CN105729472B - A kind of bulb lamp sorting and packaging system and method based on machine vision - Google Patents
A kind of bulb lamp sorting and packaging system and method based on machine vision Download PDFInfo
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- CN105729472B CN105729472B CN201610243128.XA CN201610243128A CN105729472B CN 105729472 B CN105729472 B CN 105729472B CN 201610243128 A CN201610243128 A CN 201610243128A CN 105729472 B CN105729472 B CN 105729472B
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The bulb lamp sorting and packaging system that the invention discloses a kind of based on machine vision, including workbench, workbench is equipped with robot module, vision system module and work piece platform module, robot module includes six-joint robot, mechanical paw and PLC control cabinet, and mechanical paw is mounted on the rotation machinery of six-joint robot end on hand；Work piece platform module includes take pictures area's platform, detection platform, finished product box and substandard products case；Vision system module includes 2D cameras, light source, industrial personal computer all-in-one machine and vision software system, and 2D cameras are fixed by the bracket on mechanical paw, and multiple light sources are evenly distributed on the surrounding in area of taking pictures.The present invention is based on the sorting of the bulb lamp of machine vision and packaging system is simple in structure, integrated level is high, easy for installation, sorting speed is fast, efficient, at low cost and safety is good, effectively realizes the sorting and vanning of the bulb lamp based on machine vision.
Description
Technical field
The present invention relates to machine vision technique, it is specially a kind of based on machine vision bulb lamp sorting and packaging system and
Method.
Background technology
It is similar to outside LEDbulb lamp blistered, is the energy-saving and environment-friendly general illumination product of a new generation.Traditional LEDbulb lamp
Mostly by manual production, manual production operating type low production efficiency, and quality is difficult to ensure.With China's system in recent years
The development of industry is made, the life of LEDbulb lamp has been done step-by-step automation, has improved production efficiency to a certain extent, it is ensured that production
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 directly affects the quality that product is finally cased.Found through retrieval, existing bulb lamp finished product detection and sorting device with
And method, mostly it is to use work position rotation table constructional device or equipment.Such as application No. is 2013103480307, entitled LED ball
The device and method of lamp finished product on-line checking and sorting are steeped, the day for announcing is the patent of invention of on May 13rd, 2015, it discloses
A kind of LEDbulb lamp finished product on-line checking and sorting device, including work position rotation table, work position rotation table are equipped with detection station, sorting
Station and multiple detecting tools, work position rotation table drive detecting tool thereon and the corresponding bulb lamp placed sequentially to rotate by each
Station will detect that the bulb lamp of station is sent into detecting system and carries out finished product detection by testing agency, bulb lamp after detection by
Mechanism for sorting carries out carrying out sorting operation to the bulb lamp after detection.The bulb lamp finished product detection and sorting device are relative to tradition
Manual production operation is effectively improving production efficiency to a certain degree, and quality also centainly ensured, but it belongs to tradition
Work position rotation table structure, it is complicated, installation is inconvenient, manufacturing cost is high, precision is low.
Invention content
The present invention provides it is a kind of it is simple in structure, integrated level is high, easy for installation, sorting speed is fast, it is efficient, at low cost and
Safety good bulb lamp sorting and packaging system based on machine vision.
