CN111069073A - Rubber ring sorting equipment - Google Patents
Rubber ring sorting equipment Download PDFInfo
- Publication number
- CN111069073A CN111069073A CN201911407072.7A CN201911407072A CN111069073A CN 111069073 A CN111069073 A CN 111069073A CN 201911407072 A CN201911407072 A CN 201911407072A CN 111069073 A CN111069073 A CN 111069073A
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- Prior art keywords
- rubber ring
- sorting
- driving mechanism
- sliding table
- axis sliding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The invention discloses rubber ring sorting equipment which comprises a control system, a conveying line for conveying rubber rings, a light source, a visual device for acquiring rubber ring images and a sorting execution device for picking up the rubber rings on the conveying line, wherein the control system calculates to obtain coordinate information of grabbing points on the rubber rings according to the rubber ring images acquired by the visual device and controls the sorting execution device to pick up the rubber rings at the selected grabbing points. The rubber ring sorting equipment can accurately acquire the coordinates of the grabbing points at the edge of the rubber ring, realize the sorting of the rubber ring, reduce the feeding requirement and improve the sorting efficiency.
Description
Technical Field
The invention belongs to the technical field of rubber ring processing equipment, and particularly relates to rubber ring sorting equipment.
Background
The industrial sorting is an important link in industrial production and manufacturing, and in the traditional sorting mode, manual sorting is greatly influenced by site environment and subjective factors, and long-time work can lead to visual fatigue of workers, so that the sorting efficiency of workpieces is reduced. The method comprises the steps of adopting a machine vision method, carrying out filtering, binaryzation, image segmentation and other processing on the image of a workpiece under an industrial camera by using an image processing algorithm, then solving the centroid position of a workpiece object by using an edge detection and contour tracking algorithm, and after receiving the workpiece position, putting the workpiece into a packaging device with a position taught in advance by a manipulator, thus realizing the sorting of the workpiece.
In a rubber ring detection, positioning and sorting system based on machine vision, a contrast analysis method is a more common positioning algorithm, but the positioning algorithm can only aim at rubber rings which are scattered, not overlapped and not in a deformation state, such as elliptical or pure O-shaped rings, distributed on a conveyor belt, an image processing algorithm, elliptical fitting or circular fitting is utilized, then a certain edge coordinate point is given according to the radius, once the rubber rings with larger outer diameters are met, the shapes of the rubber rings are distorted or the rubber rings are overlapped, the vision system cannot accurately give out rubber ring edge grabbing point coordinates, larger errors can be generated, even wrong grabbing coordinate points are given, and the sorting of the rubber rings cannot be realized.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides rubber ring sorting equipment, and aims to ensure that the coordinates of the grabbing points at the edge of the rubber ring can be accurately obtained, so that the sorting of the rubber ring is realized.
In order to achieve the purpose, the invention adopts the technical scheme that: the rubber ring sorting equipment comprises a control system, a conveying line for conveying rubber rings, a light source, a vision device for acquiring rubber ring images and a sorting execution device for picking up the rubber rings on the conveying line, wherein the control system calculates to obtain coordinate information of grabbing points on the rubber rings according to the rubber ring images acquired by the vision device and controls the sorting execution device to pick up the rubber rings at the selected grabbing points.
The control system processes the rubber ring image after acquiring the rubber ring image, acquires the rubber ring outline, then calculates the coordinate of the center point of the rubber ring outline, then traverses all pixel points on the rubber ring outline, finds out all pixel points which are the same as the X coordinate value or the Y coordinate value of the outline center point, forms a target pixel point set, and finally selects any point in the target pixel point set as the grabbing point of the rubber ring.
The vision device comprises an industrial camera and a lens connected to the industrial camera, and is located above the conveying line.
The light source is an annular light source and the vision device is located in a central bore of the light source.
The sorting executing device comprises a pickup actuator for picking up the rubber ring and a motion control module for controlling the pickup actuator to move along the X direction, the Y direction and the Z direction.
The motion control module comprises a first driving mechanism, a Y-axis sliding table, a second driving mechanism, an X-axis sliding table and a third driving mechanism, wherein the Y-axis sliding table is arranged on the first driving mechanism and linearly moves along the Y direction, the second driving mechanism is connected with the Y-axis sliding table, the X-axis sliding table is arranged on the second driving mechanism and linearly moves along the X direction, the third driving mechanism is connected with the X-axis sliding table and is used for controlling the pickup actuator to move along the vertical direction.
The third driving mechanism is an air cylinder, and the picking actuator is a pneumatic clamp.
