CN106408736B - Coin-sorting device and its operating method based on machine vision - Google Patents
Coin-sorting device and its operating method based on machine vision Download PDFInfo
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- CN106408736B CN106408736B CN201610840866.2A CN201610840866A CN106408736B CN 106408736 B CN106408736 B CN 106408736B CN 201610840866 A CN201610840866 A CN 201610840866A CN 106408736 B CN106408736 B CN 106408736B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
- G07D3/00—Sorting a mixed bulk of coins into denominations
- G07D3/02—Sorting coins by means of graded apertures
- G07D3/10—Sorting coins by means of graded apertures provided by sieves arranged in series
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
- G07D3/00—Sorting a mixed bulk of coins into denominations
- G07D3/12—Sorting coins by means of stepped deflectors
- G07D3/121—Sorting coins by means of stepped deflectors arranged on inclined paths
- G07D3/126—Sorting coins by means of stepped deflectors arranged on inclined paths the coins being diverted by ramps in channels
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Abstract
The invention mainly relates to Coin-sorting device and its operating method based on machine vision, device is mainly made of Currency output mechanism, coin conveying mechanism, Coin sorting mechanism, coin collection mechanism.Wherein Currency output mechanism comes out for the rambling coin of a pile one by one to tile, coin conveying mechanism, which is used to transport on coin, carries out image recognition immediately below camera, coin is put into corresponding collection box by Coin sorting mechanism according to the result of identification, and coin collection mechanism is used for the collection and packaging of coin.The present invention works applied to automatic coin sorting, is not only able to achieve the classification of coin, the integration of packaging and statistics, moreover it is possible to distinguish Coin truth by machine vision technique, it is ensured that coin category and statistical accuracy.
Description
Technical field
The present invention relates to coin category technical field more particularly to a kind of Detecting of coin based on machine vision, sorting, packet
The integration apparatus and its operating method of dress and statistics.
Background technique
The occasions such as bus money-box and shop automatic vending machine allow coin to obtain a large amount of circulation, and bank is facing
It when checking a large amount of coin, often spends and is largely manually checked, can not only expend some time and many people in this way
Power, can't guarantee whether the coin amount manually checked has error.
In coin category technical field, the classification carried out according to coin diameter to the existing most mechanization of Coin-sorting device
, lead to not distinguish counterfeit money or game money, and Coin-sorting device is only capable of cannot achieve coin packet to coin category
Dress and statistics.
Summary of the invention
Place to overcome above-mentioned the deficiencies in the prior art, the present invention provide a kind of coin category dress based on machine vision
It sets and its operating method, can be by the classification of coin, packaging, statistical integration, and utilize the skills such as image procossing, pattern-recognition
Art realizes that coin category, the true and false distinguishes and accurate metering.
In order to solve the above-mentioned technical problem, the present invention proposes following technical scheme: the coin category dress based on machine vision
It sets, it includes Currency output mechanism, coin conveying mechanism, Coin sorting mechanism and coin collection mechanism, it includes for a pile is miscellaneous
The Currency output mechanism disorderly to tile one by one without chapter coin, the Currency output mechanism are equipped with later for transporting to coin immediately below camera
The coin conveying mechanism of image recognition is carried out, coin is put into corresponding collection according to the result of identification by the Coin sorting mechanism
In box, the coin collection mechanism is connected collection box and packaging for coin with Coin sorting mechanism.
The Currency output mechanism includes tipping bucket, and the tipping bucket is mounted on tipping bucket steering engine by steering engine U-bracket, the tipping bucket
Steering engine is fixed on funnel stand by steering engine connecting bracket, is provided with funnel immediately below the tipping bucket, the funnel is fixed on
The top of funnel stand, the bottom end of the funnel are connected with round tube, are provided with upper layer driver plate immediately below the round tube, it is described on
Layer driver plate is mounted on turntable bearing inner ring, and the bottom of the upper layer driver plate is provided with lower layer's coin-out disk, lower layer's coin-out disk
It is fixed on funnel stand, the bottom of the funnel stand is fixed with lower plate, and the lower plate upper surface is fixedly installed with electricity
Machine support is equipped with driver plate motor on the electric machine support, and the lower plate upper surface is fixedly installed with slipping groove stent, the cunning
Coin outlet groove is installed, turntable bearing outer ring is also secured on lower plate by copper post, and the rotation of driver plate motor passes through on slot bracket
Shaft coupling drives the rotation of turntable bearing inner ring, and then rotates upper layer driver plate.