The present invention can be achieved through the following technical solutions：
A kind of bulb lamp sorting and packaging system based on machine vision, including workbench are set on the workbench
It includes six-joint robot, mechanical paw to have robot module, vision system module and work piece platform module, the robot module
And PLC control cabinet, the mechanical paw are mounted on the rotation machinery of six-joint robot end on hand, the six-joint robot and machine
Tool paw is connect with PLC control cabinet respectively；The work piece platform module includes flat for placing the area of taking pictures of bulb lamp to be detected
Platform, for testing the whether good detection platform of bulb lamp, the finished product box for storing the qualified bulb lamp of detection, and for depositing
The substandard products case for detecting underproof substandard products bulb lamp is put, area's platform of taking pictures is located at the side of workbench, and the detection is flat
Platform is located at the centre of workbench, and the finished product box and substandard products case are located at the other side of workbench；The vision system module
Including 2D cameras, light source, industrial personal computer all-in-one machine and vision software system, the 2D cameras are Cognex camera, the 2D cameras
It is fixed by the bracket on mechanical paw, the light source is multiple, is evenly distributed on the surrounding in area of taking pictures, the 2D cameras and work
Control machine all-in-one machine is connect with PLC control cabinet respectively, and the vision software system includes In-Sight softwares, which uses
FindPatterns algorithms establish image comparison model, using CalibrateAdvanced algorithms, correct world coordinates, use
SortPatterns algorithms and the model established before compare, and calculate the position of current bulb lamp, use
The pixel coordinate of workpiece is converted to world coordinates by TransPixelToWorld algorithms, for the different postures of bulb lamp, through regarding
After feeling software system analysis operation, show that the position coordinates of bulb lamp, guiding six-joint robot carry out crawl bulb lamp and movement
It is detected to detection platform, detection judges that qualified bulb lamp moves it to finished product by six-joint robot control machinery paw
Case in case, detection judge underproof bulb lamp by six-joint robot control machinery paw move it in substandard products case into
Luggage case.The present invention is based on the sortings of the bulb lamp of machine vision and packaging system by by robot module and vision system module
It is combined together, visual analysis operation is carried out by vision system module, the position coordinates of bulb lamp is obtained, then guides six axis
Robot is captured to each station, is detected, is sorted, then orderly vanning, uses six-joint robot to replace traditional
Turret design, one side is effectively simplified device structure, easy for installation, another aspect six-joint robot integrated level
Height, degree of freedom are high, movement is flexible, quick, stable, and sorting speed is fast, vanning speed is fast, greatly improves working efficiency, and
And effectively ensuring that the steady of high-speed job movement, stability is good, and precision is high；Vision system module is effective using 2D vision systems
Positioning measurement precision is improved, accurate positioning, the setting of industrial personal computer all-in-one machine, using operation interface is customized, operational efficiency is high, behaviour
Make simple, safety；The combination of vision system module and robot module effectively realizes point of the bulb lamp based on machine vision
It picks and cases, it is simple in structure, integrated level is high, easy for installation, sorting speed is fast, efficient, at low cost and safety is good.
Further, the mechanical paw designs for external clamping, including the finger section of outer end, the clamping part at middle part and inner end
Clamp arm portion, the clamp arm portion connect by clamping part with finger section, and the distance between two clamp arm portions are less than two finger sections
The distance between.
Further, the clamping part is arcuate shape, and the clamping part is coated with or is bonded with buffer layer.Arc
The design of the clamping part of shape can be used for being clamped the bulb lamp of various different postures, effectively ensure that mechanical paw crawl is various not
With the bulb lamp of posture, the setting of buffer layer effectively ensures the safety of crawl process.
Further, the buffer layer is rubber, and the rubber surface is equipped with the ripple bar for increasing friction coefficient, wave
The setting of line item increases the frictional force between bulb lamp and mechanical paw, effectively ensures the firm of mechanical paw crawl bulb lamp
Property, bulb lamp slides during preventing crawl.
Further, the light source is strip source, and the quantity of the strip source is four, and four strip sources are uniform
It is placed in the surrounding in area of taking pictures, the setting of strip source, for making up indoor natural light deficiency or other light sources in differentiation of taking pictures
Cloth is uneven, the abundance of the light in the area that effectively ensures to take pictures and the uniformity of distribution of light sources, it is ensured that quality of taking pictures.
Further, it is placed with foamed plastics in the finished product box and substandard products case, is uniformly distributed in the foamed plastics
There are several to be used to place and fix the groove of bulb lamp, the setting of groove, convenient for fixing and being isolated each bulb lamp.
The bulb lamp sorting that the present invention also provides a kind of using above-mentioned based on machine vision is sorted with packaging system
With the method for vanning bulb lamp.
