CN108284072B - Connecting rod classification system based on mechanical vision - Google Patents

Connecting rod classification system based on mechanical vision Download PDF

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Publication number
CN108284072B
CN108284072B CN201810013168.4A CN201810013168A CN108284072B CN 108284072 B CN108284072 B CN 108284072B CN 201810013168 A CN201810013168 A CN 201810013168A CN 108284072 B CN108284072 B CN 108284072B
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China
Prior art keywords
rod
unit
platform
manipulator
classification
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CN201810013168.4A
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CN108284072A (en
Inventor
刘赞丰
陈学灵
王冠
杨志刚
李志鹏
张雅文
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Guangdong Sihui Shili Connecting Rod Co ltd
Guangdong University of Technology
Original Assignee
Guangdong Sihui Shili Connecting Rod Co ltd
Guangdong University of Technology
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Application filed by Guangdong Sihui Shili Connecting Rod Co ltd, Guangdong University of Technology filed Critical Guangdong Sihui Shili Connecting Rod Co ltd
Priority to CN201810013168.4A priority Critical patent/CN108284072B/en
Publication of CN108284072A publication Critical patent/CN108284072A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • B07C5/362Separating or distributor mechanisms
    • 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
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/905Control arrangements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063Using robots

Abstract

The invention provides a connecting rod classification system based on mechanical vision, wherein a connecting rod comprises a rod body, a connecting rod big end and a connecting rod small end, wherein the connecting rod big end and the connecting rod small end are respectively arranged at two ends of the rod body; wherein, the classification system includes: the warehouse rack unit comprises a rack body and a plurality of sliding chutes, and the sliding chutes are uniformly distributed on the rack body; the sliding groove is obliquely arranged and is provided with two guide rods for guiding the connecting rod to slide, and the two guide rods are oppositely arranged; the head end of the guide rod is provided with a stop block; the visual unit is provided with a support frame, a light source and an industrial camera; the support frame is provided with a fixing piece for fixing the connecting rod to be identified, and the industrial camera is arranged on the support frame corresponding to the connecting rod; the light source is arranged above the industrial camera; and a conveying unit for transferring the link from the vision unit to the magazine unit. The invention adopts mechanical vision to carry out identification and classification, thereby improving the production efficiency; the visual identification unit has low cost, high application efficiency and good reliability; the system has the advantages of simple mechanism, convenient installation and disassembly, high automation degree and capability of saving later maintenance cost.

Description

Connecting rod classification system based on mechanical vision
Technical Field
The invention relates to a connecting rod classification system based on mechanical vision.
Background
Machine vision is a system that provides a machine with a visual perception function, and dedicated vision systems are studied in the context of applications that provide only a description of the scene relevant to performing a particular task. The machine vision can acquire a two-dimensional image of the environment through the vision sensor, and the two-dimensional image is analyzed and processed through the vision processor and then converted into a symbol, so that the robot can identify the object, data information of the object is obtained, and finally a machine operation instruction is output. Nowadays, the problem of industrial automatic identification can be solved by applying a mechanical vision technology.
The structure of the connecting rod is shown in fig. 1, when the connecting rods of different types are classified, the manual classification is adopted, so that the production efficiency is influenced, and the workers are wrongly classified due to heavy workload and overlong working time.
Chinese patent 201510474099.3 discloses a method for classifying industrial products based on machine vision, comprising the steps of: starting the upper computer, and controlling the lower computer to be started and paired with the upper computer; the upper computer sends a camera control signal to the lower computer, and the lower computer receives the camera control signal and controls the camera to rotate through the steering engine; the camera acquires images to obtain collected images, and the lower computer transmits the collected images to the upper computer; starting an identification unit, identifying the acquired image, and acquiring shape information of an object to be detected in the acquired image; and classifying the object to be detected according to the shape information.
Chinese patent 201520468393.9 discloses a dynamic sorting and carrying automation system, which mainly consists of a joint robot, a follower device, an industrial vision, a photoelectric sensor and a control system; the tail end of the joint robot is provided with a clamp, the following device is arranged in contact with the logistics line body, and the industrial vision and photoelectric sensor is arranged on the side surface of the logistics line body and faces to a product flowing on the logistics line body; the following device, the industrial vision and the photoelectric sensor are communicated with the joint robot through the control system.
