CN109532043A - Anti-fake tooth-like white wine lid smart group based on image recognition fills device and method - Google Patents
Anti-fake tooth-like white wine lid smart group based on image recognition fills device and method Download PDFInfo
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- CN109532043A CN109532043A CN201811497270.2A CN201811497270A CN109532043A CN 109532043 A CN109532043 A CN 109532043A CN 201811497270 A CN201811497270 A CN 201811497270A CN 109532043 A CN109532043 A CN 109532043A
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- cap body
- nut cap
- image recognition
- middle set
- stepper motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/56—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using mechanical means or mechanical connections, e.g. form-fits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
- B29C65/7802—Positioning the parts to be joined, e.g. aligning, indexing or centring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/56—Stoppers or lids for bottles, jars, or the like, e.g. closures
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Inspection Of Paper Currency And Valuable Securities (AREA)
- Closures For Containers (AREA)
Abstract
本发明公开了基于图像识别的防伪齿式白酒盖智能组装设备及方法，它包括异形盖的盖帽体和外中套的传送带装置、异形盖的盖帽体和外中套的抓取和放置机构、利用图像识别传感器对异形盖的盖帽体的凹槽和外中套凸齿的识别与定位系统和控制系统等组成。该装置具有识别效率、定位精确、结构简单、易于维护和可靠性强等特点，可以通过智能化定位方式完成异形盖的盖帽体的凹槽和外中套的凸齿的定位，可代替现有手工装配存在的效率低下、成本高等问题。
The invention discloses an image recognition-based intelligent assembly device and method for an anti-counterfeit tooth-type liquor cap, which comprises a cap body of a special-shaped cap and a conveyor belt device of an outer and middle sleeve, a cap body of the special-shaped cap and a grabbing and placing mechanism of the outer and middle sleeve, The image recognition sensor is used to identify and locate the groove of the cap body of the special-shaped cover and the convex teeth of the outer and middle sleeves, as well as a control system and a control system. The device has the characteristics of recognition efficiency, accurate positioning, simple structure, easy maintenance and strong reliability, etc. It can complete the positioning of the groove of the cap body of the special-shaped cover and the convex teeth of the outer and middle sleeve through an intelligent positioning method, which can replace the existing Manual assembly has problems of low efficiency and high cost.
Description
Technical field
The present invention relates to a kind of anti-fake tooth-like Special plastic white wine lid Intelligent assembly device based on image recognition, specifically
The groove of the nut cap body of Special plastic white wine lid and the double wedge of outer middle set are accurately positioned using image recognition technology, used
Automatized assembly method completes the assembly of anti-fake tooth-like white wine lid nut cap body groove and outer middle set double wedge instead of manual assembly method.
Background technique
In huge Spirits market and more liquor brand, since different product is in wine box packaging, bottle body and bottle cap
The color and shape etc. of equal appearance packagings has oneself unique design concept；For the white wine producer of the same brand,
Since its white wine has different types, different types also has then different product external packagings.For anti-fake tooth-like White Spirit Bottle
Lid itself, be mainly made of nut cap body, neck bush, outer middle set, transparent rotation inner cover and pouring means from wine bottle etc., bottle cap nut cap body and outside
In be cased with different type and shape, such as: wave stripe cylinder, circular conical surface formula, outer surface be in polygonal solid formula and light
The different shape of sliding surface cylinder etc..At present for wave stripe cylinder and shiny surface cylinder, due to appearance
Face is relatively regular, therefore general mechanically fixed to the nut cap body groove of white wine lid and outer middle set double wedge progress using mechanical structure
Then the nut cap body groove of white wine lid and outer middle set double wedge are carried out pressurization assembling by position.It is used at present in production real process
Mechanical positioning method is able to solve the automatic assembling process of the white wine lid of wave stripe cylinder and shiny surface cylinder,
Its yield rate can reach 97%；And for outer surface in the assembly of the white wine lid of the abnormity such as polygonal solid formula due to outer surface not
Rule can not be accurately positioned the nut cap body groove of white wine lid and outer middle set double wedge by accurate mode, at present in reality
The nut cap body of white wine lid and the assembling process of outer middle set, the party are mainly completed in the production process of border by the way of manual assembly
The assembly efficiency of formula is low, assembly cost is high.
