CN106425107B - A kind of bamboo chopsticks automatic laser engraving equipment - Google Patents
A kind of bamboo chopsticks automatic laser engraving equipment Download PDFInfo
- Publication number
- CN106425107B CN106425107B CN201610757902.9A CN201610757902A CN106425107B CN 106425107 B CN106425107 B CN 106425107B CN 201610757902 A CN201610757902 A CN 201610757902A CN 106425107 B CN106425107 B CN 106425107B
- Authority
- CN
- China
- Prior art keywords
- face
- chopsticks
- laser engraving
- image
- bamboo chopsticks
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 235000017166 Bambusa arundinacea Nutrition 0.000 title claims abstract description 65
- 235000017491 Bambusa tulda Nutrition 0.000 title claims abstract description 64
- 241001330002 Bambuseae Species 0.000 title claims abstract description 64
- 235000015334 Phyllostachys viridis Nutrition 0.000 title claims abstract description 64
- 239000011425 bamboo Substances 0.000 title claims abstract description 64
- 238000010147 laser engraving Methods 0.000 title claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 38
- 230000007723 transport mechanism Effects 0.000 claims abstract description 22
- 239000004033 plastic Substances 0.000 claims abstract description 8
- 230000007306 turnover Effects 0.000 claims abstract 2
- 230000002792 vascular Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000005070 sampling Methods 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 12
- 210000003813 thumb Anatomy 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 9
- 210000003811 finger Anatomy 0.000 description 4
- 239000002023 wood Substances 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000001815 facial effect Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 244000271437 Bambusa arundinacea Species 0.000 description 1
- 240000003096 Chimonobambusa quadrangularis Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/361—Removing material for deburring or mechanical trimming
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/40—Removing material taking account of the properties of the material involved
- B23K26/402—Removing material taking account of the properties of the material involved involving non-metallic material, e.g. isolators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Image Processing (AREA)
Abstract
The invention belongs to bamboo chopsticks processing technique field, disclose a kind of bamboo chopsticks automatic laser engraving equipment, including chopsticks transmission device, towards adjusting apparatus, laser engraving machine and control centre；The chopsticks transmission device includes lower hopper, twin-screw transport mechanism and compresses component；The twin-screw transport mechanism includes two driven rods, driven rod cylinder is equipped with constant pitch helicla flute, it is described compress component include one it is directed downwardly compress face, the face that compresses is made of lower layer's hard plastic board layer and upper layer soft rubber layer, lower layer's hard plastic board layer lower surface be shiny surface.Control centre control chopsticks transmission device, towards adjusting apparatus, laser engraving machine co-ordination.The present invention with bamboo chopsticks butt end end face be it is to be etched judge the direction in green face/Huang face of bamboo chopsticks facing towards identification reference plane, then by clip type turnover device adjustment bamboo chopsticks blueness face/Huang facing towards rear, carry out laser engraving, recognition efficiency is high, overturns simple in structure, high degree of automation.
Description
Technical field
The invention belongs to bamboo chopsticks processing technique field, the skill by computer automatic identification bamboo chopsticks blueness face and yellow face is related to how
Art.
Background technology
Trade mark is filled for decoration chopsticks or on chopsticks, more traditional mode is at the butt end one side of chopsticks or four sides
Printing mark or decorative pattern, or stick the paster with mark or decorative pattern.But this relatively traditional mode prints
Or the mark or pattern being attached on chopsticks are prone to wear out or fall off.The mode of laser engraving compared with tradition prints patch mode then more
Stablize.
The common bamboo chopsticks of household generally cut into square bamboo cane by bamboo chip material and are further process, taper end
For gripping, sharpening processing is done, section only does chamfered edge processing, retain substantially square section shape close to circle, butt end for holding
Shape.In four faces of chopsticks butt end, there are two opposite faces to correspond to the green face of bamboo wood and yellow face respectively.According to the spy of bamboo wood
Point, green face fiber compression, color are partially deep, quality is hard, and yellow face fiber is sparse, color is light, quality is soft.Therefore thick in chopsticks
In four faces at end, green face quality is most hard, and yellow face quality is most soft, two sides except green face and yellow face, surface texturisation from
The side in close Huang face is to the side close to green face by soft to hard gradual change.
Mark or pattern are carved in bamboo chopsticks by way of laser engraving, if having chosen green face and two except yellow face
A side, then because case hardness changes, pattern line can have deep mixed phenomenon.Therefore in bamboo by the way of laser engraving
Engraving mark or when pattern on chopsticks, should choose green face and/or yellow face and be carved, wherein it is preferred that the most hard green face of quality.Such as choosing
Independent face engraving is selected, should be maintained on the same face and carry out in bulk.