The defects of the prior art are as follows: the cost is expensive, the recognition speed is slow, the automation degree is low, the recognition error is large, and great obstruction is brought to production.
Therefore, how to provide a stable and reliable classification system for automatically grabbing connecting rods and automatically warehousing becomes a problem to be solved in the industry.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a connecting rod classification system based on mechanical vision, which has the advantages of high production efficiency, simple detection and high reliability and is beneficial to reducing the production cost.
In order to achieve the above object, in one aspect, the present invention provides a connecting rod classification system based on machine vision, wherein a connecting rod comprises a rod body, and a connecting rod big end and a connecting rod small end which are respectively arranged at two ends of the rod body; the classification system includes:
the warehouse rack unit comprises a rack body and a plurality of sliding chutes, and the sliding chutes are uniformly distributed on the rack body; the sliding grooves are obliquely arranged, each sliding groove is provided with two guide rods for guiding the connecting rod to slide, and the two guide rods are oppositely arranged; the head end of the guide rod is provided with a stop block;
the visual unit is provided with a support frame, a light source and an industrial camera; the support frame is provided with a fixing piece for fixing the connecting rod to be identified, and the industrial camera is arranged corresponding to the connecting rod and arranged on the support frame; the light source is arranged above the industrial camera;
and a conveying unit for transferring the link from the vision unit to the magazine unit.
The connecting rod is positioned and identified through the visual identification unit, the obtained connecting rod label information is transmitted to the conveying unit, the conveying unit finishes the actions of clamping, conveying and warehousing of the connecting rod, and the connecting rod is placed in the warehouse position designated by the warehouse rack unit. The storage position is a position which is composed of a sliding chute and a guide rod and can be used for placing a connecting rod; two guide rods and a sliding chute which are arranged oppositely correspond to each other, and a set angle is formed between the guide rods and the sliding chute and the horizontal plane, so that the connecting rod can smoothly slide along the guide rods. A stop block is arranged at the head end (entrance) of the guide rod, and when the connecting rod is placed in the storage position, the connecting rod is limited to slide outwards so as to stop the connecting rod.
According to another embodiment of the invention, the conveying unit comprises a supporting seat and a moving platform, wherein the supporting seat is provided with a transverse guide rail, and the moving platform is arranged on the supporting seat in a sliding manner through the transverse guide rail; the mobile platform is provided with a lifting platform and a lifting guide rail, and the lifting platform is arranged on the mobile platform through the lifting guide rail; the lifting platform is provided with a manipulator for grabbing the connecting rod. In the scheme, the supporting seat is provided with a lead screw transmission assembly which comprises a driving motor and a lead screw, a sliding block matched with the lead screw is arranged on the moving platform, and the driving motor drives the moving platform to slide along the axial direction of the lead screw; the lifting platform is provided with a lifting transmission assembly which comprises a lifting motor and a transmission belt, the lifting platform is provided with a connecting piece connected with the transmission belt, and the lifting platform is driven to lift through the movement of the transmission belt; correspondingly, a reducer is arranged on the lifting motor.
According to another embodiment of the invention, the manipulator comprises a supporting claw manipulator and a grabbing claw manipulator; the claw supporting manipulator is arranged corresponding to the big end of the connecting rod and is arranged on the lifting platform through a claw supporting cylinder; the gripper manipulator is arranged corresponding to the rod body and is arranged on the lifting platform through the gripper cylinder. In this scheme, the connecting rod major part is equipped with the through-hole, props claw manipulator and includes two supporting claws that can relative motion, when two supporting claw contacts, props claw manipulator and can freely pass from the through-hole of connecting rod major part, when two prop claw open in the through-hole relatively, each props the inner wall that claw all contacted with the through-hole, realizes closely cooperating with the connecting rod major part. Preferably, a bulge for limiting the position of the big end of the connecting rod can be arranged on each supporting claw. The gripper manipulator is used for clamping the position of the connecting rod body close to the small end of the connecting rod, and the warehousing operation of the connecting rod is realized under the combined action of the gripper manipulator and the supporting manipulator.