A kind of bulb lamp sorting and packaging system using above-mentioned based on machine vision is sorted and is cased bulb lamp
Method, it is characterised in that：Include the following steps：
The first step, positioning are taken pictures, and after PLC control cabinet control six-joint robot is reset to reduction point, start six-joint robot,
2D cameras running fix to the taking pictures on area's platform of taking pictures of six-joint robot drive thereon, which a little carries out taking pictures, acquires bulb lamp figure
Picture；
Second step, captures bulb lamp, and the mechanical paw of six-joint robot drive thereon is displaced downwardly to the ball bubble for a lower section of taking pictures
At lamp, then PLC control cabinet control machinery paw startup grasping movement carries out crawl bulb lamp；
Third walks, and test, sorting, six-joint robot drive mechanical paw to be thereon moved in workbench again
Carry out whether test bulb lamp is qualified, and bulb lamp is just being always on as qualification in test process at the detection platform in portion, bulb lamp does not work
Or different from being just always on is unqualified；
The bulb lamp of 4th step, vanning, test passes is moved to finished product with mechanical paw by six-joint robot control
Above groove in case, then mechanical paw release places the bulb lamp of test passes to the groove of finished product box, and test is not
Qualified bulb lamp is substandard products, and substandard products bulb lamp is moved to mechanical paw by six-joint robot control recessed in substandard products case
Above slot, then mechanical paw release places the substandard products bulb lamp of test failure to the groove of substandard products case.
It needs to first pass through the position that the vision software system progress analytic operation obtains to take pictures bulb lamp before above-mentioned steps
Coordinate, the vision software system include In-Sight softwares, which uses FindPatterns algorithms, establish image comparison
Model corrects world coordinates using CalibrateAdvanced algorithms, using SortPatterns algorithms with establish before
Model compares, and calculates the position of current bulb lamp, is converted to the pixel coordinate of workpiece using TransPixelToWorld algorithms
World coordinates after vision software system analytic operation, obtains the position coordinates of bulb lamp for the different postures of bulb lamp,
Guiding six-joint robot carries out crawl bulb lamp and being moved at detection platform and is detected, detection judge qualified bulb lamp by
Six-joint robot control machinery paw, which moves it in finished product box, cases, and detection judges underproof bulb lamp by six axis machines
Device people's control machinery paw, which moves it in substandard products case, cases.
Further, the surrounding for taking pictures area's platform is equipped with strip source, the setting of strip source, for making up room
Interior natural light is insufficient or other light sources are unevenly distributed in area of taking pictures, the abundance and distribution of light sources of the light in the area that effectively ensures to take pictures
Uniformity, it is ensured that quality of taking pictures.
Further, the mechanical paw designs for external clamping, including the finger section of outer end, the clamping part at middle part and inner end
Clamp arm portion, the clamp arm portion connect by clamping part with finger section, and the distance between two clamp arm portions are less than two finger sections
The distance between.
Further, the clamping part is arcuate shape, and the clamping part is coated with or is bonded with buffer layer, described
Buffer layer is rubber, and the rubber surface is equipped with the ripple bar for increasing friction coefficient.The design of the clamping part of arcuate shape,
The bulb lamp that can be used for being clamped various different postures effectively ensures that mechanical paw captures the bulb lamp of various different postures, buffering
The setting of layer, effectively ensures the safety of crawl process.The setting of ripple bar increases the friction between bulb lamp and mechanical paw
Power effectively ensures the stability of mechanical paw crawl bulb lamp, and bulb lamp slides during preventing crawl.