To realize the automation of bamboo chopsticks laser engraving, need to meet at 2 points：1, bamboo chopsticks cause laser application station by transmission automatically；
2, be transferred into laser application station bamboo chopsticks blueness face or yellow face just facing towards scanner lens.The common batch for realizing bamboo chopsticks
The method automatically delivered is that lower hopper is arranged in transport mechanism rear end, is placed on the chopsticks in lower hopper in batches one by one from blanking
The bottom leakage mouth that struggles against leaks out, and is then forwarded one by one by the transfer member below leakage mouth.Obviously, the chopsticks transmitted by this method
The direction of son, four faces is random, and to adapt to laser engraving, it is right before bamboo chopsticks are transferred into laser application station to need
The direction in four faces of bamboo chopsticks adjusts, and uniformly makes green face or yellow facing towards laser lens direction.It realizes to chopsticks direction
Adjustment, key are to realize the automatic identification in four faces of chopsticks.
The recognition methods of presently disclosed bluish yellow face is compared according to the surface color depth and is made, first pre- first in system
If a threshold value for representing colour darkness, the value are obtained by lot of experimental data, between green face and yellow face color.
In four faces of chopsticks, its excess-three face in addition to green face, color depth is respectively less than the value.This method may be implemented greatly
The identification of part chopsticks.But the bamboo wood shade of different batches has different, single threshold value can not be general.
Invention content
Present invention aims at for the deficiency of the automatic identification technology in existing bamboo chopsticks blueness face, propose one kind not against color
Degree comparison, but the new recognition methods of density comparison.
To achieve the above object, the technical solution adopted in the present invention is：A kind of bamboo chopsticks automatic laser engraving equipment, including
Chopsticks transmission device, for adjust by transmission chopsticks blueness face/Huang facing towards towards adjusting apparatus, for green by transmission chopsticks
The laser engraving machine of face/Huang face engraving content, and for controlling transmission device, working towards adjusting apparatus, laser engraving machine
Control centre.
The chopsticks transmission device include for contain in batches the lower hopper of chopsticks, the chopsticks for leaking out lower hopper by
The one twin-screw transport mechanism forwarded and it is arranged and compresses component above twin-screw transport mechanism.
The twin-screw transport mechanism includes two driven rods disposed in parallel, and the driven rod cylinder is equipped with constant pitch
The screw pitch of helicla flute, the helicla flute of two driven rods is equal, and the helicla flute synchronous cross on two driven rods is being to just, driven rod
Rear and front end respectively sets bearing, and two driven rods drive synchronous rotary, direction of rotation opposite with the hand of spiral by transmission driving motor.
It is described compress component include one it is directed downwardly compress face, it is described that compress face soft by lower layer's hard plastic board layer and upper layer
Rubber layer forms, and lower layer's hard plastic board layer lower surface is shiny surface.
It is described towards adjusting apparatus include image collecting device, switching mechanism.
For the setting of described image harvester in transmission device side, unifying butt end direction by the chopsticks that driven rod transmits should
Side, image collecting device sampling image lens face pass through the end face of the bamboo chopsticks butt end in front of it, image collecting device and control centre
It is connected by digital interface.
The switching mechanism is arranged with image collecting device in the same side of transmission device, on chopsticks direction of transfer, position
It is equipped with flip-arm and the driving flip-arm rotation of the clamping jaw for chopsticks to be clamped in the front of image collecting device, including front end
Turn drive motor, the overturning axle center of the flip-arm is parallel with by transmission bamboo chopsticks.The controller of the turn drive motor
It is connect with control centre by digital interface.
The scanner of the laser engraving machine is suspended in above twin-screw transport mechanism, on chopsticks direction of transfer, is located at
The front of switching mechanism.
The control centre includes control system for identifying, and the control system for identifying includes：
Camera control unit is connect with image collecting device by digital interface, and control image collecting device is in conveyer
Structure interval absorbs original-gray image therebetween；
Recognition unit, the bamboo chopsticks butt end end face with image collecting device intake are identification reference plane, will identify reference plane
The direction on the one side for meeting condition A in four sides is identified as the direction in green face/Huang face, and condition A is：It is close closer to the side vascular bundle
Intensity is higher/lower；
Control unit is overturn, is connect by digital interface with the controller of turn drive motor, using r=- Ri as rotation angle
To the controller of turn drive motor, wherein R is green face/Huang face currently towards the rotation angle relative to target direction, i for degree output
Transmission ratio between turn drive motor and flip-arm；
Control unit is transmitted, is connect by digital interface with the controller of transmission driving motor, for controlling two transmission
Bar interval rotates synchronously；
Control unit is carved, is connect with laser engraving machine, the engraving for controlling laser engraving machine and pause.
Further, the face that compresses is between two driven rods, and is biased to a driven rod.
Further, the component that compresses further includes a hard press strip, and the hard press strip is separate positioned at face is compressed
On the outside of driven rod（In being between two bar driven rods）.
