CN106428777B - A kind of part automatic discharging device based on picture system - Google Patents

A kind of part automatic discharging device based on picture system Download PDF

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Publication number
CN106428777B
CN106428777B CN201610956671.4A CN201610956671A CN106428777B CN 106428777 B CN106428777 B CN 106428777B CN 201610956671 A CN201610956671 A CN 201610956671A CN 106428777 B CN106428777 B CN 106428777B
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China
Prior art keywords
image
disk
motor
picture
module
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CN201610956671.4A
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CN106428777A (en
Inventor
阚仁峰
杨龙兴
南玉龙
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Jiangsu University of Technology
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Jiangsu University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/56Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
    • B65B35/58Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/244Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning them about an axis substantially perpendicular to the conveying plane
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles

Abstract

The invention discloses a kind of part automatic discharging device based on picture system, belongs to image detection identification device technical field.Intermeshing driving gear and driven gear are installed in rack, driving gear lower end is connected by shaft coupling with the power output end of motor, driven gear upper end is equipped with carrying disk, CCD camera is provided with above carrying disk, feed mechanism docks with carrying disk and the part on feed mechanism is sent on carrying disk, and the opposite two sides of carrying disk are arranged in cylinder and the cutting agency.The present invention shoots image by setting CCD camera and the image information taken is transferred to image processing control system, image processing control system calculates and controls motor, it drives the part of different directions to rotate and completes auto arrangement, full automatic control, save manpower, labor intensity of workers is reduced, arrangements of components efficiency and accuracy rate are high, avoid the problem of manual nest is easy error.