For the upper layer driver plate relative to lower layer's coin-out disc spins, their diameters are identical, are close together up and down, plate thickness is
The thickness of unitary coin, upper layer driver plate annular have been evenly distributed with six circular holes, a circular hole of lower layer's coin-out disk, their Circularhole diameter
Slightly larger than unitary coin diameter.
The coin conveying mechanism includes transmission belt, and the transmission belt matches to form tape handler with drive pulley,
Transmission belt wheel is supported by pulley shaft, and pulley shaft passes through wheeled stand axis hole, and is limited its both ends clamping by fixed ring, belt wheel branch
Frame is fixed on conveyer belt pedestal, and the other end of transmission belt is sleeved on driving wheel, and the driving wheel is mounted on transmission translator
On output shaft, the transmission translator is mounted on motor fixing seat by electric machine support, and motor fixing seat is connected to conveyer belt again
On pedestal, the surface of the transmission belt is along being provided with photographic device.
The photographic device includes multiple groups camera, and the camera is mounted in shading box, and shading box includes headlamp
Band, shading box are fixedly mounted on conveyer belt side plate, and conveyer belt side plate is fixed on conveyer belt pedestal by support frame.
The Coin sorting mechanism is cooperated using three groups of identical manipulators and carries out the sorting of coin, the manipulator
Suction nozzle the front end of manipulator connecting rod is fixed on by suction nozzle connector, steering engine is fixed on steering engine bracket, the connection of steering engine rocker arm
On steering engine output shaft, and manipulator connecting rod is driven to act.
The manipulator is mounted on steering engine pedestal, and steering engine pedestal is connected with sliding block again, and synchronous belt is mounted on synchronous pulley
On, synchronous pulley one end is mounted on the fixed bracket of belt wheel by wheel shaft, and the synchronous pulley other end is fixed on the defeated of stepper motor
On shaft, stepper motor drives synchronous belt rotation, and drives sliding block, and making manipulator, front and back is slided on the slide rail, and the sliding rail is solid
It is scheduled on sliding rail pedestal, sliding rail pedestal both ends are supported by slideway carriage, and slideway carriage is connected to base support by angle bar
On, base support is fixedly connected by angle bar each other.
The suction nozzle is connected by electromagnetic air releasing valve with air pump motor, and coin is drawn by air negative pressure mode, is controlled
The pick-and-place of coin can be achieved in the switch of electromagnetic air releasing valve.
The coin collection mechanism is made of three coin collection boxes, collects unitary, five jiaos and dime respectively, they
It is placed on beside Coin sorting mechanism from front to back, coin collection box center is equipped with Coin package cylinder, when Coin package cylinder is collected
It can be taken out after full coin, then cover its opening with packing tube top cover.
Using the operating method of any one Coin-sorting device, it the following steps are included:
S1: connecting the power supply of automatically controlled hardware, opens the software interface of PC machine, starting device operation；
S2: being packed into coin into tipping bucket, and coin is gradually poured into funnel by tipping bucket intermittent oscillation, and coin is along inner wall of hopper
Round tube is slid into, the coin of round tube is overlayed, can drop into one by one in its six hole locations with the rotation of upper layer driver plate, work as upper layer
When driver plate rotation keeps its some hole location consistent with the hole location of lower layer coin-out plate, the coin of that hole location of upper layer driver plate can be fallen
Under, and skidded off from coin outlet groove exit；
S3: coin is fallen on a moving belt, and conveyer belt movement drives coin to pass through three stations, has one before and after each station
A camera and a manipulator, when coin is transported to immediately below camera, after image recognition, stepper motor can be driven
Manipulator slides forward, and steering engine drives manipulator connecting rod to do pressing action, and suction nozzle draws coin；
S4: steering engine drives manipulator connecting rod to lift, and stepper motor driving manipulator slides backward, when sliding to corresponding coin
At collection box, suction nozzle discharges coin；
S5: coin slides into inside Coin package cylinder along coin collection box inner wall；
S6: it after coin collection is full, is prompted, is taken out into Coin package cylinder according to software interface, covered packing tube top cover, put
Set area of having classified；
S7: it replaces inside empty Coin package cylinder to coin collection box；
S8: the conveyer belt end is placed a storage box and can be dropped into if the coin that three stations all do not sort out in time
In this storage box, after the coin in storage box reaches certain amount, these coins are poured into tipping bucket can again, be carried out again
Sorting.