Further, spiral groove depth be less than or equal to single chopsticks width, between feed opening and driven rod cylinder between
Gap is less than single chopsticks width.Feed opening is more than single chopsticks width with helicla flute bottom gap.
Further, two transmission rod rear ends respectively set a sprocket wheel, a closed chain are assembled on two sprocket wheels, wherein one
The output axis connection that a transmission rod rear end passes through shaft coupling and transmission driving motor.
Further, the lower hopper is arranged above transmission device rear end, by front apron, rear baffle, right baffle-plate, right gear
Plate four sides encloses, and right baffle-plate and right shell body are mutually parallel, and front apron and rear baffle at least lower part opposite tilt are in bucket-shaped, bucket
Shape bottom sets chopsticks and leaks out mouth.Chopsticks leak out set between mouth and driven rod section only hold single chopsticks by vertical blanking it is logical
Road, mouth is feed opening under blanking channel.When driven rod rotates, the helicla flute for being advanced past feed opening will be bottom in blanking channel
A piece chopsticks are taken away.
Further, the front apron lower outside of the lower hopper is equipped with thumb wheel, and the installation axle both ends of thumb wheel are mounted on down
In hopper left and right baffle, thumb wheel installation axle is connect by chain-drive mechanism with motor output shaft.
Further, the thumb wheel installation axle left or right is stretched out from lower hopper right baffle-plate or right shell body, thumb wheel installation
The part that axis stretches out baffle is equipped with sprocket wheel.Sprocket wheel in thumb wheel installation axle is joined with the sprocket wheel on a motor output shaft by chain
It is dynamic.
Further, twin-screw transport mechanism rear end sets collection hopper.
Further, the flip-arm overturning axle center and the capture center of image collecting device sampling image lens between away from
From equal to by the spacing integral multiple of transmission chopsticks.
Further, the overturning wall rear end is connect with turn drive motor output shaft front end, and the clamping jaw includes gripping finger
Seat and activity are assemblied in two gripping fingers on gripping finger seat, and the gripping finger seat is fixed with flip-arm front end.
Further, described image harvester further includes an annular light compensating lamp, and the annular light compensating lamp is in sampling image lens
Between bamboo chopsticks, it is arranged close to bamboo chopsticks, the annular light compensating lamp includes annular lamp holder and is circumferentially evenly arranged in annular lamp holder
The multiple light sources of inside.
Further, the annular light compensating lamp center and capture center are concentric.
Further, the recognition unit includes image processor and operation comparator.
Described image processor is from the original-gray image P1 that image collecting device absorbs, using bamboo chopsticks end profile as boundary
Interception bamboo chopsticks end face figure like P2, which is used as, judges benchmark image, and delimits four in benchmark image P2 and correspond to benchmark image four respectively
The identification region Region1- Region4 of a side Side1- Side4.
The operation comparator compares the vascular bundle closeness of four identification region Region1- Region4, computation-intensive
The regional center and rotation angle of the benchmark image line of centres relative to target direction of highest/minimum are spent, and as green face/Huang face
Current exported towards the rotation angle R relative to target direction gives overturning control unit.
Specifically, it is alternatively that, operation comparator calculates separately gray scale in four identification region Region1- Region4
Average value indicates with the small of average gray and greatly the high and low of the region vascular bundle closeness.
Alternatively, operation comparator calculates separately each grey scale pixel value in four identification region Region1- Region4
The sum of, indicate with the small of gray value summation and greatly the high and low of the region vascular bundle closeness.
Further, the original-gray image P1 that image collecting device absorbs is converted to binary map by described image processor
As P1 '；Operation comparator calculates separately black picture element quantity in four identification region Region1- Region4, with black picture element
Quantity mostly and less indicates the high and low of the region vascular bundle closeness.
As an improvement, the capture center face bamboo chopsticks end face center of image collecting device camera lens.
The first half for the original-gray image P1 that described image processor absorbs image collecting device, lower half, a left side half
It is four identification region Region1- Region4 for corresponding to four sides in upper and lower, left and right respectively that portion, right side, which delimited,.
The operation comparator compares the vascular bundle closeness of four identification region Region1- Region4, computation-intensive
The regional center and rotation angle of the benchmark image line of centres relative to target direction of highest/minimum are spent, and as green face/Huang face
Current exported towards the rotation angle R relative to target direction gives overturning control unit.
Specifically, it is alternatively that, operation comparator calculates separately gray scale in four identification region Region1- Region4
Average value indicates with the small of average gray and greatly the high and low of the region vascular bundle closeness.
Alternatively, operation comparator calculates separately each grey scale pixel value in four identification region Region1- Region4
The sum of, indicate with the small of gray value summation and greatly the high and low of the region vascular bundle closeness.