Automatic and accurate identification and positioning are carried out to the nut cap body groove of anti-fake tooth-like special-shaped cover and outer middle set double wedge to realize,
Accurately identify instead of the positioning of existing Purely mechanical or positioning assembly by hand by image recognition technology.To realize intelligence
Positioning and assembly, improve the nut cap body groove of anti-fake tooth-like special-shaped cover and the assembly efficiency of outer middle set double wedge, raw to enterprise is reduced
Cost is produced to be of great significance.
Summary of the invention
The main object of the present invention is to solve deficiency existing for above-mentioned background technique, is designed based on the anti-fake of image recognition
Tooth-like Special plastic white wine lid intelligence assembling device.It is characteristic of the invention that completing anti-fake tooth-like abnormity using image recognition technology
The accurate positioning of the nut cap body groove of lid and outer middle set double wedge, then by the mechanisms such as stepper motor and associated mechanical crawl to anti-
Pseudo- tooth-like special-shaped cover nut cap body groove is rotated with outer middle set double wedge, and making it into down together can direct assembly process.The dress
Setting has the characteristics that recognition efficiency, registration, structure are simple, easy to maintain and highly reliable.
In order to realize above-mentioned technical characteristic, the object of the present invention is achieved like this: the anti-fake tooth based on image recognition
Formula white wine lid smart group fills device and method, it includes the outer middle set conveyer mechanism for conveying the outer middle set of special-shaped cover,
The end of set conveyer mechanism is equipped with the first crawl placement mechanism for grabbing and placing outer middle set in outer；
Nut cap body conveyer mechanism including the nut cap body for conveying special-shaped cover is installed in the end of nut cap body conveyer mechanism
There is the second crawl placement mechanism for grabbing and placing nut cap body；
Including the first positioning system identified and positioned for the double wedge of externally middle set；
Including the second positioning system identified and positioned for the groove to nut cap body；
The first crawl placement mechanism, the second crawl placement mechanism, the first positioning system and the second positioning system all with master control
System processed is connected.
The outer middle set is equidistantly arranged on outer middle set conveyer mechanism, and the protrusion of the outer middle set is disorderly arranged to be passed
It send and takes.
The nut cap body is equidistantly arranged on nut cap body conveyer mechanism, and the groove of the nut cap body is disorderly arranged to be passed
It send and takes.
The first crawl placement mechanism includes the first grasping mechanism, and first grasping mechanism is fixedly mounted on the first gas
On cylinder, and the crawl covered in externally and release movement are completed, first cylinder passes through the shaft of connecting rod and the first stepper motor
It is connected, and the outer middle set being located on outer middle set conveyer mechanism is placed by the first pneumatic tri-claw plate group by the first grasping mechanism
On part；The signal wire of first cylinder and the first stepper motor is connected with general control system.
The second crawl placement mechanism includes the second grasping mechanism, and second grasping mechanism is fixedly mounted on third gas
On dynamic cylinder, and the crawl and release completed to nut cap body act, and the third pneumatic linear actuator passes through connecting rod and the 4th stepper motor
Shaft is connected, and the nut cap body being located on nut cap body conveyer mechanism is placed into transparency glass plate by the second grasping mechanism
On；The signal wire of the third pneumatic linear actuator and the 4th stepper motor is connected with general control system.
First positioning system includes the first pneumatic tri-claw plate component, and the first pneumatic tri-claw plate component is mounted on the
On the output shaft of two stepping motor, it is provided with the first image recognition sensor right above the first pneumatic tri-claw plate component,
The first image identification sensor is fixed on the first baffling barrel, is equipped with revolving body at the top of first baffling barrel, institute
Revolving body is stated to be fixedly mounted on the telescopic rod of the second cylinder.
Second positioning system includes for grabbing the second of nut cap body the pneumatic tri-claw plate component described second pneumatic three
Pawl disk component is fixedly mounted on the output shaft of third stepper motor, is provided with immediately below the second pneumatic tri-claw plate component
For the second image recognition sensor that the groove to nut cap body is identified, and third stepper motor is cooperated to realize nut cap body
Positioning, is equipped with the second baffling barrel on the output shaft of third stepper motor.
