joint robot drives 2D camera running fix thereon to taking pictures on district's platform of taking pictures a little to carry out collection bulb lamp image of taking pictures；
Second step, captures bulb lamp, and six-joint robot drives mechanical paw thereon to be displaced downwardly to the bulb lamp place of a lower section of taking pictures, and then PLC control cabinet controls mechanical paw startup grasping movement and carries out crawl bulb lamp；
3rd step, test, sorting, six-joint robot again drive mechanical paw thereon move to the detection platform place being positioned in the middle part of work platforms carry out test bulb lamp whether qualified, in test process, bulb lamp is normally bright for qualified, bulb lamp do not work or with normally bright be not all defective；
4th step, vanning, the bulb lamp of test passes is controlled above mobile groove to finished product box with mechanical paw by six-joint robot, then mechanical paw unclamps and is placed to the groove of finished product box by the bulb lamp of test passes, the bulb lamp of test failure is substandard products, substandard products bulb lamp is controlled above mobile groove to substandard products case with mechanical paw by six-joint robot, and then mechanical paw unclamps and placed to the groove of substandard products case by the substandard products bulb lamp of test failure.
8. the method for sorting according to claim 7 and vanning bulb lamp, it is characterised in that: described in the take pictures surrounding of district's platform be equipped with strip source.
9. the method for sorting according to claim 8 and vanning bulb lamp, it is characterized in that: described mechanical paw designs for external clamping, jig arm portion including the finger section of outer end, the clamping part at middle part and inner end, described jig arm portion is connected with finger section by clamping part, and the distance between two jig arm portions is less than the distance between two finger section.
10. the method for sorting according to claim 9 and vanning bulb lamp, it is characterized in that: described clamping part is arcuate shape, described clamping part is coated with or is bonded with cushion, and described cushion is rubber, and described rubber surface is provided with the ripple bar for increasing coefficient of friction.
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| CN108501008A (en) * | 2018-03-30 | 2018-09-07 | 赵晓月 | One kind picking up egg clamping jaw |
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| CN108772840A (en) * | 2018-07-02 | 2018-11-09 | 常州普旺科技有限公司 | A kind of adaptive sorting system and method based on computer vision and machine learning |
| CN108861553A (en) * | 2018-07-20 | 2018-11-23 | 金展科技（佛山）有限公司 | Accurate chip card transfer mechanism |
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| CN109014815A (en) * | 2018-08-13 | 2018-12-18 | 昆山睿力得软件技术有限公司 | A kind of vision guide equipment for Product Assembly |
| CN109927030A (en) * | 2019-03-28 | 2019-06-25 | 云南国土资源职业学院 | A kind of robot visual orientation method of appearance components detection |
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| CN109909984B (en) * | 2019-04-25 | 2021-11-02 | 福州大学 | LED ball bubble lamp base automatic feeding clamping machine constructs based on machine vision |
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| CN112428268A (en) * | 2020-11-11 | 2021-03-02 | 南京农业大学 | Vehicle-mounted mechanical arm type fruit picking and boxing system and method based on machine vision |
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| CN113523272B (en) * | 2021-05-14 | 2023-09-29 | 福建省长汀金龙稀土有限公司 | Material box grabbing system based on machine vision |
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| CN113400308B (en) * | 2021-06-16 | 2022-06-03 | 深圳谦腾科技有限公司 | Optimal path planning method for manipulator to grab product and readable storage medium |
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