The method have the advantages that:
Present invention introduces machine vision techniques to sort coin, it is ensured that the accuracy of sorting, and in sort process
The statistics that dynamically can count to different type coin the simultaneously amount of money, finally realizes coin category, packaging, the one of statistics
Change.
The high degree of automation of the present apparatus need to only pour into a pair of rambling coin in the tipping bucket of Currency output mechanism, just
An available cylinder packaged coin, and the design of Pneumatic negative-pressure system and three groups of manipulators improves sorting effect
Rate.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the structural schematic diagram of Currency output mechanism of the invention.
Fig. 3 is the structural schematic diagram of coin conveying mechanism of the invention.
Fig. 4 is the structural schematic diagram of Coin sorting mechanism of the invention.
Fig. 5 is the structural schematic diagram of coin collection mechanism of the invention.
Fig. 6 is the schematic diagram of automatically controlled hardware of the invention.
In figure: Currency output mechanism 10, coin conveying mechanism 20, Coin sorting mechanism 30, coin collection mechanism 40；
Tipping bucket 101, funnel 102, funnel stand 103, round tube 104, upper layer driver plate 105, lower layer's coin-out disk 106, coin-out are sliding
Slot 107, slipping groove stent 108, lower plate 109, electric machine support 110, driver plate motor 111, copper post 112, turntable bearing inner ring 114,
Steering engine connecting bracket 115, steering engine U-bracket 116, tipping bucket steering engine 117；
Camera 201, transmission belt 203, drive pulley 204, wheeled stand 205, pulley shaft 206, is fixed shading box 202
Ring 207, conveyer belt pedestal 208, conveyer belt side plate 209, support frame 210, motor fixing seat 211, electric machine support 212, transmission belt
Motor 213；
Base support 301, synchronous pulley 303, synchronous belt 304, steering engine bracket 305, steering engine 306, is slided stepper motor 302
Block 307, steering engine pedestal 308, manipulator connecting rod 309, suction nozzle connector 310, steering engine rocker arm 312, synchronous pulley 313, belt wheel are solid
Fixed rack 314, sliding rail 315, angle bar 316, sliding rail pedestal 317, slideway carriage 318；
Coin collection box 401, Coin package cylinder 402, packing tube top cover 403.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
Embodiment 1:
Such as Fig. 1-6, the Coin-sorting device based on machine vision, it includes Currency output mechanism 10, coin conveying mechanism 20, hard
Coin mechanism for sorting 30 and coin collection mechanism 40, it includes the Currency output mechanism for the disorderly and unsystematic coin of a pile to tile one by one
10, the Currency output mechanism 10 is equipped with later for coin to be transported to immediately below camera to the coin conveyer for carrying out image recognition
Coin is put into corresponding collection box by structure 20, the Coin sorting mechanism 30 according to the result of identification, the coin collection machine
Structure 40 is connected collection box and packaging for coin with Coin sorting mechanism 30.
Further, the Currency output mechanism 10 includes tipping bucket 101, and the tipping bucket 101 is installed by steering engine U-bracket 116
On tipping bucket steering engine 117, the tipping bucket steering engine 117 is fixed on funnel stand 103 by steering engine connecting bracket 115, described to turn over
It is provided with funnel 102 immediately below bucket 101, the funnel 102 is fixed on the top of funnel stand 103, the bottom end of the funnel 102
It is connected with round tube 104, the underface of the round tube 104 is provided with upper layer driver plate 105, and the upper layer driver plate 105 is mounted on turntable
On bearing inner race 114, the bottom of the upper layer driver plate 105 is provided with lower layer's coin-out disk 106, and lower layer's coin-out disk 106 is fixed
On funnel stand 103, the bottom of the funnel stand 103 is fixed with lower plate 109, and 109 upper surface of lower plate is fixed
Electric machine support 110 is installed, driver plate motor 111 is installed on the electric machine support 110,109 upper surface of lower plate is fixed
Slipping groove stent 108 is installed, coin outlet groove 107 is installed in the slipping groove stent 108, turntable bearing outer ring passes through copper post 112
It is also secured on lower plate 109, driver plate motor 111 rotates, and drives turntable bearing inner ring 114 to rotate by shaft coupling, and then make
Upper layer driver plate 105 rotates.