Anti-fake tooth-like white wine lid smart group described in any one based on image recognition is installed to assemble wine lid
Method, it the following steps are included:
Step1: outer middle set is placed into outer middle set conveyer mechanism by feeding, and realizes the conveying covered in outer；It simultaneously will lid
Cap body is placed on nut cap body conveyer mechanism by feeding, and realizes the conveying of nut cap body；
Step2: by the outer middle set of the first pneumatic linear actuator driving the first grasping mechanism crawl, and pass through the first stepper motor for outer middle set
It is placed on the first pneumatic tri-claw plate component of the first positioning system；
Step3: it drives the second grasping mechanism to grab nut cap body by third pneumatic linear actuator, and passes through the 4th stepper motor for nut cap body
It is placed on the transparency glass plate of the second positioning system；
Step4: it is taken pictures and is identified using outer middle set of first image recognition sensor to special-shaped cover, by image to be identified
It is compared with standard picture, then second stepper motor drives the first pneumatic tri-claw plate component and the outer middle set of crawl together,
When second stepper motor operates clockwise, if the double wedge of outer middle set to be identified is overlapped with the double wedge of standard picture, the
Two stepping motor stops operating, and the identification and positioning of outer middle set double wedge are completed；
Step5: being taken pictures and identified by nut cap body of the transparency glass plate to special-shaped cover using the second image recognition sensor,
Image to be identified is compared with standard picture, then third stepper motor drives the second pneumatic tri-claw plate component and crawl
Nut cap body together, when third stepper motor operates clockwise, if special-shaped cover nut cap body groove to be identified and standard picture
Groove when being overlapped, then third stepping motor stalls, the identification and positioning of special-shaped cover nut cap body groove is completed.
Specifically identify that position fixing process is in the Step4 and Step5, the first image recognition sensor and the second image recognition
Sensor respectively externally taken pictures and identified by middle set and nut cap body, forms images to be recognized；By comparing images to be recognized with
Then the angle, θ value differed between standard picture drives nut cap body and the third stepping of crawl by second stepper motor respectively
Motor drives the outer middle set of crawl to be rotated clockwise, and makes the angle, θ value differed between images to be recognized and standard picture
Zero, then stepper motor shuts down, and completes the double wedge covered in outside the groove and special-shaped cover of anti-fake tooth-like special-shaped cover nut cap body
Positioning.
The method have the advantages that:
1, by using the mode that image recognition mode of the invention and mechanical rotation control combine for anti-fake tooth-like abnormity
The double wedge of the groove of lid nut cap body and outer middle set is accurately positioned, be easy to implement anti-fake tooth-like special-shaped cover nut cap body and it is outer in
The intelligent assembling device of set.The device has recognition efficiency, registration, structure simple, easy to maintain and highly reliable etc. special
Point.
2, the identification and positioning method of special-shaped cover nut cap body groove: pass through transparent glass using the second image recognition sensor
Plate is taken pictures and is identified to the nut cap body of special-shaped cover, image to be identified is compared with standard picture, if to be identified
When image and standard picture are inconsistent, then when third stepper motor operates clockwise, until special-shaped cover nut cap body to be identified is recessed
Slot is overlapped with the groove of standard picture, third stepping motor stalls, and the identification and positioning of special-shaped cover nut cap body groove are completed.
3, the outer middle double wedge identification and positioning method covered of special-shaped cover: using the first image recognition sensor to the outer of special-shaped cover
Middle set is taken pictures and is identified, image to be identified is compared with standard picture, if image to be identified and standard picture
When inconsistent, second stepper motor will operate clockwise, until the double wedge and standard picture of set middle outside special-shaped cover to be identified
Double wedge is overlapped, and second stepper motor stops operating, and the identification and positioning of the outer middle set double wedge of special-shaped cover are completed.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is overall structure main view of the invention.
The comparison recognition methods of Fig. 2 image to be identified and standard picture.