According to another embodiment of the invention, the lifting platform is further provided with a grabbing platform, and the grabbing platform is arranged on the lifting platform through a telescopic guide rail; the manipulator is arranged on the grabbing platform. In this scheme, set up the platform that snatchs that can slide, for example promote the action of snatching the platform through the cylinder, can adjust the position of manipulator, better utilization structure space realizes overall structure compactness, and it is rationally distributed.
According to another specific embodiment of the invention, the warehouse rack unit is also provided with a sensor, an alarm lamp and a buffer block, wherein the sensor is arranged on the warehouse rack corresponding to the sliding chute; the alarm lamp is arranged above the warehouse rack; the tail end of the buffer block corresponding to the sliding chute is arranged on the warehouse rack. Each storehouse position is provided with a sensor, and after the connecting rods in the storehouse positions are placed in the designated number, the connecting rods cannot be placed in the placed storehouse positions but are transferred to other designated storehouse positions after the system identifies the connecting rods, until workers take out the placed connecting rods; in this scheme, can slow down the connecting rod impact force of putting in storage in-process through setting up the buffer block, the weakening vibration makes the structure more stable to the holistic influence of storehouse frame.
According to another embodiment of the invention, the classification system is further provided with a controller, a PC processing module and a PLC control module which are connected with the controller; the PC processing module is in communication connection with the industrial camera; the PLC control module is connected with the conveying unit in a control mode. In the scheme, an image of a label printed on a connecting rod to be identified is obtained through an industrial camera, the gray information of the image is collected through a PC (personal computer) processor, and the numerical information of the label is extracted through filtering processing of a program algorithm so as to judge whether the label has a corresponding library position; the controller transmits the storage position information to the PLC control module, further controls the transmission unit, and drives the manipulator to complete the grabbing and warehousing processes.
In the invention, a limiting piece for limiting the connecting rod is arranged on the supporting frame, and the limiting piece is arranged corresponding to the fixing piece; through the combined action of locating part and mounting, provide only the position of placing for the connecting rod, it is fixed firm, and press from both sides and get the convenience.
In another aspect, the present invention provides a link classification method based on machine vision, wherein the classification method includes:
s1, collecting the image of the connecting rod: placing a connecting rod to be identified at a specified detection position, and shooting an image of the connecting rod to be identified by an industrial camera;
s2, identifying the label of the connecting rod: the controller is provided with a PC processing module, the PC processor is electrically connected with the industrial camera, and the obtained image of the connecting rod to be identified is analyzed by the PC processor to obtain the label information of the connecting rod;
s3, link rod storage: and clamping the identified connecting rod through a manipulator which is in driving connection with the controller, transferring the connecting rod to the designated storage position, and releasing the clamped connecting rod by the manipulator to finish the warehousing action after the connecting rod reaches the designated storage position.
According to the invention, the image of the connecting rod to be identified is acquired to obtain the label information of the connecting rod, the manipulator is controlled by the controller to grab the connecting rod, and the connecting rod is transferred to the designated storage position, so that the automatic speech classification and storage of the connecting rod are completed.
According to another embodiment of the present invention, the step S1 further includes a step S11: preprocessing before image acquisition: a light source is arranged at the position corresponding to the connecting rod, and the light source with proper brightness is obtained by adjusting a controller of the light source; and adjust the industrial camera to the proper focal length.
According to another specific embodiment of the invention, the controller is further provided with a PLC control module, the PLC control module is in communication connection with the PC processor, and the PC processor sends the storage location information to the PLC control module, so as to drive the manipulator to complete the storage operation.
According to another embodiment of the present invention, the step S2 further includes a step S21: judging whether a library position corresponding to the identification back connecting rod label information exists: if the library position corresponding to the label information exists, executing the warehousing operation of the connecting rod; if not, the controller issues a prompt.
According to another embodiment of the present invention, step S3 further includes S31: returning the transportation unit: and after the connecting rod is placed in the storage position by the manipulator, returning to the initial position to prepare for the next storage circulation.