Further, the upper layer driver plate 105 is rotated relative to lower layer's coin-out disk 106, their diameters are identical, is close to up and down
Together, plate thickness is the thickness of unitary coin, and driver plate 105 annular in upper layer has been evenly distributed with six circular holes, 106 one, lower layer's coin-out disk
A circular hole, their Circularhole diameter are slightly larger than unitary coin diameter.Coin is fitted into tipping bucket, tipping bucket intermittent oscillation, coin by
Secondary to pour into funnel, coin slides into round tube along inner wall of hopper.The coin of round tube is overlayed, the rotation with upper layer driver plate is understood, by
It is a to drop into its six hole locations, when driver plate rotation in upper layer keeps its some hole location consistent with the hole location of lower layer coin-out plate, on
The coin of that hole location of layer driver plate can be fallen, and be skidded off from coin outlet groove exit.
Further, the coin conveying mechanism 20 includes transmission belt 203, the transmission belt 203 and 204 phase of drive pulley
Tape handler is cooperatively formed, transmission belt wheel 204 is supported by pulley shaft 206, and pulley shaft 206 passes through 205 axis hole of wheeled stand, and
Its both ends clamping is limited by fixed ring 207, wheeled stand 205 is fixed on conveyer belt pedestal 208, transmission belt 203 it is another
End cap is mounted in driving wheel, and the driving wheel is mounted on the output shaft of transmission translator 213, and the transmission translator 213 passes through
Electric machine support 212 is mounted on motor fixing seat 211, and motor fixing seat 211 is connected on conveyer belt pedestal 208 again, the transmission
Surface with 203 is along being provided with photographic device.
Further, the photographic device includes multiple groups camera 201, and the camera 201 is mounted on shading box 202
In, shading box 202 includes illuminating lamp band, and shading box 202 is fixedly mounted on conveyer belt side plate 209, and conveyer belt side plate 209 passes through
Support frame 210 is fixed on conveyer belt pedestal 208.The coin skidded off from coin outlet groove exit is fallen on a moving belt, conveyer belt
Drive coin by that after image recognition, can be obtained by the suction nozzle of the manipulator of Coin sorting mechanism immediately below camera.
Further, the Coin sorting mechanism 30 is cooperated using three groups of identical manipulators carries out point of coin
It picks, the suction nozzle 311 of the manipulator is fixed on the front end of manipulator connecting rod 309 by suction nozzle connector 310, and steering engine 306 is fixed
On steering engine bracket 305, steering engine rocker arm 312 is connected on 306 output shaft of steering engine, and manipulator connecting rod 309 is driven to act.
Further, the manipulator is mounted on steering engine pedestal 308, and steering engine pedestal 308 is connected with sliding block 307 again, together
Step band 304 is mounted on synchronous pulley 313, and 313 one end of synchronous pulley is mounted on the fixed bracket 314 of belt wheel by wheel shaft, together
Step 303 other end of belt wheel is fixed on the output shaft of stepper motor 302, and stepper motor 302 drives synchronous belt 304 to rotate, and drives
Movable slider 307 slides manipulator front and back on sliding rail 315, and the sliding rail 315 is fixed on sliding rail pedestal 317, sliding rail pedestal
317 both ends are supported by slideway carriage 318, and slideway carriage 318 is connected on base support 301 by angle bar 316, pedestal branch
Frame 301 is fixedly connected by angle bar 316 each other.
Further, the suction nozzle 311 is connected by electromagnetic air releasing valve with air pump motor, is inhaled by air negative pressure mode
Coin is taken, the pick-and-place of coin can be achieved in the switch for controlling electromagnetic air releasing valve.
Further, the coin collection mechanism 40 is made of three coin collection boxes 401, collects unitary, five jiaos respectively
And dime, they are placed on 30 side of Coin sorting mechanism from front to back, and 401 center of coin collection box is equipped with Coin packing
Cylinder 402 can take out after Coin package cylinder 402 collects full coin, then cover its opening with packing tube top cover 403.
