CN107962616A - A kind of plumule diced system and method based on PLC control system - Google Patents
A kind of plumule diced system and method based on PLC control system Download PDFInfo
- Publication number
- CN107962616A CN107962616A CN201711491812.0A CN201711491812A CN107962616A CN 107962616 A CN107962616 A CN 107962616A CN 201711491812 A CN201711491812 A CN 201711491812A CN 107962616 A CN107962616 A CN 107962616A
- Authority
- CN
- China
- Prior art keywords
- plumule
- conveyer belt
- cutting
- control system
- plc control
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/005—Computer numerical control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/007—Control means comprising cameras, vision or image processing systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/20—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
- B26D5/26—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed wherein control means on the work feed means renders the cutting member operative
- B26D5/28—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed wherein control means on the work feed means renders the cutting member operative the control means being responsive to presence or absence of work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/38—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with means operable by the moving work to initiate the cutting action
Abstract
The invention discloses a kind of plumule diced system based on PLC control system, it includes mechanical system, PLC control system and NI Vision Builder for Automated Inspection, and mechanical system includes manipulator（1）And conveyer belt（3）, manipulator（1）Installed in conveyer belt（3）On, NI Vision Builder for Automated Inspection（2）Hardware components be installed on conveyer belt（3）On；Conveyer belt（3）The photoelectric sensor of upper installation（4）It is connected respectively with PLC control system conducting wire with limit sensors；PLC system is connected with host computer；NI Vision Builder for Automated Inspection（2）Respectively with PLC control system and upper connection；The present invention solves the problems, such as that the current time-consuming and laborious efficiency of plumule cutting method is low；Solve the problems, such as current plumule identification process manually, recognition efficiency it is low；Solve the problems, such as current plumule cutting process manually, cutting mechanics and automation it is not high.
Description
Technical field
The invention belongs to plumule cutting technique, more particularly to a kind of plumule diced system based on PLC control system
And method.
Background technology
Plumule is peculiar for monocotyledon, particularly the taper shell-like thing outside grass plumule, is a sheath
Shape structure.Plumule cutting generally includes two steps of plumule identification and cutting.It is very crucial that plumule, which accurately identifies,
One step, only identification are accurate, just can guarantee that smooth cutting.Traditional cutting mode is to judge plumule by people's naked eyes and experience
And cutting position, then cut by simple cutting mechanics.This time-consuming and laborious efficiency of method is very low.Do not have temporarily both at home and abroad
The research of plumule Classical correlation and diced system.In consideration of it, the present invention researches and develops a kind of plumule automatic cutting system and method.
The content of the invention：
The technical problem to be solved in the present invention：A kind of plumule diced system and method based on PLC control system are provided, with solution
Certainly：The problem of time-consuming and laborious efficiency of plumule cutting method is low at present；Solve current plumule identification process manually, identification effect
The problem of rate is low；Solve the problems, such as current plumule cutting process manually, cutting mechanics and automation it is not high.
Technical solution of the present invention：
A kind of plumule diced system based on PLC control system, it includes mechanical system, PLC control system and machine vision
System, mechanical system include manipulator and conveyer belt, and manipulator is installed on a moving belt, the hardware components peace of NI Vision Builder for Automated Inspection
Dress is on a moving belt；The photoelectric sensor and limit sensors installed on conveyer belt are connected with PLC control system conducting wire respectively；
PLC system is connected with host computer；NI Vision Builder for Automated Inspection respectively with PLC control system and upper connection.
Conveyer belt includes baffled conveyer belt and aluminium section bar truss structure；Conveyer belt includes the transmission at conveyer belt both ends
The transmission shaft of axis, wherein one end couples with synchronous pulley, and synchronous pulley is coupled by synchronous belt with the belt wheel on servo motor shaft.
Evenly spaced baffle is provided with conveyer belt, two baffle center sections are working region, the one of conveyer belt
Side is provided with photoelectric sensor；Baffle spacing is 200mm, length 200mm, is highly 20mm.
Manipulator includes the Cartesian robot and a line slideway that three single-shaft mechanical arms are built, Y-direction machinery
Hand and line slideway couple with conveyer belt, and cutter is installed on Z axis arm end, and line slideway includes what is coordinated with line slideway
Sliding block, sliding block are coupled by connecting plate with X-direction manipulator one end.
NI Vision Builder for Automated Inspection hardware components include camera support, CCD camera, camera lens and annular light source, CCD camera and camera lens
It is installed on by camera support directly over conveyer belt；Coupled by installing plate with conveyer belt；CCD camera is installed in annular light source
Heart position.
