CN105954288B - Hollow plate detection and sorting system and detection method after electrolytic manganese negative plate stripping - Google Patents
Hollow plate detection and sorting system and detection method after electrolytic manganese negative plate stripping Download PDFInfo
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- CN105954288B CN105954288B CN201610560819.2A CN201610560819A CN105954288B CN 105954288 B CN105954288 B CN 105954288B CN 201610560819 A CN201610560819 A CN 201610560819A CN 105954288 B CN105954288 B CN 105954288B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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Abstract
Hollow plate detection and sorting system and detection method after being removed the invention discloses a kind of electrolytic manganese negative plate, detection and sorting system include sensing chamber, dirty plate sorting equipment and the deformed plate sorting equipment set gradually along hollow plate pipeline, the detection interior is disposed with dirty board checking device and deformation board checking device, and the dirty plate sorting equipment and deformed plate sorting equipment are located at outside sensing chamber；Detection method includes dirty board detecting method and deformation board detecting method；Hollow plate detection and sorting system and detection method after electrolytic manganese negative plate stripping of the present invention, it is detected the residual manganese piece on hollow plate by industrial camera, it is detected by line laser rangefinder hollow plate geometry deformation, and dirty plate and deformed plate sorting are handled automatically by dirty plate sorting equipment and deformed plate sorting equipment, dirty plate is high with deformed plate accuracy in detection, the detection of hollow plate and sorting production efficiency are high, and labor intensity is low.
Description
Technical field
The present invention relates to electrolytic manganese technical field, more particularly to the detection and sorting of the empty cathode plate after a kind of stripping manganese piece
System.
Background technology
It in electrolytic manganese production process, needs to remove manganese piece from cathode plate, generally use taps cathode in the prior art
The mode of plate carries out manganese piece stripping.
Due in manganese piece stripping process, it is understood that there may be the problem of stripping is not clean and percussion causes cathode plate to deform, because
This needs will remove sordid dirty plate and deformed plate is separated.
Generally by being accomplished manually, labor intensity is big for the detection and separation of underproof dirty plate and deformed plate in the prior art,
Working efficiency is low.
Invention content
In view of this, the object of the present invention is to provide a kind of electrolytic manganese negative plate remove after hollow plate detection with sorting system and
Detection method improves production efficiency, reduces labor intensity to realize efficient detection and sort unqualified dirty plate and deformed plate.
Hollow plate detection and sorting system after electrolytic manganese negative plate stripping of the present invention, include being set gradually along hollow plate pipeline
Sensing chamber, dirty plate sorting equipment and deformed plate sorting equipment, the detection interior are disposed with dirty board checking device and deformation
Board checking device, the dirty plate sorting equipment and deformed plate sorting equipment are located at outside sensing chamber；
The dirty board checking device includes the first limit switch being arranged on hollow plate pipeline, acquisition hollow plate direct picture
The first industrial camera, to hollow plate front provide illumination first light source, acquire hollow plate back side image the second industrial camera, with
And the second light source of illumination is provided the hollow plate back side, whether first limit switch reaches dirty plate detecting hollow plate and detects work
Position；
The deformation board checking device include the second limit switch being arranged on hollow plate pipeline, scanning hollow plate it is positive
First Line laser range finder, the second line laser rangefinder for scanning the hollow plate back side and the third being arranged on hollow plate pipeline
Limit switch；Second limit switch to detect whether hollow plate reaches deformation detection station, use by the third limit switch
To detect whether hollow plate leaves deformation detection station；
The dirty plate sorting equipment includes the 4th limit switch being arranged on hollow plate pipeline and transhipment blanking device, institute
The 4th limit switch is stated to detect whether hollow plate reaches dirty plate sortation process；
The deformed plate sorting equipment include the 5th limit switch and transhipment blanking device, the 5th limit switch to
Whether detection hollow plate reaches deformed plate sortation process；
The dirty plate sorting equipment is identical with the transhipment blanking device structure in deformed plate sorting equipment, the transhipment blanking
Device includes rack, two chain-linked conveyers that parallel side-by-side is arranged in rack, the V being arranged on the chain of chain-linked conveyer
Shape hollow plate locating piece and feeding discharge mechanism in chain-linked conveyer feed side is set；
The feeding discharge mechanism includes decelerating motor and crank and rocker mechanism, the crank and rocker mechanism include crank,
Connecting rod, rocking bar and the pedestal of fixed setting, the rocking bar are U-shaped, and two chain-linked conveyers are located in the U-shaped mouth of rocking bar,
The U-shaped bottom of the rocking bar is hinged with pedestal, and one end of the crank is fixedly connected on machine shaft, the crank it is another
End and one end of connecting rod are hinged, and the other end and rocking bar of the connecting rod are hinged；It is set respectively on two ends of the rocking bar U-shaped mouth
L-shaped feeding hooks there are one setting.