As shown in fig. 6, automatically controlled working principle of hardware of the invention are as follows: industrial personal computer passes through 10 main control single-chip microcontroller of Currency output mechanism
With the movement of serial communication and then control driver plate motor 111 and tipping bucket steering engine 117, coin is enabled to serially enter coin conveyer
Structure 20；Main control single-chip microcontroller can send out pwm signal to adjust the revolving speed of transmission translator 213, and industrial personal computer is imaged by USB connection
First 201 and image of the coin by region is acquired, carry out coin recognizing method and statistics, and send instructions to main control single-chip microcontroller, controlled
Make crawl of three groups of manipulators to coin.
Further, industrial personal computer is installed, the TT&C software man-machine interface installed on industrial personal computer, at the interface on the device
Left area, the serial port that connect with slave computer, three groups of cameras 201 of starting, the driver plate of control Currency output mechanism 10 may be selected
Whether the transmission translator 213 of motor 111 and coin conveying mechanism 20 works, and has sorted the coin total value of classification, interface
Middle section shows three groups of 201 real-time pictures of camera and coin characteristic pattern picture, and the right area at interface shows three stations
Identification quantity and practical crawl quantity to coin.
Embodiment 2:
Using the operating method of any one Coin-sorting device, it the following steps are included:
S1: connecting the power supply of automatically controlled hardware, opens the software interface of PC machine, starting device operation；
S2: being packed into coin into tipping bucket 101,101 intermittent oscillation of tipping bucket, coin is gradually poured into funnel 102, coin along
102 inner wall of funnel slides into round tube 104, overlays the coin of round tube 104, can drop into one by one with the rotation of upper layer driver plate 105
In its six hole locations, when upper layer driver plate 105, which rotates, keeps its some hole location consistent with the hole location of lower layer coin-out plate 106, upper layer
The coin of that hole location of driver plate 105 can be fallen, and be skidded off from 107 exit of coin outlet groove；
S3: coin is fallen on conveyer belt 203, and conveyer belt movement drives coin to pass through three stations, has before and after each station
One camera 201 and a manipulator, when coin is transported to 201 underface of camera, after image recognition, stepping electricity
The meeting of machine 302 driving manipulator slides forward, and steering engine 306 drives manipulator connecting rod 309 to do pressing action, and suction nozzle 311 inhales coin
It takes；
S4: steering engine 306 drives manipulator connecting rod 309 to lift, and 302 driving manipulator of stepper motor slides backward, when sliding
To corresponding coin collection box 401, suction nozzle 311 discharges coin；
S5: coin slides into 402 the inside of Coin package cylinder along 401 inner wall of coin collection box；
S6: it after coin collection is full, is prompted, is taken out into Coin package cylinder 402 according to software interface, cover packing tube top cover
403, it is placed into area of having classified；
S7: empty Coin package cylinder 402 is replaced to 401 the inside of coin collection box；
S8: 203 end of conveyer belt is placed a storage box and can be fallen if the coin that three stations all do not sort out in time
Enter into this storage box, after the coin in storage box reaches certain amount, these coins can be poured into tipping bucket 101 again
In, then sorted.
Through the above description, those skilled in the art completely can be in the model without departing from this invention technical idea
In enclosing, various changes and amendments are carried out all within protection scope of the present invention.Unaccomplished matter of the invention, belongs to ability
The common knowledge of field technique personnel.
Claims (8)
1. the Coin-sorting device based on machine vision, it includes Currency output mechanism (10), coin conveying mechanism (20), Coin sorting
Mechanism (30) and coin collection mechanism (40), it is characterised in that: it includes for the disorderly and unsystematic coin of a pile to tile one by one
Currency output mechanism (10), the Currency output mechanism (10) is equipped with later carries out image recognition for transporting to coin immediately below camera
Coin conveying mechanism (20), coin is put into corresponding collection box according to the result of identification by the Coin sorting mechanism (30)
In, collection and packaging that the coin collection mechanism (40) is connected with Coin sorting mechanism (30) for coin；
The Currency output mechanism (10) includes tipping bucket (101), and the tipping bucket (101) is mounted on tipping bucket by steering engine U-bracket (116)
On steering engine (117), the tipping bucket steering engine (117) is fixed on funnel stand (103) by steering engine connecting bracket (115), described
It is provided with funnel (102) immediately below tipping bucket (101), the funnel (102) is fixed on the top of funnel stand (103), the leakage
Bucket (102) bottom end be connected with round tube (104), be provided with upper layer driver plate (105) immediately below the round tube (104), it is described on
Layer driver plate (105) is mounted on turntable bearing inner ring (114), and the bottom of the upper layer driver plate (105) is provided with lower layer's coin-out disk
(106), lower layer's coin-out disk (106) is fixed on funnel stand (103), and the bottom of the funnel stand (103) is fixed with
Lower plate (109), lower plate (109) upper surface is fixedly installed with electric machine support (110), on the electric machine support (110)
It is equipped with driver plate motor (111), lower plate (109) upper surface is fixedly installed with slipping groove stent (108), the slipping groove stent
(108) it is equipped on coin outlet groove (107), turntable bearing outer ring is also secured on lower plate (109) by copper post (112), is dialled
Coil motor (111) rotation drives turntable bearing inner ring (114) rotation by shaft coupling, and then rotates upper layer driver plate (105)；
The upper layer driver plate (105) rotates relative to lower layer's coin-out disk (106), their diameters are identical, is close together up and down, plate
Thickness is the thickness of unitary coin, and upper layer driver plate (105) annular has been evenly distributed with six circular holes, a circle of lower layer's coin-out disk (106)
Hole, their Circularhole diameter are slightly larger than unitary coin diameter.