Further, the original-gray image P1 that image collecting device absorbs is converted to binary map by described image processor
As P1 '；Operation comparator calculates separately black picture element quantity in four identification region Region1- Region4, with black picture element
Quantity mostly and less indicates the high and low of the region vascular bundle closeness.
Present invention has the advantages that：1, with bamboo chopsticks butt end end face be it is to be etched facing towards identification reference plane, according to vascular bundle
The direction in green face/Huang face of closeness diversity judgement bamboo chopsticks, judging result not by bamboo wood kind, softening flattening etc. treatment process,
The factor that storage environment etc. influences color is influenced, and discrimination is high, can reach 100% substantially.And the method for the present invention is based on routine
Image processing techniques can be realized, and realize that difficulty is low, and algorithm is very simple, cost of implementation is low.2, in existing screw chopsticks
Component is compressed using specially designed on the basis of sub- transport mechanism, by chopsticks butt end side rib structure, effectively prevents chopsticks
The problem of being overturn in transmit process.By the square rib structure of chopsticks butt end, need to apply one's chopsticks to the food than horizontal state when overturning
The height space of sub- thickness bigger.The presence for compressing face limits the height space of chopsticks, forces chopsticks close to smooth hard
Surface is slided, without overturning.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of bamboo chopsticks engraving equipment of the present invention.
Fig. 2 is the overlooking structure diagram of engraving equipment shown in Fig. 1.
Fig. 3 is the backsight structural representation of Fig. 1.
Fig. 4 is the backsight structural representation of equipment shown in Fig. 1.
Fig. 5 be in Fig. 1 A-A to sectional structure chart.
Fig. 6 is the B-B direction sectional structure chart of Fig. 1.
Fig. 7 is the structural schematic diagram of image collecting device, annular light compensating lamp, lower hopper and its component.
Fig. 8 is the structural schematic diagram of switching mechanism, lower hopper and its component.
Fig. 9 is to compress component structure diagram.
Figure 10 division center block diagrams in order to control.
Figure 11 be green face currently towards relative to target towards rotation angle schematic diagram.
Figure 12 is that a kind of identification region delimit schematic diagram.
Figure 13 is that another identification region delimit schematic diagram.
Figure 14 is that another identification region delimit schematic diagram.
Description of symbols：1, rack；11, baffle；
2, lower hopper；21, front apron；22, rear baffle；23, right baffle-plate；24, right shell body；25, thumb wheel；28, sprocket wheel；
31, driven rod；311, helicla flute；32, driving motor is transmitted；33, sprocket wheel；34, hard supporting bar；
41, cantilever；42, face is compressed；421, soft rubber layer；422, hard plastic board layer；43, hard press strip；
5, switching mechanism；51, Pneumatic clamping jaw；52, flip-arm；53, turn drive motor；
6, annular light compensating lamp；
7, image collecting device；
8, laser engraving machine；
9, chopsticks.
Specific implementation mode
Below in conjunction with the accompanying drawings, by way of example to the structure composition of bamboo chopsticks automatic laser engraving equipment of the present invention and
Operation principle, which is made, to be further explained.
Referring to Fig.1-9, the bamboo chopsticks automatic laser engraving equipment includes organic frame 1, two biographies of twin-screw transport mechanism
Bar 31 is sent to be installed on deck plate by bearing, 31 cylinder of driven rod sets right hand helix slot 311.Two 31 rear ends of driven rod are respectively set
One sprocket wheel 33, a closed chain is assembled on two sprocket wheels 33, and 31 rear end of one of driven rod passes through shaft coupling and transmission
Driving motor 32 exports axis connection.It is left-handed that transmission driving motor 32 drives two transmission to synchronize.
Lower hopper 2 is arranged above twin-screw transport mechanism rear end, including front apron 21, rear baffle 22, right baffle-plate 23, the right side
Baffle 24, right baffle-plate 23 and right shell body 24 are mutually parallel, and front apron 21 and at least lower part opposite tilt of rear baffle 22 are in bucket-shaped, bucket
Shape bottom sets chopsticks 9 and leaks out mouth.Chopsticks 9 leak out and set blanking channel between mouth and driven rod 31, and mouth is feed opening under blanking channel.
Bamboo chopsticks whole butt end to be processed is put into lower hopper 2 towards the right side.
21 lower outside of front apron of lower hopper 2 is equipped with thumb wheel 25, and the installation axle both ends of thumb wheel 25 are mounted on lower hopper 2
In left and right baffle 24,25 installation axle right end of thumb wheel is stretched out from 2 right baffle-plate 23 of lower hopper or right shell body 24, and 25 installation axle of thumb wheel is stretched
The part for going out baffle is equipped with sprocket wheel 28.
2 lower right-hand side of lower hopper sets a stand-by motor, on the sprocket wheel 28 in 25 installation axle of thumb wheel and stand-by motor output shaft
Sprocket wheel connected by chain.