A kind of cutting method of the plumule diced system based on PLC control system, specifically includes following steps：
STEP1：Conveyer belt instructs according to PLC controller plumule being delivered to CCD camera shooting area, photoelectric sensor detection
Pass through triggering CCD camera progress plumule image acquisition to there is baffle；
STEP2：Plumule moves forward under the control of PLC controller on conveyer belt, when next baffle just moves
To photoelectric sensor position, triggering CCD camera obtains next part plumule image, and Part I plumule initially enters at this time
Manipulator cutting zone；
STEP3：When getting Part III plumule image, Part I plumule just completely into cutting zone, passes
Band is sent under the control that PLC controller instructs, stop motion；
STEP4：Manipulator is under the control that PLC controller instructs, and to identified plumule carry out order cutting, cutting is completed
Afterwards, Part II plumule initially enters cutting zone；
STEP5：Above-mentioned steps are circulated, complete plumule cutting operation.
Beneficial effects of the present invention：
The present invention controls cutter pair by the way that manipulator technology, automatic control technology and machine vision technique are combined, using PLC
Plumule carries out automatic identification, automation cutting.The present invention can accurately identify plumule and judge cutting position, finally
Realize and automatic identification surface trimming operation process is carried out to plumule.The present invention realizes plumule cutting efficiency height, success rate
High and the degree of automation is high, really realizes plumule automatic identification and cutting.Detailed process：The present invention is controlled in PLC
Under the control of system, plumule is on the conveyor belt under the driving of conveyer belt both ends transmission shaft, into camera shooting area, photoelectric transfer
Sensor has detected baffle by the way that triggering camera obtains plumule image, and plumule continues to transport forward under the driving of transmission shaft
Dynamic to enter robot work region, next baffle just arrives photoelectric sensor position at this time, and camera starts to obtain embryo again
Bud scale image, when getting the image of Part III plumule, conveyer belt stop motion, manipulator is according to machine vision at this time
The plumule positional information that system process images are obtained starts order cutting plumule, completes Part I plumule cutter
Make, circulated with this and complete all plumules identifications and cutting work.Single-shaft mechanical arm both sides are provided with limit sensors, it is ensured that
Robot movement scope not surpassed distance.It can realize that conveyer belt and robot movement speed and position are supervised in real time by PLC control system
Survey and control, the invention mechanization and the degree of automation height are, it can be achieved that plumule automatic identification and cutting work, are realized intelligent
Plumule cutting operation process；Solve the problems, such as that the current time-consuming and laborious efficiency of plumule cutting method is low；Solve current plumule
The problem of sheath identification process is manually, recognition efficiency is low；Solve current plumule cutting process manually, cutting mechanics and
The problem of automation is not high.
Brief description of the drawings：
Fig. 1 is plumule diced system composition schematic diagram of the present invention；
Fig. 2 is cutting method block diagram of the present invention；
Fig. 3 is cutting method flow diagram of the present invention
Fig. 4 is cutter device schematic front view of the present invention；
Fig. 5 is cutter device left view schematic diagram of the present invention；
Fig. 6 is cutter device axis geodesic structure schematic diagram of the present invention.
In figure：1. robot section, 2. NI Vision Builder for Automated Inspection hardware components, 3. transport portions, 4. photoelectric sensors, 5. is same
Walk V belt translation part, 6. line slideways, 7. baffled conveyer belts, 8. connecting plates, 9. shooting working regions, 10.CCD phases
Machine, 11. annular light sources, 12. cutting working regions, 13. hoof feet, 14. connecting plates.
Embodiment：
A kind of plumule diced system based on PLC control system, it includes mechanical system, PLC control system and machine vision
System, mechanical system include manipulator 1 and conveyer belt 3, and manipulator 1 is installed on conveyer belt 3, the hardware of NI Vision Builder for Automated Inspection 2
It is partially installed on conveyer belt 3；The photoelectric sensor 4 and limit sensors installed on conveyer belt 3 are led with PLC control system respectively
Line connects；PLC system is connected with host computer；NI Vision Builder for Automated Inspection 2 respectively with PLC control system and upper connection.