2. the Coin-sorting device according to claim 1 based on machine vision, it is characterised in that: the coin conveyer
Structure (20) includes transmission belt (203), and the transmission belt (203) matches to form tape handler with drive pulley (204), transmission
Belt wheel (204) is supported by pulley shaft (206), and pulley shaft (206) passes through wheeled stand (205) axis hole, and will by fixed ring (207)
Its both ends clamping limit, wheeled stand (205) are fixed on transmission belt pedestal (208), and the other end of transmission belt (203) is sleeved on
Driving wheel, the driving wheel are mounted on the output shaft of transmission translator (213), and the transmission translator (213) passes through motor
Bracket (212) is mounted on motor fixing seat (211), and motor fixing seat (211) is connected to again on transmission belt pedestal (208), described
The surface of transmission belt (203) is along being provided with photographic device.
3. the Coin-sorting device according to claim 2 based on machine vision, it is characterised in that: the photographic device packet
It including multiple groups camera (201), the camera (201) is mounted in shading box (202), and shading box (202) includes illuminating lamp band,
Shading box (202) is fixedly mounted on transmission belt side plate (209), and transmission belt side plate (209) is fixed on biography by support frame (210)
On dynamic band pedestal (208).
4. the Coin-sorting device according to claim 1 based on machine vision, it is characterised in that: the coin sorter
Structure (30) is cooperated using three groups of identical manipulators and carries out the sorting of coin, and the suction nozzle (311) of the manipulator passes through suction
Mouth connector (310) is fixed on the front end of manipulator connecting rod (309), and steering engine (306) is fixed on steering engine bracket (305), steering engine
Rocker arm (312) is connected on steering engine (306) output shaft, and manipulator connecting rod (309) is driven to act.
5. the Coin-sorting device according to claim 4 based on machine vision, it is characterised in that: the manipulator installation
On steering engine pedestal (308), steering engine pedestal (308) is connected with sliding block (307) again, and synchronous belt (304) is mounted on synchronous pulley,
Synchronous pulley one end is mounted on belt wheel by wheel shaft and fixes bracket (314), and the synchronous pulley other end is fixed on stepper motor (302)
Output shaft on, stepper motor (302) drives synchronous belt (304) rotation, and drives sliding block (307), makes manipulator in sliding rail
(315) front and back is slided on, and the sliding rail (315) is fixed on sliding rail pedestal (317), and sliding rail pedestal (317) both ends are by sliding rail branch
Support (318) support, slideway carriage (318) are connected on base support (301) by angle bar (316), base support (301)
It is fixedly connected each other by angle bar (316).
6. the Coin-sorting device according to claim 4 based on machine vision, it is characterised in that: the suction nozzle (311)
It is connected by electromagnetic air releasing valve with air pump motor, coin is drawn by air negative pressure mode, controls the switch of electromagnetic air releasing valve
The pick-and-place of coin can be achieved.
7. the Coin-sorting device according to claim 1 based on machine vision, it is characterised in that: the coin collection machine
Structure (40) is made of three coin collection boxes (401), collects unitary, five jiaos and dime respectively, they are placed from front to back
Beside Coin sorting mechanism (30), coin collection box (401) center is equipped with Coin package cylinder (402), works as Coin package cylinder
(402) it can be taken out after collecting full coin, then cover its opening with packing tube top cover (403).