After the image is acquired, the automatic warehousing process of the connecting rod comprises the following steps: the method comprises the following steps of polishing a light source, collecting an image, identifying the image, clamping a connecting rod by a manipulator, warehousing the connecting rod and returning a transportation unit.
The mechanical vision technology is adopted to recognize the marks on the connecting rod, the marks are analyzed and processed through the vision recognition unit, the controller outputs an operation instruction, the PLC control module controls the moving platform, the lifting platform and the clamping platform to move, and the supporting claw mechanical arm and the gripper mechanical arm are further controlled, so that the connecting rod is automatically gripped and transported, and the connecting rod is automatically placed in a designated warehouse position in the warehouse rack.
Compared with the prior art, the invention has the advantages that:
1. the machine vision is adopted for identification and classification, so that the production efficiency is improved;
2. the visual identification unit has low cost, high application efficiency and good reliability;
3. the system has the advantages of simple mechanism, convenient installation and disassembly, high automation degree and capability of saving later maintenance cost.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a connecting rod construction;
FIG. 2 is a schematic structural view of a library shelf unit;
FIG. 3 is a left side view of FIG. 2;
fig. 4 is a schematic structural view of a visual recognition unit;
FIG. 5 is a schematic view of the structure of the conveying unit;
FIG. 6 is a schematic structural view of the claw robot showing a state of tension;
FIG. 7 is a schematic structural view of the claw robot, showing a closed state;
FIG. 8 is a schematic structural view of the gripper robot, shown in an open position;
fig. 9 is a schematic structural view of the gripper robot, showing a state of clamping.
Fig. 10 is a flow chart diagram of a classification method.
Detailed Description
Example 1
The present embodiment provides a link sorting system based on machine vision, as shown in fig. 2 to 9, which includes: the device comprises a library shelf unit 1, a vision unit 2, a conveying unit 3, a controller 4 and a connecting rod 5.
The connecting rod 5 is shown in fig. 1, and comprises a rod body 51, a connecting rod big end 52 and a connecting rod small end 53, wherein the connecting rod big end 52 and the connecting rod small end 53 are arranged at two ends of the rod body 51, a through hole 521 is arranged at the connecting rod big end 52, and a clamping part 54 is arranged at a position of the rod body 51 close to the connecting rod small end 53.
The storage rack unit, as shown in fig. 2-3, comprises a rack body 11, a chute 12, an alarm lamp 13 and a sensor 14; wherein, the frame body 11 is a vertical structure, the bottom of the frame body 11 is provided with support legs 19, and the chutes 12 are arranged on the frame body 11 in an array manner; the chute 12 is obliquely arranged, two opposite guide rods 15 are arranged above the chute 12, and the two opposite guide rods 15 and the chute 12 are arranged in parallel to form a storage position 18; the chute 12 and the horizontal plane form a set angle, so that the connecting rod 5 can slide downwards smoothly; the position of the head end of the sliding chute 12 is higher than the position of the tail end of the sliding chute 12; the head end of the guide rod 15 is provided with a stop block 16, and when the connecting rod 5 is placed in the warehouse position, the connecting rod 5 is limited to slide outwards to stop the connecting rod 5; the tail end of the sliding chute 12 is provided with a buffer block 17, so that the impact of the connecting rod 5 in the warehousing process is reduced; the alarm lamp 13 is arranged at the top of the frame body 11, and when the system fails, a warning can be sent out in time to remind personnel to handle the system; the sensor 14 is arranged on the frame body 11 corresponding to the sliding chute 12.
The vision unit 2, as shown in fig. 4, includes a support frame 21, a light source 22, an industrial camera 23, a fixing member 24, and a limiting member 25; the fixing piece 24 is arranged on the support frame 21, the limiting piece 25 is arranged on the support frame 21, and the only placement position is provided for the connecting rod 5 through the combined action of the limiting piece 25 and the fixing piece 24; the industrial camera 23 is arranged on the support frame 21, is arranged above the connecting rod 5 and is used for acquiring an image of the connecting rod 5; the light source 22 is disposed on the support frame 21 above the industrial camera 23, and a light source controller 26 is disposed on the light source 22 for adjusting the brightness of the light source 22.