The detection method of dirty hollow plate, includes the following steps after being removed the invention also discloses a kind of electrolytic manganese negative plate：
If 1) there is the manganese piece of 5mm × 10mm or more areas to remain on the hollow plate after regulation stripping manganese piece, for dirty plate；
2) it acquires hollow plate front and back image respectively by industrial camera, hollow plate surface is extracted by image processing algorithm
Blob connected domains on image, and according to the industrial camera parameter demarcated, calculate the area of each connected region：Si=c
Bi, wherein BiIt is the elemental area of i-th of Blob connected domain in image；C is the camera parameter demarcated in advance, indicates image
In each pixel wide hollow plate surface developed width；SiThe as real area of i-th of hollow plate surface connected region；From
And the connected region of required area can be will be greater than as manganese piece retaining candidate region；
3) hollow plate front and back is scanned by line laser rangefinder, the distance obtained using line laser rangefinder
Cathode plate both side surface is reconstructed in data, in order to ensure the real-time calculated, is detected just for machine vision mode
Manganese piece retaining candidate region BiCarry out the identification verification merged based on information；By establishing imaging plane and cathode plate actual surface
Coordinate mapping relations：Ri=f (Bi), solve the true coordinate R corresponding to each candidate regioni；Clearly for false time
Favored area, in the cathode plate surface region R of range data reconstructiNeighbouring distance change is smooth；, whereas if in the area
Domain appearance distance jumping phenomenon then can be confirmed as manganese piece residual region.
The detection method that hollow plate is deformed after being removed the invention also discloses a kind of electrolytic manganese negative plate, includes the following steps：
1) hollow plate deformation extent D is defined as：
Wherein,WithIndicate longitudinally divided along cathode plate respectively, the maximum average range in Local grid region and
Minimum average B configuration distance；
2) line laser rangefinder is used to obtain the range data of the longitudinal every scan line of cathode plate, when cathode plate is communicated off
After laser range finder detection zone, by the range data filtering and reconstruct to every scan line, obtain cathode plate surface away from
From data matrix；
3) along cathode plate longitudinal direction, plate face is divided into several equally spaced Local grids；Wherein, grid interval height h by
Artificial setting；
4) it is counted by the average distance to each Local grid, and by formulaCalculate deformation journey
Degree；If degree of deformation is more than extraction robot to entering the flatness requirement value of slot hollow plate, deformed plate is regarded as.
Beneficial effects of the present invention：
Hollow plate detection and sorting system and detection method, pass through industrial camera pair after electrolytic manganese negative plate stripping of the present invention
Residual manganese piece on hollow plate is detected, and is detected by line laser rangefinder hollow plate geometry deformation, and sorted by dirty plate
Device and deformed plate sorting equipment are automatically handled dirty plate and deformed plate sorting, and dirty plate is high with deformed plate accuracy in detection, hollow plate
Detection and sorting production efficiency it is high, labor intensity is low.
Description of the drawings
Fig. 1 is the structural schematic diagram of hollow plate detection and sorting system after electrolytic manganese negative plate stripping；
Fig. 2 is to remove the structural schematic diagram after sensing chamber in Fig. 1；
Fig. 3 is the dimensional structure diagram for transporting blanking device；
Fig. 4 is the dimensional structure diagram of crank and rocker mechanism；
Fig. 5 is that Local grid divides schematic diagram on hollow plate.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples.