In figure: 1. it is outer in set conveyer mechanisms, 2. it is outer in sets, 3. first grasping mechanisms, 4. first pneumatic linear actuators, 5. connecting rods,
6. the first stepper motor, 7. first baffling barrels, 8. first image recognition sensors, 9. second pneumatic linear actuators, 10. telescopic rods, 11.
Revolving body, 12. first pneumatic tri-claw plate components, 13. second stepper motors, 14. second baffling barrels, 15. third stepper motors,
16. the second pneumatic tri-claw plate component, 17. second image recognition sensors, 18. transparency glass plates, 19. the 4th stepper motors, 20.
Third pneumatic linear actuator, 21. second grasping mechanisms, 22. nut cap bodies, 23. nut cap body conveyer mechanisms, 24. controller systems.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
Embodiment 1:
The anti-fake tooth-like white wine lid smart group based on image recognition fills device and method referring to FIG. 1-2, it includes for conveying
The outer middle set conveyer mechanism 1 of the outer middle set 2 of special-shaped cover, outside in set conveyer mechanism 1 end be equipped with for grab and
Place the first crawl placement mechanism of set 2 in outer；Nut cap body conveyer mechanism including the nut cap body 22 for conveying special-shaped cover
23, the second crawl placement mechanism for grabbing and placing nut cap body 22 is installed in the end of nut cap body conveyer mechanism 23；
Including the first positioning system identified and positioned for the double wedge of externally middle set 2；Including for the groove to nut cap body 22
The second positioning system identified and positioned；The first crawl placement mechanism, the second crawl placement mechanism, the first positioning system
System and the second positioning system are all connected with general control system 24.It is completed by using the utilization image recognition technology of above structure anti-
The accurate positioning of the nut cap body groove and outer middle set double wedge of pseudo- tooth-like special-shaped cover, is then grabbed by stepper motor and associated mechanical
Etc. mechanisms anti-fake tooth-like special-shaped cover nut cap body groove and outer middle set double wedge are rotated, make it into down together can directly assemble
Process.The device has the characteristics that recognition efficiency, registration, structure are simple, easy to maintain and highly reliable.
Further, the outer middle set 2 is equidistantly arranged on outer middle set conveyer mechanism 1, the protrusion of the outer middle set 2
It is disorderly arranged on a moving belt.Image recognition sensor is needed to be identified and positioned.
Further, the nut cap body 22 is equidistantly arranged on nut cap body conveyer mechanism 23, the nut cap body 22
Groove is disorderly arranged on a moving belt.Image recognition sensor is needed to be identified and positioned.
Further, the first crawl placement mechanism includes the first grasping mechanism 3, and first grasping mechanism 3 is fixed
It is mounted on the first cylinder 4, and completes the crawl of set 2 in externally and release movement, first cylinder 4 pass through connecting rod 5 and the
The shaft of one stepper motor 6 is connected, and is put the outer middle set 2 being located on outer middle set conveyer mechanism 1 by the first grasping mechanism 3
It sets onto the first pneumatic tri-claw plate component 12；The signal wire of first cylinder 4 and the first stepper motor 6 and general control system 24
It is connected.By using the first cylinder of above structure 4 can drive the first grasping mechanism 3 realize outer middle set 2 crawl and unclamp two
A movement, the outer middle set 2 that the first stepper motor 6 is grabbed the first grasping mechanism 3 by axis rotation is by outer middle set conveyer mechanism 1
It is placed on the first pneumatic tri-claw plate component 12.
Further, the second crawl placement mechanism includes the second grasping mechanism 21, and second grasping mechanism 21 is solid
Dingan County is on third pneumatic linear actuator 20, and the crawl and release completed to nut cap body 22 act, and the third pneumatic linear actuator 20 passes through
Connecting rod is connected with the shaft of the 4th stepper motor 19, and will be located on nut cap body conveyer mechanism 23 by the second grasping mechanism 21
Nut cap body 22 be placed on transparency glass plate 18；The signal wire and master control of the third pneumatic linear actuator 20 and the 4th stepper motor 19
System 24 processed is connected.In the course of work, third pneumatic linear actuator 20 can drive third pneumatic linear actuator 20 to complete grabbing for nut cap body 22
Two movements are taken and unclamp, the 4th stepper motor 19 rotates the special-shaped cover nut cap body 22 for grabbing the second grasping mechanism 21 by axis
It is placed on transparency glass plate 18 by 22 conveyer mechanism 23 of nut cap body.