The present invention is based on the sorting of the bulb lamp of machine vision and packaging system and detection methods, have following beneficial effect
Fruit：
The first, the present invention is based on the sortings of the bulb lamp of machine vision and packaging system by by robot module and vision system
System module is combined together, and is carried out visual analysis operation by vision system module, is obtained the position coordinates of bulb lamp, then draw
It leads six-joint robot to be captured to each station, is detected, sorts, then orderly vanning, is effectively realized and regarded based on machine
The sorting and vanning of the bulb lamp of feel；
The second, simple in structure, it is easy for installation, replace traditional turret design, one side to have using six-joint robot
Effect simplifies device structure, easy for installation；
Third, integrated level height, precision are high, efficient, and six-joint robot integrated level is high, degree of freedom is high, movement is flexible, fast
Speed is stablized, and sorting speed is fast, vanning speed is fast, greatly improves working efficiency, and effectively ensures that high-speed job moves
It is steady, stability is good, and precision is high；
4th, accurate positioning, easy to operate, safe, vision system module effectively improve positioning using 2D vision systems and survey
Accuracy of measurement, accurate positioning, the setting of industrial personal computer all-in-one machine, using operation interface is customized, operational efficiency is high, easy to operate, peace
Entirely.
It to sum up states, the present invention is based on the sortings of the bulb lamp of machine vision and packaging system by by robot module and vision
System module is combined together, it is simple in structure, integrated level is high, easy for installation, sorting speed is fast, it is efficient, at low cost and peace
Good perfection effectively realizes the sorting and vanning of the bulb lamp based on machine vision.
Description of the drawings
Fig. 1 is that the present invention is based on the structural schematic diagrams of the bulb lamp of machine vision sorting and packaging system；
Fig. 2 is the structural schematic diagram that mechanical paw is connect with rotation manipulator in Fig. 1；
Fig. 3 is that the present invention is based on the sides that the bulb lamp of machine vision sorts the bulb lamp that sorted and cased with packaging system
The frame principle figure of method.
Specific implementation mode
In order that those skilled in the art will better understand the technical solution of the present invention, with reference to embodiment and attached drawing
Product of the present invention is described in further detail.
As depicted in figs. 1 and 2, a kind of bulb lamp sorting and packaging system based on machine vision, including workbench 1,
The workbench 1 is equipped with robot module, vision system module and work piece platform module, and the robot module includes six
Axis robot 7, mechanical paw 5 and PLC control cabinet 8, the mechanical paw 5 are mounted on the rotation machinery of 7 end of six-joint robot
On hand 6, the six-joint robot 7 and mechanical paw 5 are connect with PLC control cabinet 8 respectively；The work piece platform module includes being used for
The area's platform 10 of taking pictures for placing bulb lamp to be detected, for testing the whether good detection platform 11 of bulb lamp, for storing inspection
The finished product box 2 of qualified bulb lamp is surveyed, and for storing the substandard products case 3 for detecting underproof substandard products bulb lamp, it is described to take pictures
Area's platform 10 is located at the side of workbench 1, and the detection platform 11 is located at the centre of workbench 1, the finished product box 2 and time
Product case 3 is located at the other side of workbench 1, and foamed plastics, the foam plastic are placed in the finished product box 2 and substandard products case 3
Several grooves 4 for placing and fixing bulb lamp are evenly distributed in material, the setting of groove 4 is each convenient for fixed and isolation
Bulb lamp.The vision system module includes 2D cameras 12, light source, industrial personal computer all-in-one machine 9 and vision software system, the 2D phases
Machine 12 is Cognex camera, and the 2D cameras 12 are fixed by the bracket on mechanical paw 5, and the light source is multiple, is uniformly divided
Cloth is connect with PLC control cabinet 8 respectively in the surrounding in area of taking pictures, the 2D cameras 12 and industrial personal computer all-in-one machine 9, the vision software
System includes In-Sight softwares, which uses FindPatterns algorithms, establish image comparison model, uses
CalibrateAdvanced algorithms correct world coordinates, are compared with the model established before using SortPatterns algorithms,
The pixel coordinate of workpiece is converted to world coordinates by the position for calculating current bulb lamp using TransPixelToWorld algorithms,
For the different postures of bulb lamp, after vision software system analytic operation, obtains the position coordinates of bulb lamp, guide six axis machines