Hollow plate detection and sorting system after the stripping of the present embodiment electrolytic manganese negative plate, including set gradually along hollow plate pipeline
Sensing chamber 1, dirty plate sorting equipment and deformed plate sorting equipment, the detection interior is disposed with dirty board checking device and change
Shape board checking device, the dirty plate sorting equipment and deformed plate sorting equipment are located at outside sensing chamber；
The dirty board checking device includes the first limit switch 3 being arranged on hollow plate pipeline 2, acquisition hollow plate front elevation
First industrial camera 4 of picture, the first light source 5 that illumination is provided hollow plate front, the second industrial phase for acquiring hollow plate back side image
Machine 6 and to the hollow plate back side provide illumination second light source 7, first limit switch to detect hollow plate whether reach it is dirty
Plate detection station；
The deformation board checking device includes the second limit switch 8 being arranged on hollow plate pipeline, scanning hollow plate front
First Line laser range finder 9, the scanning hollow plate back side the second line laser rangefinder 10 and be arranged on hollow plate pipeline
Third limit switch 11；To detect whether hollow plate reaches deformation detection station, the third limits second limit switch
It switchs to detect whether hollow plate leaves deformation detection station；
The dirty plate sorting equipment includes the 4th limit switch 12 being arranged on hollow plate pipeline and transports blanking device,
4th limit switch is detecting whether hollow plate reaches dirty plate sortation process；
The deformed plate sorting equipment includes the 5th limit switch 13 and transhipment blanking device, and the 5th limit switch is used
To detect whether hollow plate reaches deformed plate sortation process；
The dirty plate sorting equipment is identical with the transhipment blanking device structure in deformed plate sorting equipment, the transhipment blanking
Device include rack 14, parallel side-by-side be arranged in rack two chain-linked conveyers 15, chain in chain-linked conveyer is set
On V-arrangement hollow plate locating piece 16 and feeding discharge mechanism in chain-linked conveyer feed side is set；
The feeding discharge mechanism includes decelerating motor 22 and crank and rocker mechanism, and the crank and rocker mechanism includes crank
17, the pedestal 20 of connecting rod 18, rocking bar 19 and fixed setting, the rocking bar are U-shaped, and two chain-linked conveyers are located at rocking bar
In U-shaped mouth, the U-shaped bottom of the rocking bar is hinged with pedestal, and one end of the crank is fixedly connected on machine shaft, the song
The other end of handle and one end of connecting rod are hinged, and the other end and rocking bar of the connecting rod are hinged；Two ends of the rocking bar U-shaped mouth
On be respectively set there are one L-shaped feeding hook 21.
Hollow plate detection works with sorting system under the control of PLC industrial personal computers after the stripping of the present embodiment electrolytic manganese negative plate,
Workflow is as follows：
1. industrial personal computer control hollow plate pipeline send hollow plate 23 to sensing chamber；
2. when hollow plate is moved to the first limit switch of triggering, then the light source and industrial camera of hollow plate both sides are opened, and are adopted respectively
Collect the image of hollow plate both side surface；
3. industrial camera sends both sides image to industrial personal computer and caches, light source and industrial camera are simultaneously turned off；
4. when hollow plate is moved to the second limit switch of triggering, then the line laser rangefinder work of hollow plate both sides, respectively to sky
Plate both side surface is scanned, and is sent the range data of both side surface to industrial personal computer and cached；
5. when hollow plate is moved to triggering third limit switch, then hollow plate has left deformed plate detection station, industrial personal computer control
Turn off line laser rangefinder；
6. image and range data of the industrial personal computer based on both side surface, with digital filtering algorithm carry out deformed plate detection and
Identification carries out dirty plate detection and identification with image processing algorithm and data fusion decision；
7. when hollow plate is moved to the 4th limit switch of triggering and the 5th limit switch successively, then industrial personal computer is according to dirty plate and change
Shape plate testing result, controls dirty plate sorting equipment and deformed plate sorting equipment sorts hollow plate, direct for qualified hollow plate
Subsequent processing is delivered to by hollow plate pipeline, unqualified hollow plate is then sorted out from hollow plate pipeline into artificial treatment stream
Journey.
When transporting blanking device work in the present embodiment, feeding discharge mechanism drives crank and rocker mechanism by decelerating motor
Action, rocking bar is around the hinged center reciprocally swinging with pedestal, and in swing backward, the L-shaped feeding hook on rocking bar is done by upper rocking bar
The cathode plate of hollow plate pipeline is held up and is placed on again in the vee-block on chain-linked conveyer after removing by downward arcuate oscillating motion upwards,
Rocking bar is swung further along after taking plate to put plate returns to original position to wait for hollow plate pipeline that next unqualified hollow plate is transported to feeding
Position, to carry out transhipment blanking next time, feeding blowing is carried out continuously, and work efficiency is high.
The detection method of dirty hollow plate after the stripping of the present embodiment electrolytic manganese negative plate：
If there is the manganese piece of 5mm × 10mm or more areas to remain on the hollow plate after stripping, it is considered as and is not stripped clean, it is referred to as dirty
Plate.