Further, first positioning system includes the first pneumatic tri-claw plate component 12, the first pneumatic tri-claw plate
Component 12 is mounted on the output shaft of second stepper motor 13, and the surface of the first pneumatic tri-claw plate component 12 is provided with
One image recognition sensor 8, the first image identification sensor 8 are fixed on the first baffling barrel 7, first baffling barrel 7
Top revolving body 11 is installed, the revolving body 11 is fixedly mounted on the telescopic rod 10 of the second cylinder 9.Utilize the first figure
As outer middle set 2 of the identification sensor 8 to special-shaped cover is taken pictures and identified, image to be identified and standard picture are carried out pair
Than then second stepper motor 13 drives the first pneumatic tri-claw plate component 12 and the outer middle set 2 of crawl together, when the second stepping electricity
When machine 13 operates clockwise, if the double wedge of outer middle set 2 to be identified is overlapped with the double wedge of standard picture, second stepper motor
13 stop operating, and the identification and positioning of special-shaped cover 2 double wedges of outer middle set are completed.
Further, second positioning system includes for grabbing the second of nut cap body the pneumatic tri-claw plate component 16, institute
It states the second pneumatic tri-claw plate component 16 to be fixedly mounted on the output shaft of third stepper motor 15, the second pneumatic tri-claw plate group
The underface of part 16 is provided with the second image recognition sensor 17 identified for the groove to nut cap body 22, and cooperates the
Three stepper motors 15 realize the positioning of nut cap body 22, and the second baffling barrel 14 is equipped on the output shaft of third stepper motor 15.
The nut cap body 22 of special-shaped cover is taken pictures and identified by transparency glass plate using the second image recognition sensor 17, it will be wait know
Other image is compared with standard picture, and then third stepper motor 15 drives the second pneumatic tri-claw plate component 16 and crawl
Nut cap body 22 together, when third stepper motor 15 operates clockwise, if 22 groove of nut cap body to be identified and standard picture
When groove is overlapped, then third stepper motor 15 stops operating, and the identification and positioning of 22 groove of nut cap body are completed.
Embodiment 2:
The anti-fake tooth-like standby method that wine lid is assembled of white wine lid smart group installing described in any one based on image recognition,
It the following steps are included:
Step1: outer middle set 2 is placed into outer middle set conveyer mechanism 1 by feeding, and realizes the conveying of set 2 in outer；Simultaneously will
Nut cap body 22 is placed on nut cap body conveyer mechanism 23 by feeding, and realizes the conveying of nut cap body 22；
Step2: the first grasping mechanism 3 is driven to grab outer middle set 2 by the first pneumatic linear actuator 4, and will be outer by the first stepper motor 6
Middle set 2 is placed on the first pneumatic tri-claw plate component 12 of the first positioning system；
Step3: the second grasping mechanism is driven to grab nut cap body 22 by third pneumatic linear actuator, and will lid by the 4th stepper motor 19
Cap body 22 is placed on the transparency glass plate of the second positioning system；
Step4: it is taken pictures and is identified using outer middle set 2 of first image recognition sensor 8 to special-shaped cover, by figure to be identified
As comparing with standard picture, then second stepper motor 13 drives the outer middle set of the first pneumatic tri-claw plate component 12 and crawl
2 together, when second stepper motor 13 operates clockwise, if the double wedge weight of the double wedge of outer middle set 2 to be identified and standard picture
When conjunction, then second stepper motor 13 stops operating, and the identification and positioning of outer middle 2 double wedge of set are completed；
Step5: using the second image recognition sensor 17 by transparency glass plate to the nut cap body 22 of special-shaped cover take pictures with
Identification, image to be identified is compared with standard picture, and then third stepper motor 15 drives the second pneumatic tri-claw plate group
Part 16 and crawl nut cap body 22 together, when third stepper motor 15 clockwise operate when, if special-shaped cover nut cap body to be identified
When 22 grooves are overlapped with the groove of standard picture, then third stepper motor 15 stops operating, the knowledge of 22 groove of special-shaped cover nut cap body
It is not completed with positioning.