Device people 7 carries out crawl bulb lamp and is moved at detection platform 11 to be detected, and detection judges qualified bulb lamp by six axis machines
7 control machinery paw 5 of device people, which moves it in finished product box 2, cases, and detection judges underproof bulb lamp by six axis machines
7 control machinery paw 5 of people, which moves it in substandard products case 3, cases.The present invention is based on the sorting of the bulb lamp of machine vision and dresses
Case system carries out visual analysis fortune by the way that robot module and vision system module to be combined together, by vision system module
It calculates, obtains the position coordinates of bulb lamp, then six-joint robot 7 is guided to be captured to each station, be detected, sort, so
Orderly vanning afterwards, uses six-joint robot 7 that traditional turret design, one side is replaced to be effectively simplified device
Structure, easy for installation, 7 integrated level of another aspect six-joint robot is high, degree of freedom is high, it is flexible, quick to move, stablizes, sorting
Speed is fast, vanning speed is fast, greatly improves working efficiency, and effectively ensure that steady, the stability of high-speed job movement
Good, precision is high；Vision system module effectively improves positioning measurement precision, accurate positioning, industrial personal computer one using 2D vision systems
The setting of machine 9, using operation interface is customized, operational efficiency is high, easy to operate, safety；Vision system module and robot mould
The combination of block, effectively realizes the sorting and vanning of the bulb lamp based on machine vision, simple in structure, integrated level is high, installation
Conveniently, sorting speed is fast, efficient, at low cost and safety is good.
As depicted in figs. 1 and 2, the mechanical paw 5 designs for external clamping, includes the folder of the finger section 53 of outer end, middle part
Hold the clamp arm portion 51 of portion 52 and inner end, the clamp arm portion 51 is connect by clamping part 52 with finger section 53, two clamp arm portions 51 it
Between distance be less than the distance between two finger sections 53.The clamping part 52 is arcuate shape, 52 surface of clamping part packet
It is wrapped with or is bonded with buffer layer.The design of the clamping part 52 of arcuate shape can be used for being clamped the bulb lamp of various different postures, have
Effect ensures that mechanical paw 5 captures the bulb lamp of various different postures, and the setting of buffer layer effectively ensures the safety of crawl process.
The buffer layer is rubber, and the rubber surface is equipped with the ripple bar for increasing friction coefficient, and the setting of ripple bar increases ball
The frictional force between lamp and mechanical paw 5 is steeped, effectively ensures that mechanical paw 5 captures the stability of bulb lamp, prevents crawl process
Middle bulb lamp slides.
As shown in Figure 1, the light source is strip source, the quantity of the strip source is four, and four strip sources are equal
The even surrounding for being placed in area of taking pictures, the setting of strip source, for making up indoor natural light deficiency or other light sources in area of taking pictures
It is unevenly distributed, the abundance of the light in the area that effectively ensures 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 bulb lamp sorting and packaging system using above-mentioned based on machine vision carries out
The method of sorting and vanning bulb lamp, includes the following steps：
The first step, positioning are taken pictures, and after the control six-joint robot 7 of PLC control cabinet 8 is reset to reduction point, start six axis machines
People 7, and six-joint robot 7 drives 12 running fix of 2D cameras to taking pictures on area's platform 10 of taking pictures thereon a little to carry out acquisition of taking pictures
Bulb lamp image；
Second step, captures bulb lamp, and six-joint robot 7 drives mechanical paw 5 to be thereon displaced downwardly to a ball for lower section of taking pictures
It steeps at lamp, then 8 control machinery paw 5 of PLC control cabinet startup grasping movement carries out crawl bulb lamp；
Third walks, and test, sorting, six-joint robot 7 drive mechanical paw 5 to be thereon moved to positioned at workbench again
Carry out whether test bulb lamp is qualified, and bulb lamp is just being always on as qualification, bulb lamp in test process at the detection platform 11 at 1 middle part
It does not work or different from being just always on to be unqualified；
The bulb lamp of 4th step, vanning, test passes is moved into mechanical paw 5 by the control of six-joint robot 7
4 top of groove in product case 2, the then release of mechanical paw 5 place the bulb lamp of test passes to the groove 4 of finished product box 2,
The bulb lamp of test failure is substandard products, and substandard products bulb lamp is moved to substandard products with mechanical paw 5 by the control of six-joint robot 7
4 top of groove in case 3, the then release of mechanical paw 5 place the substandard products bulb lamp of test failure to the groove of substandard products case 3
In 4.