Conveyer belt 3 includes baffled conveyer belt and aluminium section bar truss structure；Conveyer belt 3 includes the biography at conveyer belt both ends
The transmission shaft of moving axis, wherein one end couples with synchronous pulley 5, and synchronous pulley 5 passes through the belt wheel on synchronous belt and servo motor shaft
Connection.Evenly spaced baffle is provided with conveyer belt, two baffle center sections are working region, in the side of conveyer belt 3
Photoelectric sensor 4 is installed；Baffle spacing is 200mm, length 200mm, is highly 20mm.Installed in the side of transport portion
Have photoelectric sensor, determine whether baffle by, plumule is shot so as to trigger camera, obtain plumule image,
When next baffle by when front portion obtained the plumule of image and just initially enter manipulator cutting zone, touch at the same time
Send out camera and image acquisition, when getting the image of Part III plumule, Part I plumule are carried out to current plumule
Just completely into cutting zone, conveyer belt stop motion at this time is circulated until cutting completion with this.Baffle spacing is 200mm,
Length is 200mm, is highly 20mm.200mm*200mm is both image-acquisition area and manipulator cutting working region.Using
Discontinuous identification and cutting mode, treat that the cutting of front portion plumule is completed, rear portion plumule initially enters manipulator again
Cut working region.This avoid belt system error, is conducive to improve plumule recognition efficiency and precision.
Manipulator 1 includes the Cartesian robot and a line slideway 6 that three single-shaft mechanical arms are built, Y-direction machine
Tool hand and line slideway 6 couple with conveyer belt 3, and cutter is installed on Z axis arm end, and line slideway 6 includes and line slideway 6
The sliding block of cooperation, sliding block are coupled by connecting plate 8 with X-direction manipulator one end.
2 hardware components of NI Vision Builder for Automated Inspection include camera support, CCD camera 10, camera lens and annular light source 11, CCD camera
10 and camera lens be installed on by camera support directly over conveyer belt 3；Coupled by installing plate with conveyer belt 3；CCD camera 10 is installed
In annular light source center.
A kind of cutting method of the plumule diced system based on PLC control system, specific method include：
STEP1：Conveyer belt instructs according to PLC controller plumule being delivered to CCD camera shooting area, photoelectric sensor detection
Pass through triggering CCD camera progress plumule image acquisition to there is baffle；
STEP2：Plumule moves forward under the control of PLC controller on conveyer belt, when next baffle just moves
To photoelectric sensor position, triggering CCD camera obtains next part plumule image, and Part I plumule initially enters at this time
Manipulator cutting zone；
STEP3：When getting Part III plumule image, Part I plumule just completely into cutting zone, passes
Band is sent under the control that PLC controller instructs, stop motion；
STEP4：Manipulator is under the control that PLC controller instructs, and to identified plumule carry out order cutting, cutting is completed
Afterwards, Part II plumule initially enters cutting zone；
STEP5：Above-mentioned steps are circulated, complete plumule cutting operation.
Whether the present invention baffled conveyer belt, both ends drum drive axis and photoelectric sensor, can enter plumule
Shooting area and cutting zone carry out accurate judgement.
In image processing system, variety classes different times plumule image can be obtained the present invention by corresponding recognizer
Plumule profile and positional information are obtained, it can be achieved that plumule accurately identifies and cutting position judges, and is provided for PLC control system
Corresponding information.
Conveyer belt of the present invention completes the conveying of plumule under the control that PLC is instructed；Manipulator is under the control that PLC is instructed
The order cutting of cutting zone plumule is completed, it can be achieved that plumule automation cutting, improves cutting efficiency.
PLC control system of the present invention, conveyer belt complete the conveying of plumule under the control that PLC is instructed；Manipulator is in PLC
The order cutting of cutting zone plumule is completed under the control of instruction, it can be achieved that plumule automation cutting, improves cutting efficiency.
The present invention compared to the prior art, the invention has the advantages that：First, identification process of the present invention is efficient, oneself
Dynamicization degree is high.Second, plumule cutting mechanics of the present invention, automation and intelligentification, cutting efficiency is high.
Claims (6)
1. a kind of plumule diced system based on PLC control system, it is regarded including mechanical system, PLC control system and machine
Feel system, it is characterised in that：Mechanical system includes manipulator（1）And conveyer belt（3）, manipulator（1）Installed in conveyer belt（3）
On, NI Vision Builder for Automated Inspection（2）Hardware components be installed on conveyer belt（3）On；Conveyer belt（3）The photoelectric sensor of upper installation（4）
It is connected respectively with PLC control system conducting wire with limit sensors；PLC system is connected with host computer；NI Vision Builder for Automated Inspection（2）Respectively
With PLC control system and upper connection.
A kind of 2. plumule diced system based on PLC control system according to claim 1, it is characterised in that：Transmission
Band（3）Including baffled conveyer belt and aluminium section bar truss structure；Conveyer belt（3）Include the transmission shaft at conveyer belt both ends, its
The transmission shaft and synchronous pulley of middle one end（5）Connection, synchronous pulley（5）Joined by the belt wheel on synchronous belt and servo motor shaft
Connect.
A kind of 3. plumule diced system based on PLC control system according to claim 2, it is characterised in that：Conveying
Take and be provided with evenly spaced baffle, two baffle center sections are working region, in conveyer belt（3）Side light is installed
Electric transducer（4）；Baffle spacing is 200mm, length 200mm, is highly 20mm.