Further, specifically identify that position fixing process is in the Step4 and Step5, the first image recognition sensor 8 and
Two image recognition sensors 17 respectively externally taken pictures and identified by middle set 2 and nut cap body 22, forms images to be recognized；Pass through ratio
Compared with the angle, θ value differed between images to be recognized and standard picture, crawl is then driven by second stepper motor 13 respectively
Nut cap body 22 and third stepper motor 15 drive the outer middle set 2 of crawl to be rotated clockwise, and make images to be recognized and standard drawing
The angle, θ value differed as between is zero, then stepper motor shuts down, and completes the groove of anti-fake tooth-like special-shaped cover nut cap body 22
With the positioning of the double wedge of set 2 middle outside special-shaped cover.
Above-described embodiment is used to illustrate the present invention, rather than limits the invention, in spirit of the invention and
In scope of protection of the claims, to any modifications and changes that the present invention makes, protection scope of the present invention is both fallen within.
Claims (9)
1. the anti-fake tooth-like white wine lid smart group installing based on image recognition is standby, it is characterised in that: it includes for conveying abnormity
The outer middle set conveyer mechanism (1) of the outer middle set (2) of lid, the end of middle set conveyer mechanism (1) is equipped with for grabbing outside
With the first crawl placement mechanism for placing set (2) in outer；
Nut cap body conveyer mechanism (23) including the nut cap body (22) for conveying special-shaped cover, in nut cap body conveyer mechanism
(23) end is equipped with the second crawl placement mechanism for grabbing and placing nut cap body (22)；
Including the first positioning system identified and positioned for the double wedge of externally middle set (2)；
Including the second positioning system for being identified and positioned to the groove of nut cap body (22)；
The first crawl placement mechanism, the second crawl placement mechanism, the first positioning system and the second positioning system all with master control
System (24) processed is connected.
2. the anti-fake tooth-like white wine lid smart group installing according to claim 1 based on image recognition is standby, it is characterised in that:
The outer middle set (2) is equidistantly arranged on outer middle set conveyer mechanism (1), the outer middle set (2) protrusion it is disorderly arranged
On conveyer belt.
3. the anti-fake tooth-like white wine lid smart group installing according to claim 1 based on image recognition is standby, it is characterised in that:
The nut cap body (22) is equidistantly arranged on nut cap body conveyer mechanism (23), and the groove of the nut cap body (22) is disorderly arranged
On a moving belt.
4. the anti-fake tooth-like white wine lid smart group installing according to claim 1 based on image recognition is standby, it is characterised in that:
The first crawl placement mechanism includes the first grasping mechanism (3), and first grasping mechanism (3) is fixedly mounted on the first cylinder
(4) on, and the crawl and release of completing set (2) in externally act, and first cylinder (4) passes through connecting rod (5) and the first stepping
The shaft of motor (6) is connected, and will be located at the outer middle set (2) on outer middle set conveyer mechanism (1) by the first grasping mechanism (3)
It is placed on the first pneumatic tri-claw plate component (12)；The signal wire and master control of first cylinder (4) and the first stepper motor (6)
System (24) processed is connected.
5. the anti-fake tooth-like white wine lid smart group installing according to claim 1 based on image recognition is standby, it is characterised in that:
The second crawl placement mechanism includes the second grasping mechanism (21), and second grasping mechanism (21) is fixedly mounted on third gas
On dynamic cylinder (20), and the crawl and release completed to nut cap body (22) act, and the third pneumatic linear actuator (20) passes through connecting rod and the
The shaft of four stepper motors (19) is connected, and will be located on nut cap body conveyer mechanism (23) by the second grasping mechanism (21)
Nut cap body (22) is placed on transparency glass plate (18)；The signal wire of the third pneumatic linear actuator (20) and the 4th stepper motor (19)
It is connected with general control system (24).