Obtain to take pictures ball as shown in Figure 1, needing to first pass through the vision software system before above-mentioned steps and carrying out analytic operation
The position coordinates of lamp are steeped, the vision software system includes In-Sight softwares, which uses FindPatterns algorithms, build
Vertical image comparison model corrects world coordinates using CalibrateAdvanced algorithms, using SortPatterns algorithms with
The model comparison established before, calculates the position of current bulb lamp, using TransPixelToWorld algorithms by the pixel of workpiece
Coordinate is converted to world coordinates, and bulb lamp is obtained after vision software system analytic operation for the different postures of bulb lamp
Position coordinates, guiding six-joint robot 7 carry out crawl bulb lamp and are moved at detection platform 11 to be detected, and detection judges to close
The bulb lamp of lattice is moved it in finished product box 2 by 7 control machinery paw 5 of six-joint robot and is cased, and detection judges unqualified
Bulb lamp moved it in substandard products case 3 and case by 7 control machinery paw 5 of six-joint robot.
As shown in Figure 1, the surrounding for taking pictures area's platform 10 is equipped with strip source, the setting of strip source, for more
Mend that indoor natural light is insufficient or other light sources are unevenly distributed in area of taking pictures, the abundance and light source of the light in the area that effectively ensures to take pictures
The uniformity of distribution, it is ensured that quality of taking pictures.
As shown in Fig. 2, the mechanical paw 5 designs for external clamping, include the clamping part 52 of the finger section 53 of outer end, middle part
With the clamp arm portion 51 of inner end, the clamp arm portion 51 is connect by clamping part 52 with finger section 53, between two clamp arm portions 51 away from
From less than the distance between two finger sections 53.The clamping part 52 be arcuate shape, the clamping part 52 be coated with or
It is bonded with buffer layer, the buffer layer is rubber, and the rubber surface is equipped with the ripple bar for increasing friction coefficient.Arc shape
The design of the clamping part 52 of shape can be used for being clamped the bulb lamp of various different postures, effectively ensure mechanical paw 5 capture it is various not
With the bulb lamp of posture, the setting of buffer layer effectively ensures the safety of crawl process.The setting of ripple bar, increase bulb lamp with
Frictional force between mechanical paw 5 effectively ensures that mechanical paw 5 captures the stability of bulb lamp, and ball steeps during preventing crawl
Lamp slides.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the present invention in any form；It is all
The those of ordinary skill of the industry can be shown in by specification attached drawing and described above and swimmingly implement the present invention；But it is all
Those skilled in the art without departing from the scope of the present invention, using disclosed above technology contents
The equivalent variations for a little variation, modification and evolution made are the equivalent embodiment of the present invention；Meanwhile it is all according to the present invention
Substantial technological to the variation, modification and evolution etc. of any equivalent variations made by above example, still fall within the present invention's
Within the protection domain of technical solution.
Claims (10)
1. a kind of bulb lamp sorting and packaging system based on machine vision, including workbench, it is characterised in that：The work
Platform be equipped with robot module, vision system module and work piece platform module, the robot module include six-joint robot,
Mechanical paw and PLC control cabinet, the mechanical paw are mounted on the rotation machinery of six-joint robot end on hand, the six axis machine
Device people and mechanical paw are connect with PLC control cabinet respectively；
Whether the work piece platform module includes area's platform of taking pictures for placing bulb lamp to be detected, good for testing bulb lamp
Good detection platform, the finished product box for storing the qualified bulb lamp of detection, and detect underproof substandard products ball bubble for storing
The substandard products case of lamp, area's platform of taking pictures are located at the side of workbench, and the detection platform is located at the centre of workbench, institute
It states finished product box and substandard products case is located at the other side of workbench；
The vision system module includes 2D cameras, light source, industrial personal computer all-in-one machine and vision software system, and the 2D cameras pass through
Holder is fixed on mechanical paw, and the light source is multiple, is evenly distributed on the surrounding in area of taking pictures, the 2D cameras and industrial personal computer
All-in-one machine is connect with PLC control cabinet respectively.