It compresses component and 2 front of lower hopper is set above twin-screw transport mechanism, it includes that an opposite rack 1 is solid to compress component
Fixed cantilever 41,41 lower section of cantilever set one and compress face 42 and a hard press strip 43, compress face 42 between two driven rods 31,
It is biased to right side driven rod 31, hard press strip 43 is located at 31 outside of left driven rod, compresses face 42 by 422 He of lower layer's hard plastic board layer
Upper layer soft rubber layer 421 forms.It compresses 42 lower section of face and is equipped with hard supporting bar 34.
A baffle 11 is equipped on the left of twin-screw transport mechanism.On the one hand the baffle 11 stops that chopsticks 9 are left-handed in driven rod 31
It is deviated to the left under friction force effect.The effect of 9 located lateral of chopsticks is also functioned to simultaneously.
Collection hopper is arranged in twin-screw transport mechanism front end, and the chopsticks 9 for being moved to 31 front end of driven rod naturally fall in collection hopper.
It is arranged on the right side of twin-screw transport mechanism towards adjusting apparatus, including image collecting device 7 and switching mechanism 5.
7 sampling image lens face of image collecting device is by its front（The direction that sampling image lens are directed toward）Bamboo chopsticks butt end end
Face, sampling image lens front set an annular light compensating lamp 6, and 6 center of annular light compensating lamp and capture center are concentric.Annular light compensating lamp 6 includes
Annular lamp holder, annular lamp holder inside are circumferentially evenly arranged multiple light sources.
Switching mechanism 5 is located at the front of image collecting device 7,52 front end of flip-arm of switching mechanism 5（Close to overturning pair
As one end of-chopsticks 9）A Pneumatic clamping jaw 51 is fixed, rear end connects the output shaft of turn drive motor 53 by shaft coupling.Overturning
The distance between the overturning axle center of arm 52 and the capture center of 7 sampling image lens of image collecting device are equal to by between transmission chopsticks 9
Away from 2 times.
The scanner of laser engraving machine 8 is suspended in above twin-screw transport mechanism, is located at the 52 times of chopsticks 9 in front side of switching mechanism
At spacing.
Referring to Fig.1 0, the control centre includes control system for identifying, and the control system for identifying includes：
Camera control unit is connect with image collecting device by digital interface, and control image collecting device is in conveyer
Structure interval absorbs original image therebetween.
Recognition unit, the bamboo chopsticks butt end end face with image collecting device intake are identification reference plane, will identify reference plane
The direction on the one side for meeting condition A in four sides is identified as the direction in green face/Huang face, and condition A is：It is close closer to the side vascular bundle
Intensity is higher/lower.
Overturn control unit, exported using r=- Ri as rotation angle and give turn drive motor controller, wherein R be blueness face/
Yellow face is currently towards the rotation angle relative to target direction, as shown in figure 11（With upward for target direction）, i is overturning driving electricity
Transmission ratio between machine and flip-arm.
Control unit is transmitted, is connect by digital interface with transmission drive motor controller, for controlling two driven rods
Interval rotates synchronously.
Control unit is carved, is connect with laser engraving machine, the engraving for controlling laser engraving machine and pause.
The recognition unit includes：The function of image processor and operation comparator, the recognition unit can at least lead to
Following several optional modes are crossed to realize：
Optional mode 1：Described image processor is from the original-gray image P1 that image collecting device absorbs, with bamboo chopsticks end
Facial contour intercepts bamboo chopsticks end face figure like P2 and be used as boundary judges benchmark image, and delimits four in benchmark image P2 and correspond to respectively
The identification region Region1- Region4 of four side Side1- Side4 of benchmark image.As shown in figure 12.
The operation comparator calculates separately average gray in four identification region Region1- Region4, takes gray scale
The min/max region of average value calculates the regional center and rotation angle of the benchmark image line of centres relative to target direction, and
It is currently exported towards the rotation angle R relative to target direction as green face/Huang face and gives overturning control unit.
Optional mode 2：Described image processor is from the original-gray image P1 that image collecting device absorbs, with bamboo chopsticks end
Facial contour intercepts bamboo chopsticks end face figure like P2 and be used as boundary judges benchmark image, and delimits four in benchmark image P2 and correspond to respectively
The identification region Region1- Region4 of four side Side1- Side4 of benchmark image.
The operation comparator calculates separately the sum of each grey scale pixel value in four identification region Region1- Region4,
The min/max region of gray value summation is taken, the regional center and rotation of the benchmark image line of centres relative to target direction are calculated
Corner, and currently exported towards the rotation angle R relative to target direction as green face/Huang face and give overturning control unit.