Description

A kind of part automatic discharging device based on picture system
Technical field
The present invention relates to image detection identification device technical field, especially a kind of part based on picture system is arranged automatically Expect device.
Background technique
With manufacturing development, all trades and professions need to use all kinds of parts in the manufacturing, as bolt, moulding, Ball, pinion gear, small bearing and some irregular parts etc..The production of part generallys use the side of automatic assembly line Formula after the completion of part production, needs using a certain characteristic direction of part as reference, part is pressed certain direction proper alignment, Convenient for examining and packing.Currently, the artificial part of arrangement one by one is time-consuming and laborious, inefficiency, labor intensity of workers is big, long-time work After work, easily there is the phenomenon that discharge error in worker's fatigue.
Summary of the invention
It is automatic the purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, providing a kind of part based on picture system Discharge device.The present invention shoots image by setting CCD camera and the image information taken is transferred to image procossing control System, image processing control system calculates and controls the corresponding circle number of motor power output shaft rotation, and then drives different directions Part rotate to same direction, complete auto arrangement, full automatic control saves manpower, reduce labor intensity of workers, zero Part alignment efficiency and accuracy rate are high, avoid the problem of manual nest is easy error.
To achieve the above object, the present invention adopts the following technical solutions: a kind of part automatic discharge based on picture system Device, it includes rack, image processing control system, feed mechanism, cylinder, cutting agency, is equipped in the rack mutually The driving gear and driven gear of engagement, the driving gear lower end are connected by shaft coupling with the power output end of motor, institute It states driven gear upper end and carrying disk is installed, CCD camera is provided with above carrying disk and the CCD camera passes through route and image Handle control system signal input part be connected, described image handle control system signal output end by route respectively with electricity Machine, cylinder connection, the feed mechanism dock with carrying disk and the part on feed mechanism are sent on carrying disk, the gas The opposite two sides of carrying disk are arranged in cylinder and the cutting agency, and the part on carrying disk is pushed on cutting agency by cylinder, The carrying disk top is radially provided with reference mark.
Preferably, described image processing control system includes image capture module, image pre-processing module, image analysis mould Block, control module, image capture module is used to acquire the image information of CCD camera shooting and that image information is transferred to image is pre- Processing module, image pre-processing module analyze in image information data information and by data information transfer to image analysis module, Image analysis module calculates part and needs the angle rotated and converse the circle number that motor power output end needs to rotate, image Motor power output end is needed the lap information rotated to pass to control module by analysis module, and control module controls the dynamic of motor Power output end is by finger fixing turn rotation.
Preferably, the feed mechanism and cutting agency are using V belt translation transmission part.
Preferably, the piston end of the cylinder is equipped with sponge cushion block.
Preferably, fluorescent paint is coated on the reference mark.
Preferably, the transmission direction of the feed mechanism and the transmission direction of cutting agency are at right angle.
Preferably, the motor is servo motor.
The beneficial effects of the present invention are:
The present invention shoots image by setting CCD camera and the image information taken is transferred to image procossing control system System, image processing control system calculates and controls the corresponding circle number of motor power output shaft rotation, and then drives different directions Part is rotated to same direction, completes auto arrangement, and full automatic control saves manpower, reduces labor intensity of workers, part Alignment efficiency and accuracy rate are high, avoid the problem of manual nest is easy error.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention;
Fig. 2 is the overlooking structure diagram of Fig. 1;
Fig. 3 is the block schematic illustration of image processing control system in Fig. 2;
Fig. 4 is that image processing control system processing information illustrates schematic diagram by taking cam parts as an example;
Wherein rack 1, driving gear 2, driven gear 3, motor 4, CCD camera 5, image processing control system 6, image are adopted Collect module 6a, image pre-processing module 6b, image analysis module 6c, control module 6d, reference mark 7, feed mechanism 8, cylinder 9, cutting agency 10, carrying disk 11, part 12.
Specific embodiment
What needs to be explained here is that the noun of locality it is left and right, above and below be to be defined on the basis of view shown in FIG. 1 , it should be understood that the use of the noun of locality should not limit the requested protection scope of the application.
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1 to Figure 3, a kind of part automatic discharging device based on picture system, it includes rack 1, at image Control system 6, feed mechanism 8, cylinder 9, cutting agency 10 are managed, intermeshing 2 He of driving gear is installed in the rack 1 Driven gear 3,2 lower end of driving gear is connected by shaft coupling with the power output end of motor 4, on the driven gear 3 End is equipped with carrying disk 11, and CCD camera 5 is provided with above carrying disk 11 and the CCD camera 5 passes through route and image procossing control The signal input part of system 6 processed is connected, described image handle the signal output end of control system 6 by route respectively with motor 4, Cylinder 9 connects, and the feed mechanism 8 is docked with carrying disk 11 and the part on feed mechanism 8 is sent on carrying disk 11, institute It states cylinder 9 and the opposite two sides of carrying disk 11 is arranged in the cutting agency 10, the part on carrying disk 11 is pushed to by cylinder 9 On cutting agency 10,11 top of carrying disk is radially provided with reference mark 7.
Before work, according to the position between different 12 specification of part adjustment feed mechanisms 8 and carrying disk 11, so that feeding Part 12 in mechanism 8 can be sent to the center of carrying disk 11.When work, part 12 is placed on feed mechanism 8 simultaneously It is sent on carrying disk 11 through feed mechanism 8, starting CCD camera 5 shoots the part 12 on carrying disk 11 and will at this time The image information of shooting is transferred to image processing control system 6, and image processing control system 6 calculates what part 12 needed to rotate Angle is simultaneously converted into the circle number that 4 power output end of motor needs to rotate, and controls motor 4 according to calculated result, the power of motor 4 is defeated Outlet drives carrying disk 11 to rotate by driving gear 2 and driven gear 3 so that the part 12 on carrying disk 11 go to it is pre- Fixed direction.After part 12 rotates to predetermined direction, motor 4 stops working, and image processing control system 6 controls cylinder 9 for zero Part 12 is pushed on cutting agency 10 from carrying disk 11 and part 12 is transported to next procedure position by cutting agency 10, complete At the arrangement of part 12, facilitate subsequent inspection and packaging, repeat the above process, realizes that the multiple parts 12 of automation control are neat The purpose of discharge.
As shown in figure 4, after cam reaches carrying disk 11, CCD camera 5 shoots image information to it by taking cam parts as an example, Image processing control system 6 establishes pixel coordinate axis, the picture of origin A in information process, by origin A of cam center point Plain coordinate is (x1, y1), and the pixel coordinate (x2, y2) of raised points B on cam, cam edge and mark are analyzed based on pictorial information Remember that the pixel of the subpoint D of raised points B on transverse axis on the pixel coordinate (x3, y3) and cam of the crosspoint C of scale 7 is sat Mark, the pixel coordinate of the subpoint E of the crosspoint C of cam edge and reference mark 7 on transverse axis, and stipulated that ∠ BAC=θ 1, ∠ BAD=θ 2, ∠ CAE=θ 3, wherein coordinate value is the pixel position of corresponding points on the image, and x1-x2 is two o'clock in horizontal axis On pixel difference, y1-y2 be the pixel of two o'clock on longitudinal axis difference.Known to:
And then the angle, θ of the rotation of carrying disk 11 can be obtained.
On that basis of the above technical scheme, described image processing control system 6 is located in advance including image capture module 6a, image Module 6b, image analysis module 6c, control module 6d are managed, image capture module 6a acquires the image information of the shooting of CCD camera 5 simultaneously Image information is transferred to image pre-processing module 6b, image pre-processing module 6b analyzes data information in image information and will count It is believed that breath is transferred to image analysis module 6c, image analysis module 6c calculates part and needs the angle rotated and converse motor 4 power output ends need the circle number rotated, and the lap information that 4 power output end of motor is needed to rotate by image analysis module 6c passes Control module 6d is passed, control module 6d controls the power output end of motor 4 by finger fixing turn rotation.So set, automatic control Part rotation processed, reduces labor intensity of workers, parts turn angle is accurate.
On that basis of the above technical scheme, the feed mechanism 8 and cutting agency 10 are using V belt translation transmission part.So Setting, part transmission is steady, and transmission efficiency is high.
On that basis of the above technical scheme, the piston end of the cylinder 9 is equipped with sponge cushion block.So set, cylinder 9 is living When filling in end by sponge cushion block promotion part, sponge cushion block can generate deformation corresponding with External Shape, part pushing course It is more steady, while being also possible to prevent piece surface and being scratched.
On that basis of the above technical scheme, fluorescent paint is coated on the reference mark 7.So set, being convenient for CCD phase The shooting of machine 5, imaging effect is good, and the data of the processing of image processing control system 6 are more acurrate.
On that basis of the above technical scheme, the transmission direction of the feed mechanism 8 and the transmission direction of cutting agency 10 at Right angle.So set, feeding, blanking direction are reasonable, meet actual use needs.
On that basis of the above technical scheme, the motor 4 is servo motor.So set, stable working performance, uses the longevity Life length.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.