2. bulb lamp sorting and packaging system according to claim 1 based on machine vision, it is characterised in that：The machine
Tool paw designs for external clamping, includes the clamp arm portion of the finger section of outer end, the clamping part at middle part and inner end, and the clamp arm portion passes through
Clamping part is connect with finger section, and the distance between two clamp arm portions are less than the distance between two finger sections.
3. bulb lamp sorting and packaging system according to claim 2 based on machine vision, it is characterised in that：The folder
It is arcuate shape to hold portion, and the clamping part is coated with or is bonded with buffer layer.
4. bulb lamp sorting and packaging system according to claim 3 based on machine vision, it is characterised in that：It is described slow
It is rubber to rush layer, and the rubber surface is equipped with the ripple bar for increasing friction coefficient.
5. bulb lamp sorting and packaging system according to claim 4 based on machine vision, it is characterised in that：The light
Source is strip source, and the quantity of the strip source is four, and four strip sources are uniformly placed in the surrounding in area of taking pictures.
6. bulb lamp sorting and packaging system according to claim 5 based on machine vision, it is characterised in that：It is described at
It is placed with foamed plastics in product case and substandard products case, several are evenly distributed in the foamed plastics for placing and fixing ball
Steep the groove of lamp.
The ball 7. a kind of bulb lamp sorting and packaging system using based on machine vision described in claim 1 is sorted and cased
Steep the method for lamp, it is characterised in that：Include the following steps：
The first step, positioning are taken pictures, and after PLC control cabinet control six-joint robot is reset to reduction point, start six-joint robot, six axis
2D cameras running fix to the taking pictures on area's platform of taking pictures of robot drive thereon, which a little carries out taking pictures, acquires bulb lamp image；
Second step captures bulb lamp, and six-joint robot drives mechanical paw to be thereon displaced downwardly at a bulb lamp for lower section of taking pictures,
Then PLC control cabinet control machinery paw startup grasping movement carries out crawl bulb lamp；
Third walks, and test, sorting, six-joint robot drive mechanical paw to be thereon moved in the middle part of workbench again
Carry out whether test bulb lamp qualified, and bulb lamp is just being always on as qualification in test process at detection platform, bulb lamp do not work or with
It is unqualified to be just always on different；
The bulb lamp of 4th step, vanning, test passes is moved to by six-joint robot control in finished product box with mechanical paw
Groove above, then mechanical paw release the bulb lamp of test passes is placed to the groove of finished product box, test failure
Bulb lamp be substandard products, substandard products bulb lamp with mechanical paw by six-joint robot control be moved on the groove in substandard products case
Side, then mechanical paw release place the substandard products bulb lamp of test failure to the groove of substandard products case.
8. the method for sorting according to claim 7 and vanning bulb lamp, it is characterised in that：It is described to take pictures the four of area's platform
Week is equipped with strip source.
9. the method for sorting according to claim 8 and vanning bulb lamp, it is characterised in that：The mechanical paw is outer clip
Formula designs, and includes the clamp arm portion of the finger section of outer end, the clamping part at middle part and inner end, the clamp arm portion passes through clamping part and finger
Portion connects, and the distance between two clamp arm portions are less than the distance between two finger sections.
10. the method for sorting according to claim 9 and vanning bulb lamp, it is characterised in that：The clamping part is arc
Shape, the clamping part are coated with or are bonded with buffer layer, and the buffer layer is rubber, and the rubber surface is equipped with and is used for
Increase the ripple bar of friction coefficient.
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| CN201610243128.XA CN105729472B (en) | 2016-04-19 | 2016-04-19 | A kind of bulb lamp sorting and packaging system and method based on machine vision |
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