Optional mode 3：The original-gray image P1 that image collecting device absorbs is converted to two-value by described image processor
Image P1 ' intercepts bamboo chopsticks end face figure like P2 as judging benchmark image from bianry image P1 ' using bamboo chopsticks end profile as boundary,
And four identification region Region1- for corresponding to four side Side1- Side4 of benchmark image respectively delimited in benchmark image P2
Region4。
The operation comparator calculates separately black picture element quantity in four identification region Region1- Region4, takes black
Most/minimum regions of color pixel calculate the regional center and rotation angle of the benchmark image line of centres relative to target direction, and
It is currently exported towards the rotation angle R relative to target direction as green face/Huang face and gives overturning control unit.
Optional mode 4-6 is premised on the capture center face bamboo chopsticks end face center of image collecting device camera lens below.
Optional mode 4：The original-gray image P1 that described image processor absorbs image collecting device is with transverse center
Line is that boundary divides upper and lower two identification regions Region1, Region3, as shown in figure 13, left and right as boundary point using longitudinal centre line
Two identification regions Region2, Region4.As shown in figure 14.
The operation comparator calculates separately average gray in four identification region Region1- Region4, takes gray scale
The min/max region of average value calculates the regional center and rotation angle of the benchmark image line of centres relative to target direction, and
It is currently exported towards the rotation angle R relative to target direction as green face/Huang face and gives overturning control unit.
Optional mode 5：The original-gray image P1 that described image processor absorbs image collecting device is with transverse center
Line is that boundary divides upper and lower two identification regions Region1, Region3, is divided to left and right two cog regions by boundary of longitudinal centre line
Domain Region2, Region4.
The operation comparator calculates separately the sum of each grey scale pixel value in four identification region Region1- Region4,
The min/max region of gray value summation is taken, the regional center and rotation of the benchmark image line of centres relative to target direction are calculated
Corner, and currently exported towards the rotation angle R relative to target direction as green face/Huang face and give overturning control unit.
Optional mode 6：The original-gray image P1 that image collecting device absorbs is converted to two-value by described image processor
Bianry image P1 ' is divided upper and lower two identification regions Region1, Region3 by image P1 ' by boundary of cross central line, with
Longitudinal centre line is that boundary is divided to left and right two identification regions Region2, Region4.
The operation comparator calculates separately black picture element quantity in four identification region Region1- Region4, takes black
Most/minimum regions of color pixel calculate the regional center and rotation angle of the benchmark image line of centres relative to target direction, and
It is currently exported towards the rotation angle R relative to target direction as green face/Huang face and gives overturning control unit.
Claims (9)
1. a kind of bamboo chopsticks automatic laser engraving equipment, including chopsticks transmission device, faced by transmission chopsticks blueness face/Huang for adjusting
To towards adjusting apparatus, for being passed in the laser engraving machine for being carved content by transmission chopsticks blueness face/Huang face, and for controlling
The control centre for sending device, working towards adjusting apparatus, laser engraving machine；It is characterized in that,
The chopsticks transmission device include for contain in batches the lower hopper of chopsticks, the chopsticks for leaking out lower hopper one by one to
The twin-screw transport mechanism of preceding transmission and it is arranged and compresses component above twin-screw transport mechanism；
The lower hopper is arranged above twin-screw transport mechanism rear end, by front apron, rear baffle, right baffle-plate, right shell body four sides
It encloses, right baffle-plate and right shell body are mutually parallel, and front apron and rear baffle at least lower part opposite tilt are in bucket-shaped, bucket-shaped bottom
If chopsticks leak out mouth；
The twin-screw transport mechanism includes two driven rods disposed in parallel, and the driven rod cylinder is equipped with constant pitch spiral
The screw pitch of slot, the helicla flute of two driven rods is equal, and the helicla flute synchronous cross on two driven rods is being to just, before and after driven rod
Both ends respectively set bearing, and two driven rods drive synchronous rotary, direction of rotation opposite with the hand of spiral by transmission driving motor；
It is described compress component include one it is directed downwardly compress face, the face that compresses is by lower layer's hard plastic board layer and upper layer soft rubber
Layer composition, lower layer's hard plastic board layer lower surface are shiny surface；
It is described towards adjusting apparatus include image collecting device and switching mechanism；
The setting of described image harvester unifies butt end towards the side, figure in transmission device side, by the chopsticks that driven rod transmits
As harvester sampling image lens face passes through number by the end face of the bamboo chopsticks butt end in front of it, image collecting device and control centre
Word interface connects；
The switching mechanism is arranged with image collecting device in the same side of transmission device, on chopsticks direction of transfer, is located at figure
As the front of harvester, including front end are equipped with the flip-arm of the clamping jaw for chopsticks to be clamped and turning over for driving flip-arm rotation
Turn driving motor, the overturning axle center of the flip-arm is parallel with by transmission bamboo chopsticks；The controller of the turn drive motor passes through
Digital interface is connect with control centre.