Claims (6)

1. a kind of part automatic discharging device based on picture system, it include rack (1), image processing control system (6), on Expect mechanism (8), cylinder (9), cutting agency (10), intermeshing driving gear (2) and driven is installed on the rack (1) Gear (3), driving gear (2) lower end are connected by shaft coupling with the power output end of motor (4), the driven gear (3) upper end is equipped with carrying disk (11), is provided with CCD camera (5) above carrying disk (11) and the CCD camera (5) passes through line Road is connected with the signal input part of image processing control system (6), and the signal output end that described image handles control system (6) is logical It crosses route to connect with motor (4), cylinder (9) respectively, the feed mechanism (8) docks with carrying disk (11) and by feed mechanism (8) part on is sent on carrying disk (11), and the cylinder (9) and the cutting agency (10) are arranged in carrying disk (11) phase Pair two sides, the part on carrying disk (11) is pushed on cutting agency (10) by cylinder (9), carrying disk (11) the top edge Radial direction is provided with reference mark (7);It is characterized by: described image processing control system (6) includes image capture module (6a), image pre-processing module (6b), image analysis module (6c), control module (6d), image capture module (6a) acquire CCD Image information is simultaneously transferred to image pre-processing module (6b), image pre-processing module (6b) by the image information of camera (5) shooting It analyzes data information in image information and gives data information transfer image analysis module (6c), image analysis module (6c) calculates Part needs the angle rotated and converses the circle number that motor (4) power output end needs to rotate out, image analysis module (6c) The lap information rotated is needed to pass to control module (6d) motor (4) power output end, control module (6d) controls motor (4) power output end is by finger fixing turn rotation.
2. the part automatic discharging device according to claim 1 based on picture system, it is characterised in that: the feeder Structure (8) and cutting agency (10) are using V belt translation transmission part.
3. the part automatic discharging device according to claim 1 or 2 based on picture system, it is characterised in that: the gas The piston end of cylinder (9) is equipped with sponge cushion block.
4. the part automatic discharging device according to claim 3 based on picture system, it is characterised in that: the label is carved Fluorescent paint is coated on degree (7).
5. the part automatic discharging device according to claim 4 based on picture system, it is characterised in that: the feeder The transmission direction of structure (8) and the transmission direction of cutting agency (10) are at right angle.
6. the part automatic discharging device according to claim 5 based on picture system, it is characterised in that: the motor It (4) is servo motor.
CN201610956671.4A 2016-10-27 2016-10-27 A kind of part automatic discharging device based on picture system Active CN106428777B (en)

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Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109014586A (en) * 2017-06-12 2018-12-18 信码互通(北京)科技有限公司 For realizing the accurate endowed device of easy-to-draw top ends of cans, system and method
CN109607137A (en) * 2017-10-10 2019-04-12 信码互通(北京)科技有限公司 For realizing the accurate endowed device of easy-to-draw top ends of cans, system and method
CN107768740B (en) * 2017-10-12 2020-10-30 临泉鹏成机电技术有限公司 Automatic arrangement process for double-row lead-acid battery pole group
CN107697607B (en) * 2017-10-12 2020-07-03 浙江中山电源有限公司 Automatic arrangement process for single-row lead-acid battery pole group
CN108974873A (en) * 2018-07-24 2018-12-11 重庆宣昶工贸有限公司 A kind of part distributing equipment and its control system
CN111099317B (en) * 2019-12-28 2020-07-17 哈尔滨学院 Automatic part discharging device based on image system

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EP0566839A2 (en) * 1992-04-23 1993-10-27 Heinrich Langhammer Palletizer
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CN102941942A (en) * 2012-09-25 2013-02-27 内蒙古伊利实业集团股份有限公司 Method for rotating HDPE (High Density Polyethylene) bottle
CN203095086U (en) * 2012-12-10 2013-07-31 金东纸业(江苏)股份有限公司 Conveying system
CN206171939U (en) * 2016-10-27 2017-05-17 江苏理工学院 Part automatic discharging device based on picture system

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Publication number Priority date Publication date Assignee Title
EP0566839A2 (en) * 1992-04-23 1993-10-27 Heinrich Langhammer Palletizer
CN101786511A (en) * 2010-03-16 2010-07-28 吴忠辉 Product positioning/displaying device and product displaying method using same
CN102941942A (en) * 2012-09-25 2013-02-27 内蒙古伊利实业集团股份有限公司 Method for rotating HDPE (High Density Polyethylene) bottle
CN203095086U (en) * 2012-12-10 2013-07-31 金东纸业(江苏)股份有限公司 Conveying system
CN206171939U (en) * 2016-10-27 2017-05-17 江苏理工学院 Part automatic discharging device based on picture system

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