The conveying unit 3, as shown in fig. 5-9, includes a supporting seat 31, a moving platform 32, a lifting platform 33, a grabbing platform 34, and a manipulator 35; wherein, a transverse guide rail 311 and a screw transmission component are arranged on the supporting seat 31, and the movable platform 32 is arranged on the supporting seat 31 in a sliding manner through the transverse guide rail 311; the screw transmission assembly includes a driving motor 312 and a screw 313, the moving platform 32 is provided with a slider (not shown) corresponding to the screw 313, and the driving motor 312 drives the moving platform 32 to slide along the axial direction of the screw 313. The moving platform 32 is provided with a lifting guide rail 321, and the lifting platform 33 is arranged on the moving platform 32 through the lifting guide rail 321; the lifting platform 33 is provided with a lifting transmission component and a telescopic guide rail 331, and the lifting platform 32 is provided with a cylinder 332 for driving the clamping platform 34 to move along the telescopic guide rail 331; the lifting transmission component comprises a lifting motor 333 and a transmission belt 334, the lifting platform 33 is provided with a connecting piece 335, and the connecting piece 335 is fixedly arranged on the transmission belt 334; the lifting motor 333 drives the transmission belt 334 to rotate, so as to drive the lifting platform 33 to move; the lifting motor 333 is provided with a reducer; the manipulator 35 is arranged on the grabbing platform 34, and the grabbing platform 34 is arranged on the lifting platform 33 in a sliding mode through the telescopic guide rail 322.
The mechanical arm 35 comprises a supporting claw mechanical arm 36 and a grabbing claw mechanical arm 37, the supporting claw mechanical arm 36 is arranged corresponding to the connecting rod big end 52 and is provided with a supporting claw cylinder 361 and two supporting claws 362 capable of moving relatively, the two supporting claws 362 are driven to move through the supporting claw cylinder 361, when the two supporting claws 362 are in contact, the supporting claw mechanical arm 36 can freely penetrate through a through hole 521 of the connecting rod big end 52, when the two supporting claws 362 are relatively expanded in the through hole 521, each supporting claw 362 is abutted against the inner wall of the through hole 521, tight fit with the connecting rod big end 52 is achieved, and therefore the connecting rod 5 is taken out of the visual unit 2. The gripper manipulator 37 is arranged corresponding to the clamping part 54 of the rod body 51 and comprises a gripper cylinder 371 and two grippers 372, and the two grippers 372 are driven to move by the gripper cylinder 371 so as to realize the actions of clamping and releasing the clamping part 54; the gripper cylinder 371 and the supporting cylinder 361 are arranged at different positions of the gripping platform 34, and the warehousing operation of the connecting rod 5 is realized through the combined action of the gripper manipulator 37 and the supporting manipulator 36.
The controller 4 comprises a control electric cabinet 41, a PC processing module 42 and a PLC control module (not shown), wherein the PC processing module 42 is in communication connection with the industrial camera 23; the PLC control module is connected with the conveying unit 3 in a control mode; acquiring an image of a printed label on the connecting rod 5 to be identified through the industrial camera 23, acquiring gray information of the image through the PC processing module 42, and extracting numerical value information of the label through filtering processing of a program algorithm to judge whether the label has a corresponding library position; the controller 4 transmits the storage location information to the PLC control module, further controls the transmission unit, and drives the manipulator 35 to complete the grabbing and warehousing processes.
A classification method using the above-described link classification system, as shown in fig. 10, includes:
preprocessing before image acquisition: a light source is arranged at the position corresponding to the connecting rod, and the light source with proper brightness is obtained by adjusting a controller of the light source; and adjust the industrial camera to the proper focal length.
Collecting an image of the connecting rod: and placing the connecting rod to be identified at a specified detection position, and shooting an image of the connecting rod to be identified through an industrial camera.
Identifying the label of the connecting rod: the controller is provided with a PC processing module, the PC processor is electrically connected with the industrial camera, and the obtained image of the connecting rod to be identified is analyzed by the PC processor to obtain the label information of the connecting rod.
Judging whether a library position corresponding to the identification back connecting rod label information exists: if the library position corresponding to the label information exists, executing the warehousing operation of the connecting rod; if not, the controller issues a prompt.