2. bamboo chopsticks automatic laser engraving equipment according to claim 1, which is characterized in that the scanner of the laser engraving machine
It is suspended in above twin-screw transport mechanism, on chopsticks direction of transfer, is located at the front of switching mechanism.
3. bamboo chopsticks automatic laser engraving equipment according to claim 1, which is characterized in that the control centre includes that identification is controlled
System processed, the control system for identifying include：
Camera control unit is connect with image collecting device by digital interface, and control image collecting device is between transport mechanism
Off period absorbs original-gray image；
Recognition unit, the bamboo chopsticks butt end end face with image collecting device intake are identification reference plane, will identify four of reference plane
The direction for meeting one side of condition A in side is identified as the direction in green face/Huang face, and condition A is：Closer to the side vascular bundle closeness
It is higher/lower；
Control unit is overturn, is connect by digital interface with the controller of turn drive motor, it is defeated using r=- Ri as rotation angle
Go out to the controller of turn drive motor, wherein R is green face/Huang face currently rotation angle of the direction relative to target direction, and i is to turn over
Turn the transmission ratio between driving motor and flip-arm；
Control unit is transmitted, is connect by digital interface with the controller of transmission driving motor, between two driven rods of control
It has a rest synchronous rotation；
Control unit is carved, is connect with laser engraving machine, the engraving for controlling laser engraving machine and pause.
4. bamboo chopsticks automatic laser engraving equipment according to claim 1, which is characterized in that the component that compresses further includes one hard
Matter press strip, the hard press strip are located on the outside of the separate driven rod in the face that compresses.
5. bamboo chopsticks automatic laser engraving equipment according to claim 1, which is characterized in that described image harvester further includes
One annular light compensating lamp, the annular light compensating lamp are arranged between sampling image lens and bamboo chopsticks close to bamboo chopsticks, the annular light compensating lamp packet
The multiple light sources for including annular lamp holder and being circumferentially evenly arranged on the inside of annular lamp holder.
6. bamboo chopsticks automatic laser engraving equipment according to claim 3, which is characterized in that the recognition unit includes：Image
Processor and operation comparator；
Described image processor is intercepted from the original-gray image P1 that image collecting device absorbs by boundary of bamboo chopsticks end profile
Bamboo chopsticks end face figure like P2, which is used as, judges benchmark image, and delimits four in benchmark image P2 and correspond to four sides of benchmark image respectively
Identification region；
The operation comparator compares the vascular bundle closeness of four identification regions, in the region of computational intensity highest/minimum
The heart and rotation angle of the benchmark image line of centres relative to target direction, and as green face/Huang face currently towards relative to target
The rotation angle R of direction, which is exported, gives overturning control unit.
7. bamboo chopsticks automatic laser engraving equipment according to claim 6, which is characterized in that operation comparator calculates separately four
Average gray in identification region indicates with the small of average gray and greatly the high and low of the region vascular bundle closeness.
8. bamboo chopsticks automatic laser engraving equipment according to claim 3, which is characterized in that the capture of image collecting device camera lens
Center face bamboo chopsticks end face center；The recognition unit includes image processor and operation comparator；
The first half for the original-gray image P1 that described image processor absorbs image collecting device, lower half, left side, the right side
It is four identification regions for corresponding to four sides in upper and lower, left and right respectively that half portion, which delimited,；
The operation comparator compares the vascular bundle closeness of four identification regions, in the region of computational intensity highest/minimum
The heart and rotation angle of the benchmark image line of centres relative to target direction, and as green face/Huang face currently towards relative to target
The rotation angle R of direction, which is exported, gives overturning control unit.