8. using the operating method of claim 1-7 any one Coin-sorting device, which is characterized in that it includes following step
It is rapid:
S1: connecting the power supply of automatically controlled hardware, opens the software interface of PC machine, starting device operation；
S2: being packed into coin into tipping bucket (101), and tipping bucket (101) intermittent oscillation gradually pours into coin funnel (102), coin edge
Funnel (102) inner wall slide into round tube (104), overlay the coin of round tube (104), can with the rotation of upper layer driver plate (105),
It is dropped into its six hole locations one by one, when upper layer driver plate (105) rotation makes the hole of its some hole location Yu lower layer's coin-out disk (106)
When position is consistent, the coin of that hole location of upper layer driver plate (105) can be fallen, and be skidded off from coin outlet groove (107) exit；
S3: coin is fallen on transmission belt (203), conveyor belt motion, drives coin to pass through three stations, has one before and after each station
A camera (201) and a manipulator, when coin is transported to immediately below camera (201), after image recognition, stepping
Motor (302) meeting driving manipulator slides forward, and steering engine (306) drives manipulator connecting rod (309) to do pressing action, suction nozzle
(311) coin is drawn；
S4: steering engine (306) drives manipulator connecting rod (309) to lift, and stepper motor (302) driving manipulator slides backward, works as cunning
At row to corresponding coin collection box (401), suction nozzle (311) discharges coin；
S5: coin slides into inside Coin package cylinder (402) along coin collection box (401) inner wall；
S6: it after coin collection is full, is prompted according to software interface, takes out Coin package cylinder (402), cover packing tube top cover
(403), it is placed into area of having classified；
S7: it replaces inside empty Coin package cylinder (402) to coin collection box (401)；
S8: transmission belt (203) end places a storage box, and the coin that three stations all do not sort out in time can drop into
In this storage box, after the coin in storage box reaches certain amount, these coins are poured into can again in tipping bucket (101),
It is sorted again.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610840866.2A CN106408736B (en) | 2016-09-22 | 2016-09-22 | Coin-sorting device and its operating method based on machine vision |
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|---|---|---|---|
| CN201610840866.2A CN106408736B (en) | 2016-09-22 | 2016-09-22 | Coin-sorting device and its operating method based on machine vision |
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| CN106408736A CN106408736A (en) | 2017-02-15 |
| CN106408736B true CN106408736B (en) | 2019-02-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107742354A (en) * | 2017-11-02 | 2018-02-27 | 安徽理工大学 | A kind of coin separating device based on machine vision |
| CN107742356A (en) * | 2017-11-10 | 2018-02-27 | 五邑大学 | A kind of Coin-sorting device |
| CN107742355B (en) * | 2017-11-13 | 2023-08-18 | 江苏海洋大学 | Automatic device of conveying letter sorting coin |
| CN109191659A (en) * | 2018-08-13 | 2019-01-11 | 山东栋梁科技设备有限公司 | A kind of device and method of Coin sorting and packaging |
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| CN103514656A (en) * | 2012-06-20 | 2014-01-15 | 株式会社系统Av | Coin sorting device |
| CN103793995A (en) * | 2014-01-21 | 2014-05-14 | 洛阳理工学院 | Coin screening stacking machine |
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| KR100910963B1 (en) * | 2009-01-07 | 2009-08-05 | (주)솔몬컴 | Apparatus for counting coin using camera and control method thereof |
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| CN1441941A (en) * | 2001-07-26 | 2003-09-10 | 有限会社水贝总业 | Device for counting/sorting coins |
| CN101789146A (en) * | 2009-01-23 | 2010-07-28 | 北京凌云光视数字图像技术有限公司 | Face-to-face photographing type coin inspection machine and coin inspection method |
| CN103514656A (en) * | 2012-06-20 | 2014-01-15 | 株式会社系统Av | Coin sorting device |
| CN103793995A (en) * | 2014-01-21 | 2014-05-14 | 洛阳理工学院 | Coin screening stacking machine |
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| CN106408736A (en) | 2017-02-15 |
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Effective date of registration: 20211208 Address after: 276200 Mengyin Economic Development Zone, Linyi City, Shandong Province Patentee after: MENGYIN JINHUA MACHINERY Co.,Ltd. Address before: 443002 No. 8, University Road, Yichang, Hubei Patentee before: CHINA THREE GORGES University |