Warehousing a connecting rod: and clamping the identified connecting rod through a manipulator which is in driving connection with the controller, transferring the connecting rod to the designated storage position, and releasing the clamped connecting rod by the manipulator to finish the warehousing action after the connecting rod reaches the designated storage position.
Returning the transportation unit: and after the connecting rod is placed in the storage position by the manipulator, returning to the initial position to prepare for the next storage circulation.
The embodiment adopts the mechanical vision technology to identify the marks on the connecting rod, analyzes and processes the marks through the vision identification unit, outputs an operation instruction through the controller, controls the moving platform, the lifting platform and the clamping platform to move through the PLC control module, and further controls the claw supporting mechanical arm and the claw gripping mechanical arm, so that the connecting rod is automatically gripped and transported, and the connecting rod is automatically placed in the designated warehouse position in the warehouse rack.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.

Claims (3)

1. A connecting rod classification system based on mechanical vision is disclosed, wherein a connecting rod comprises a rod body, a connecting rod big end and a connecting rod small end, wherein the connecting rod big end and the connecting rod small end are respectively arranged at two ends of the rod body; characterized in that the classification system comprises:
the warehouse rack unit comprises a rack body and a plurality of sliding chutes, and the sliding chutes are uniformly distributed on the rack body; the sliding grooves are obliquely arranged, each sliding groove is provided with two guide rods for guiding the connecting rod to slide, and the two guide rods are oppositely arranged; a stop block is arranged at the head end of the guide rod;
the visual unit is provided with a support frame, a light source and an industrial camera; the support frame is provided with a fixing piece for fixing the connecting rod to be identified, and the industrial camera is arranged corresponding to the connecting rod and arranged on the support frame; the light source is arranged above the industrial camera;
the conveying unit is used for transferring the connecting rod from the vision unit to the library shelf unit and comprises a supporting seat, a moving platform and a manipulator used for grabbing the connecting rod, the supporting seat is provided with a transverse guide rail, and the moving platform is arranged on the supporting seat in a sliding mode through the transverse guide rail; the mobile platform is provided with a lifting platform and a lifting guide rail, and the lifting platform is arranged on the mobile platform through the lifting guide rail; the manipulator is arranged on the lifting platform and comprises a supporting claw manipulator and a gripper manipulator; the claw supporting manipulator is arranged corresponding to the big end of the connecting rod and is arranged on the lifting platform through a claw supporting cylinder; the gripper manipulator is arranged corresponding to the rod body and arranged on the lifting platform through a gripper cylinder;
the lifting platform is further provided with a grabbing platform, and the grabbing platform is arranged on the lifting platform through a telescopic guide rail; the manipulator is arranged on the grabbing platform.
2. The classification system according to claim 1, wherein the rack unit is further provided with a sensor, an alarm lamp, a buffer block, the sensor being provided on the rack in correspondence with the chute; the alarm lamp is arranged above the warehouse rack; the buffer block is arranged on the storehouse rack corresponding to the tail end of the sliding groove.
3. The classification system according to claim 1, wherein the classification system is further provided with a controller, a PC processing module and a PLC control module which are connected with the controller; the PC processing module is in communication connection with the industrial camera; and the PLC control module is in control connection with the conveying unit.
CN201810013168.4A 2018-01-04 2018-01-04 Connecting rod classification system based on mechanical vision Active CN108284072B (en)

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CN106272488A (en) * 2016-08-29 2017-01-04 江苏华航威泰机器人科技有限公司 A kind of internal stay chela formula robot
CN106645164A (en) * 2016-10-19 2017-05-10 云南西仪工业股份有限公司 Foreign matter inspection system for connecting-rod deep-hole covered channel
CN106976074A (en) * 2017-03-28 2017-07-25 昆明理工大学 A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator
CN106964556A (en) * 2017-04-20 2017-07-21 武汉易视维科技有限公司 A kind of connecting rod forging vision detection system
CN107020622A (en) * 2017-05-31 2017-08-08 嘉善宝狐服饰有限公司 A kind of grasping mechanism

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