9. bamboo chopsticks automatic laser engraving equipment according to claim 8, which is characterized in that operation comparator calculates separately four
Average gray in identification region indicates with the small of average gray and greatly the high and low of the region vascular bundle closeness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610757902.9A CN106425107B (en) | 2016-08-30 | 2016-08-30 | A kind of bamboo chopsticks automatic laser engraving equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610757902.9A CN106425107B (en) | 2016-08-30 | 2016-08-30 | A kind of bamboo chopsticks automatic laser engraving equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106425107A CN106425107A (en) | 2017-02-22 |
| CN106425107B true CN106425107B (en) | 2018-07-13 |
Family
ID=58090057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610757902.9A Active CN106425107B (en) | 2016-08-30 | 2016-08-30 | A kind of bamboo chopsticks automatic laser engraving equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106425107B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213720A (en) * | 2018-01-29 | 2018-06-29 | 福建味家生活用品制造有限公司 | A kind of laser carving method and device for chopsticks |
| CN108557509A (en) * | 2018-06-11 | 2018-09-21 | 浙江有竹人家竹木有限公司 | A kind of full-automatic rod-shaped material transfer interpreter |
| CN110315212A (en) * | 2019-06-17 | 2019-10-11 | 浙江利众竹木有限公司 | A kind of chopsticks laser carving device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05281152A (en) * | 1992-03-31 | 1993-10-29 | Otari Kk | Article inspecting apparatus |
| JPH09328109A (en) * | 1996-06-07 | 1997-12-22 | Ibaraki Seiki Kk | Method for delivering disposable wooden chopsticks in alignment |
| CN103600278A (en) * | 2013-11-05 | 2014-02-26 | 浙江双枪竹木有限公司 | Chopstick twisting and feeding mechanism and equipment used for processing thinner end of chopstick automatically |
| CN103910189A (en) * | 2014-04-28 | 2014-07-09 | 胡良娟 | Device for sorting chopsticks according to head portions |
| CN104527223A (en) * | 2014-12-30 | 2015-04-22 | 浙江天竹工贸有限公司 | Automatic bamboo green surface positioning printing machine |
| CN206047360U (en) * | 2016-08-30 | 2017-03-29 | 浙江双枪竹木有限公司 | A kind of bamboo chopsticks automatic laser engraving equipment |
-
2016
- 2016-08-30 CN CN201610757902.9A patent/CN106425107B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05281152A (en) * | 1992-03-31 | 1993-10-29 | Otari Kk | Article inspecting apparatus |
| JPH09328109A (en) * | 1996-06-07 | 1997-12-22 | Ibaraki Seiki Kk | Method for delivering disposable wooden chopsticks in alignment |
| CN103600278A (en) * | 2013-11-05 | 2014-02-26 | 浙江双枪竹木有限公司 | Chopstick twisting and feeding mechanism and equipment used for processing thinner end of chopstick automatically |
| CN103910189A (en) * | 2014-04-28 | 2014-07-09 | 胡良娟 | Device for sorting chopsticks according to head portions |
| CN104527223A (en) * | 2014-12-30 | 2015-04-22 | 浙江天竹工贸有限公司 | Automatic bamboo green surface positioning printing machine |
| CN206047360U (en) * | 2016-08-30 | 2017-03-29 | 浙江双枪竹木有限公司 | A kind of bamboo chopsticks automatic laser engraving equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106425107A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106141443B (en) | A kind of bamboo chopsticks recognize green light carving machine | |
| CN206312240U (en) | It is a kind of for adjust bamboo chopsticks green grass or young crops face/Huang facing to device | |
| CN106425107B (en) | A kind of bamboo chopsticks automatic laser engraving equipment | |
| CN106327533B (en) | Device for adjusting green surface/yellow surface orientation of bamboo chopsticks | |
| CN109158336B (en) | Apple primary sorting and grading equipment | |
| CN105466950A (en) | Bamboo dice online detection method and system based on vision | |
| CN111545483B (en) | Chopstick sorting detection device and detection algorithm thereof | |
| CN110694921A (en) | Vegetable sorting system and control method thereof | |
| CN206122913U (en) | Bamboo chopsticks recognizes blue or green light carving machine | |
| CN108855964A (en) | Chopsticks detection device | |
| CN212459430U (en) | Visual inspection device for surface of electroplated part | |
| CN206047360U (en) | A kind of bamboo chopsticks automatic laser engraving equipment | |
| CN204710739U (en) | The quick double-face imaging sorting system of ore based on face battle array | |
| CN102393396A (en) | Method and system for automatically screening cotton seeds | |
| CN110420886A (en) | A kind of anti-accumulation intelligent recognition sorting unit of capsicum | |
| CN211437053U (en) | Vegetable sorting system | |
| CN212093316U (en) | Wood defect detection device based on kinect camera | |
| CN106346137B (en) | Bamboo chopsticks fully-automatic laser engraving process | |
| CN107350173A (en) | A kind of Chinese chestnut automatic sorting device and method for sorting | |
| CN210936013U (en) | Carousel formula veneer grading plant | |
| CN211637401U (en) | Wood board color sorting device | |
| CN114887906A (en) | Sorting all-in-one machine based on visual acquisition image | |
| CN113560214A (en) | Intelligent sorting system for pearls and using method thereof | |
| CN110455811B (en) | Device capable of detecting back surface field defects of battery piece and debugging method thereof | |
| CN218087359U (en) | Conveying device for identifying bending of ice cream sticks with different lengths |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170222 Assignee: Qingyuan Shuangqiang Bamboo Industry Development Co.,Ltd. Assignor: ZHEJIANG SUNCHA BAMBOO & WOOD Co.,Ltd. Contract record no.: X2023330000871 Denomination of invention: An automatic laser carving equipment for bamboo chopsticks Granted publication date: 20180713 License type: Common License Record date: 20231122 |
|
| EE01 | Entry into force of recordation of patent licensing contract |