A kind of 4. plumule diced system based on PLC servo-control systems according to claim 1, it is characterised in that：
Manipulator（1）The Cartesian robot built including three single-shaft mechanical arms and a line slideway（6）, Y-direction manipulator
And line slideway（6）With conveyer belt（3）Connection, cutter are installed on Z axis arm end, line slideway（6）Including being led with straight line
Rail（6）The sliding block of cooperation, sliding block pass through connecting plate（8）Couple with X-direction manipulator one end.
A kind of 5. plumule diced system based on PLC control system according to claim 1, it is characterised in that：It is described
NI Vision Builder for Automated Inspection（2）Hardware components include camera support, CCD camera（10）, camera lens and annular light source（11）, CCD camera
（10）Conveyer belt is installed on by camera support with camera lens（3）Surface；Pass through installing plate and conveyer belt（3）Connection；CCD camera
（10）Installed in annular light source center.
6. a kind of cutting method of the plumule diced system based on PLC control system as claimed in claim 1, it includes：
STEP1：Conveyer belt instructs according to PLC controller plumule being delivered to CCD camera shooting area, photoelectric sensor detection
Pass through triggering CCD camera progress plumule image acquisition to there is baffle；
STEP2：Plumule moves forward under the control of PLC controller on conveyer belt, when next baffle just moves
To photoelectric sensor position, triggering CCD camera obtains next part plumule image, and Part I plumule initially enters at this time
Manipulator cutting zone；
STEP3：When getting Part III plumule image, Part I plumule just completely into cutting zone, passes
Band is sent under the control that PLC controller instructs, stop motion；
STEP4：Manipulator is under the control that PLC controller instructs, and to identified plumule carry out order cutting, cutting is completed
Afterwards, Part II plumule initially enters cutting zone；
STEP5：Above-mentioned steps are circulated, complete plumule cutting operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711491812.0A CN107962616A (en) | 2017-12-30 | 2017-12-30 | A kind of plumule diced system and method based on PLC control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711491812.0A CN107962616A (en) | 2017-12-30 | 2017-12-30 | A kind of plumule diced system and method based on PLC control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107962616A true CN107962616A (en) | 2018-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711491812.0A Pending CN107962616A (en) | 2017-12-30 | 2017-12-30 | A kind of plumule diced system and method based on PLC control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108793714A (en) * | 2018-07-04 | 2018-11-13 | 成都信息工程大学 | A kind of multiaxis glass-cutting control platform and glass automatic cutting control system |
| CN109085791A (en) * | 2018-07-25 | 2018-12-25 | 嘉兴锐川电气有限公司 | Punching machine visual monitor system and its monitoring method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082214A (en) * | 2015-08-28 | 2015-11-25 | 浙江大学台州研究院 | Full-automatic dried bean curd cutting device based on visual inspection |
| CN205219306U (en) * | 2015-12-28 | 2016-05-11 | 中国科学院自动化研究所 | Be used for automatic transport of soft materials and discernment cutting device |
| CN206442736U (en) * | 2017-01-05 | 2017-08-29 | 福建农林大学 | A kind of Jujun grasses shearing device with electric control gear |
| CN207771926U (en) * | 2017-12-30 | 2018-08-28 | 贵州大学 | A kind of plumule diced system based on PLC control system |
-
2017
- 2017-12-30 CN CN201711491812.0A patent/CN107962616A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082214A (en) * | 2015-08-28 | 2015-11-25 | 浙江大学台州研究院 | Full-automatic dried bean curd cutting device based on visual inspection |
| CN205219306U (en) * | 2015-12-28 | 2016-05-11 | 中国科学院自动化研究所 | Be used for automatic transport of soft materials and discernment cutting device |
| CN206442736U (en) * | 2017-01-05 | 2017-08-29 | 福建农林大学 | A kind of Jujun grasses shearing device with electric control gear |
| CN207771926U (en) * | 2017-12-30 | 2018-08-28 | 贵州大学 | A kind of plumule diced system based on PLC control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108793714A (en) * | 2018-07-04 | 2018-11-13 | 成都信息工程大学 | A kind of multiaxis glass-cutting control platform and glass automatic cutting control system |
| CN109085791A (en) * | 2018-07-25 | 2018-12-25 | 嘉兴锐川电气有限公司 | Punching machine visual monitor system and its monitoring method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| CB03 | Change of inventor or designer information |
Inventor after: Yan Jianwei Inventor after: Lv Litang Inventor after: Su Xiaodong Inventor before: Yan Jianwei Inventor before: Su Xiaodong Inventor before: Lv Litang |