The rubber ring sorting equipment can accurately acquire the coordinates of the grabbing points at the edge of the rubber ring, realize the sorting of the rubber ring, reduce the feeding requirement and improve the sorting efficiency.
Drawings
The description includes the following figures, the contents shown are respectively:
FIG. 1 is a schematic structural view of the rubber ring sorting equipment of the present invention;
fig. 2 is a schematic structural view of a sorting execution device;
FIG. 3 is a diagram of a rubber ring sorting process;
labeled as: 1. a first bracket; 2. a second bracket; 3. a conveying line; 4. a vision device; 5. a light source; 6. a first support base; 7. a Y-axis sliding table; 8. a second support seat; 9. an X-axis sliding table; 10. a third drive mechanism; 11. a pickup actuator; 12. a first motor; 13. a second motor.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
It should be noted that, in the following embodiments, the terms "first", "second" and "third" do not denote absolute differences in structure and/or function, nor do they denote a sequential order of execution, but rather are used for convenience of description.
As shown in fig. 1 to 3, the present invention provides a rubber ring sorting apparatus, which includes a control system, a conveying line 3 for conveying rubber rings, a light source 5, a vision device 4 for acquiring images of rubber rings, and a sorting execution device for picking up rubber rings on the conveying line 3, wherein the control system calculates coordinate information of gripping points on rubber rings according to the images of rubber rings acquired by the vision device 4, and controls the sorting execution device to pick up rubber rings at selected gripping points.
Specifically, as shown in fig. 1, the conveying line 3 is arranged horizontally, the conveying direction of the conveying line 3 is horizontal, the conveying line 3 is used for conveying the rubber ring to be sorted to the sorting station, and the vision device 4 and the light source 5 are located above the conveying line 3. The vision device 4 comprises an industrial camera and a lens connected to the industrial camera, and the image is focused on the target surface of the industrial camera through the industrial lens, so that the collection of the rubber ring image is completed. The fixed setting of industry camera is on first support 1, and vertical setting of first support 1 is in one side of transfer chain 3.
As shown in fig. 1, a light source 5 is fixedly arranged on the first holder 1, the light source 5 is used for lighting, the light source 5 is preferably a ring-shaped light source, and the vision device 4 is located in a central hole of the light source 5.
The control system is electrically connected with the vision device 4, the light source 5 and the sorting executing device, and the vision device 4, the light source 5 and the sorting executing device are controlled by the control system. After the rubber ring is conveyed to the position below the vision device 4 by the conveying line 3, the vision device 4 collects rubber ring images and transmits signals to the control system, the control system processes the rubber ring images after obtaining the rubber ring images to obtain a rubber ring outline, then calculates coordinates of a center point of the rubber ring outline, then traverses all pixel points on the rubber ring outline, finds out all pixel points which are the same as an X coordinate value or a Y coordinate value of the outline center point to form a target pixel point set, and finally selects any point in the target pixel point set as a grabbing point of the rubber ring. When selecting the grabbing point, two pixel points meeting the condition are usually arranged in the same direction, so that all the pixel points meeting the grabbing condition form a target pixel point set, and one of the pixel points is selected as the grabbing point of the rubber ring according to the field requirement. The control system sends the coordinates of the grabbing points of the rubber rings to the sorting executing device, and the sorting executing device is controlled to pick up the rubber rings at the selected grabbing points, so that the sorting of the rubber rings is realized.
By adopting the positioning algorithm, the problem of overlapping positioning of a plurality of rubber rings is solved, and meanwhile, the problem of positioning of the deformed rubber ring with larger outer diameter can be solved. Firstly, acquiring a rubber ring image by using image acquisition equipment, then acquiring a rubber ring outline by using an image processing algorithm, calculating an outline center coordinate, traversing a pixel point set on the outline, finding out a point in the point set which has the same numerical value with the outline center coordinate point in the X direction or the Y direction, and selecting the point as a rubber ring grabbing point. After the rubber ring is positioned, the system can uniformly give the grabbing coordinate of the edge of the rubber ring along a certain direction (X direction or Y direction), the coordinate only contains information in the X direction and the Y direction, the system can send all the rubber ring position information in the grabbed image to the sorting execution device, the sorting execution device sequentially grabs the piece according to the obtained piece grabbing coordinate, and after the sorting is completed, a completion signal is sent to the control system. While the system waits for the next photo signal.