Firstly, since having more apparent vision difference between manganese piece and clean hollow plate, can be calculated by image procossing
Method extracts the Blob connected domains on hollow plate surface image, and according to the industrial camera parameter demarcated, calculates each connected region
Area：
Si=cBi
Wherein, BiIt is the elemental area of i-th of Blob connected domain in image；C is the camera parameter demarcated in advance, table
Developed width of each pixel wide on hollow plate surface in diagram picture；SiThe as practical face of i-th of hollow plate surface connected region
Product.To which the connected region of required area can be will be greater than as manganese piece retaining candidate region.
In addition, it is contemplated that cathode plate is in use for some time, may occur stain residual on clean hollow plate, to shadow
Ring the effect of vision-based detection, it is necessary to which further identification verification is done to manganese piece retaining candidate region.Intend using in the present embodiment
Cathode plate both side surface is reconstructed in the range data that line laser rangefinder obtains, in order to ensure the real-time calculated, needle
The manganese piece retaining candidate region B that machine vision mode is detectediCarry out the identification verification merged based on information.By being created as
The coordinate mapping relations of image plane and cathode plate actual surface：
Ri=f (Bi)
The true coordinate R corresponding to each candidate region can be solvedi.Clearly for false candidate region, in distance
The cathode plate surface region R of data reconstructioniNeighbouring distance change is smooth；, whereas if prominent in the region appearance distance
Become phenomenon, then can be confirmed as manganese piece residual region.
The detection method of hollow plate is deformed after the stripping of the present embodiment electrolytic manganese negative plate：
Hollow plate after stripping is deformed if there is whole geometry, will be influenced extraction robot and is put down to being put into electrolytic cell hollow plate
Whole degree requirement.In the present embodiment, hollow plate deformation extent D is defined as：
Wherein,WithIt is indicated respectively along cathode plate longitudinal direction, the maximum average range and minimum in Local grid region
Average distance.
First, the range data that the longitudinal every scan line of cathode plate is obtained using line laser rangefinder, when cathode plate transmits
After leaving laser range finder detection zone, by the range data filtering and reconstruct to every scan line, cathode plate surface is obtained
Distance data matrix.
Then, along cathode plate longitudinal direction, plate face is divided into several equally spaced Local grids.Wherein, grid interval height h
It can set manually.
Finally, it is counted by the average distance to each Local grid, and by formulaCalculate deformation
Degree.If degree of deformation is more than extraction robot to entering the flatness requirement value of slot hollow plate, deformed plate is regarded as.
Hollow plate detection and sorting system after the stripping of the present embodiment electrolytic manganese negative plate, by industrial camera on hollow plate
Residual manganese piece is detected, and is detected by line laser rangefinder hollow plate geometry deformation, and pass through dirty plate sorting equipment and change
Shape plate sorting equipment is automatically handled dirty plate and deformed plate sorting, and the detection of hollow plate and sorting production efficiency are high, and labor intensity is low.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to compared with
Good embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the right of invention.
Claims (1)
1. deforming the detection method of hollow plate after a kind of electrolytic manganese negative plate stripping, it is characterised in that：Include the following steps：
1) hollow plate deformation extent D is defined as：
Wherein,WithIndicate longitudinally divided along cathode plate respectively, the maximum average range and minimum in Local grid region
Average distance；
2) line laser rangefinder is used to obtain the range data of the longitudinal every scan line of cathode plate, when cathode plate is communicated off laser
After rangefinder detection zone, by the range data filtering and reconstruct to every scan line, the distance number of cathode plate surface is obtained
According to matrix；
3) along cathode plate longitudinal direction, plate face is divided into several equally spaced Local grids；Wherein, height h in grid interval is by artificial
Setting；
4) it is counted by the average distance to each Local grid, and by formulaCalculate deformation extent；Such as
Fruit degree of deformation is more than extraction robot to entering the flatness requirement value of slot hollow plate, then regards as deformed plate.
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| CN201610560819.2A CN105954288B (en) | 2016-07-15 | 2016-07-15 | Hollow plate detection and sorting system and detection method after electrolytic manganese negative plate stripping |
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| CN105954288B true CN105954288B (en) | 2018-07-13 |
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| CN106931895A (en) * | 2017-03-24 | 2017-07-07 | 三门三友科技股份有限公司 | A kind of minus plate device for detecting deformation and method |
| CN107167094A (en) * | 2017-06-19 | 2017-09-15 | 合肥欣畅源光电科技有限公司 | Separator material three-dimensional dimension Fast measurement system and method based on one camera |
| CN113718295B (en) * | 2021-09-22 | 2023-06-16 | 河南省矿山起重机有限公司 | Intelligent inlet and outlet tank system of electrolytic manganese cathode plate and application method |
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