6. the anti-fake tooth-like white wine lid smart group installing according to claim 1 based on image recognition is standby, it is characterised in that:
First positioning system includes the first pneumatic tri-claw plate component (12), and the first pneumatic tri-claw plate component (12) is mounted on the
On the output shaft of two stepping motor (13), the first image recognition is provided with right above the first pneumatic tri-claw plate component (12)
Sensor (8), the first image identification sensor (8) are fixed on the first baffling barrel (7), first baffling barrel (7)
Top is equipped with revolving body (11), and the revolving body (11) is fixedly mounted on the telescopic rod (10) of the second cylinder (9).
7. the anti-fake tooth-like white wine lid smart group installing according to claim 1 based on image recognition is standby, it is characterised in that:
Second positioning system includes for grabbing the second of nut cap body the pneumatic tri-claw plate component (16), the second pneumatic tri-claw plate
Component (16) is fixedly mounted on the output shaft of third stepper motor (15), the second pneumatic tri-claw plate component (16) just under
Side is provided with the second image recognition sensor (17) identified for the groove to nut cap body (22), and cooperates third stepping
Motor (15) realizes the positioning of nut cap body (22), and the second baffling barrel is equipped on the output shaft of third stepper motor (15)
(14).
8. standby to wine using the anti-fake tooth-like white wine lid smart group installing described in claim 1-7 any one based on image recognition
Cover the method that is assembled, which is characterized in that it the following steps are included:
Step1: outer middle set (2) is placed into outer middle set conveyer mechanism (1) by feeding, and realizes the conveying of set (2) in outer；
Nut cap body (22) is placed on nut cap body conveyer mechanism (23) by feeding simultaneously, and realizes the conveying of nut cap body (22)；
Step2: by the outer middle set (2) of the first pneumatic linear actuator (4) driving the first grasping mechanism (3) crawl, and pass through the first stepping electricity
Outer middle set (2) is placed on the first pneumatic tri-claw plate component (12) of the first positioning system by machine (6)；
Step3: the second grasping mechanism crawl nut cap body (22) is driven by third pneumatic linear actuator, and passes through the 4th stepper motor (19)
Nut cap body (22) is placed on the transparency glass plate of the second positioning system；
Step4: being taken pictures and identified using outer middle set (2) of the first image recognition sensor (8) to special-shaped cover, will be to be identified
Image compared with standard picture, then second stepper motor (13) drive the first pneumatic tri-claw plate component (12) and crawl
Outer middle set (2) together, when second stepper motor (13) clockwise operate when, if the double wedge and mark of outer middle set (2) to be identified
When the double wedge of quasi- image is overlapped, then second stepper motor (13) stops operating, and the identification and positioning of outer middle set (2) double wedge are completed；
Step5: the nut cap body (22) of special-shaped cover is clapped by transparency glass plate using the second image recognition sensor (17)
According to identification, image to be identified is compared with standard picture, then third stepper motor (15) drive second pneumatic three
Pawl disk component (16) and crawl nut cap body (22) together, when third stepper motor (15) clockwise operate when, if to be identified
When special-shaped cover nut cap body (22) groove is overlapped with the groove of standard picture, then third stepper motor (15) stops operating, special-shaped cover
The identification and positioning of nut cap body (22) groove are completed.
9. the anti-fake tooth-like white wine lid smart group based on image recognition installs standby method, feature according to claim 8
It is, specifically identifies that position fixing process is in the Step4 and Step5, the first image recognition sensor (8) and the second image recognition
Sensor (17) respectively externally taken pictures and identified by middle set (2) and nut cap body (22), forms images to be recognized；By comparing to
Then the angle, θ value differed between identification image and standard picture drives the lid of crawl by second stepper motor (13) respectively
Cap body (22) and third stepper motor (15) drive the outer middle set (2) of crawl to be rotated clockwise, and make images to be recognized and mark
The angle, θ value differed between quasi- image is zero, then stepper motor shuts down, and completes anti-fake tooth-like special-shaped cover nut cap body (22)
Groove and special-shaped cover it is outer in set (2) double wedge positioning.
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Cited By (1)
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| CN110979777A (en) * | 2019-11-04 | 2020-04-10 | 三峡大学 | Anti-counterfeiting single-tooth-groove type plastic wine cap alignment device and method |
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