As shown in fig. 1 and 2, the sorting executing device includes a pickup actuator 11 for picking up the rubber ring and a motion control module for controlling the pickup actuator 11 to move along an X direction, a Y direction and a Z direction, where the X direction and the Y direction are both horizontal directions and are perpendicular to the X direction and the Y direction, the Z direction is vertical and is perpendicular to the X direction and the Y direction, and the Y direction is parallel to the conveying direction of the conveying line 3. Preferably, the motion control module includes a first driving mechanism, a Y-axis sliding table 7 disposed on the first driving mechanism and moving linearly along the Y direction, a second driving mechanism connected to the Y-axis sliding table 7, an X-axis sliding table 9 disposed on the second driving mechanism and moving linearly along the X direction, and a third driving mechanism 10 connected to the X-axis sliding table 9 and controlling the pickup actuator 11 to move vertically. First actuating mechanism sets up on second support 2, second support 2 is vertical setting in one side of transfer chain 3, transfer chain 3 is located between first support 1 and the second support 2, first actuating mechanism is including fixed first supporting seat 6 that sets up on second support 2, rotatable first lead screw that sets up on first supporting seat 6 and set up on first supporting seat 6 and with first lead screw connection's first motor 12, Y axle slip table 7 cover is located on the first lead screw and constitutes screw drive with first lead screw, first motor 12 produces the rotatory power of messenger's first lead screw, Y axle slip table 7 and be sliding connection with first supporting seat 6, after first motor 12 operates, first lead screw is rotatory, and then drive Y axle slip table 7 is linear motion along the Y direction, first motor 12 is servo motor or step motor. The second driving mechanism comprises a second supporting seat 8 fixedly connected with the Y-axis sliding table 7, a second screw rod rotatably arranged on the second supporting seat 8 and a second motor 13 arranged on the second supporting seat 8 and connected with the second screw rod, the X-axis sliding table 9 is sleeved on the second screw rod and forms screw transmission with the second screw rod, the second motor 13 generates power for rotating the second screw rod, the X-axis sliding table 9 is in sliding connection with the second supporting seat 8, and the second supporting seat 8 is transversely arranged above the first supporting seat 6. When the second motor 13 is operated, the second screw rod rotates to drive the X-axis sliding table 9 to move linearly along the X-direction, and the second motor 13 is a servo motor or a stepping motor.
As shown in fig. 1 and 2, the third driving mechanism 10 is an air cylinder, the third driving mechanism 10 is vertically arranged, the third driving mechanism 10 is fixedly connected with the X-axis sliding table 9, and the pickup actuator 11 is fixedly connected with a piston rod of the air cylinder. The pick-up actuator 11 is a pneumatic gripper, preferably a pneumatic gripper, and the pick-up actuator 11 is arranged vertically. The pick-up actuator 11 is located above the conveying line 3, and when the third driving mechanism 10 extends and contracts, the pick-up actuator 11 can be controlled to move in the vertical direction.
The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (7)
1. Rubber ring letter sorting equipment, including control system, be used for carrying the transfer chain of rubber ring, light source, be used for gathering the vision device of rubber ring image and be used for picking up the letter sorting final controlling element of the rubber ring on the transfer chain, its characterized in that: and the control system calculates coordinate information of a grabbing point on the rubber ring according to the rubber ring image acquired by the vision device and controls the sorting execution device to pick up the rubber ring at the selected grabbing point.
2. The rubber ring sorting apparatus according to claim 1, wherein: the control system processes the rubber ring image after acquiring the rubber ring image, acquires the rubber ring outline, then calculates the coordinate of the center point of the rubber ring outline, then traverses all pixel points on the rubber ring outline, finds out all pixel points which are the same as the X coordinate value or the Y coordinate value of the outline center point, forms a target pixel point set, and finally selects any point in the target pixel point set as the grabbing point of the rubber ring.
3. The rubber ring sorting apparatus according to claim 1 or 2, wherein: the vision device comprises an industrial camera and a lens connected to the industrial camera, and is located above the conveying line.
4. The rubber ring sorting apparatus according to any one of claims 1 to 3, wherein: the light source is an annular light source and the vision device is located in a central bore of the light source.
5. The rubber ring sorting apparatus according to any one of claims 1 to 4, wherein: the sorting executing device comprises a pickup actuator for picking up the rubber ring and a motion control module for controlling the pickup actuator to move along the X direction, the Y direction and the Z direction.
6. The rubber ring sorting apparatus according to claim 5, wherein: the motion control module comprises a first driving mechanism, a Y-axis sliding table, a second driving mechanism, an X-axis sliding table and a third driving mechanism, wherein the Y-axis sliding table is arranged on the first driving mechanism and linearly moves along the Y direction, the second driving mechanism is connected with the Y-axis sliding table, the X-axis sliding table is arranged on the second driving mechanism and linearly moves along the X direction, the third driving mechanism is connected with the X-axis sliding table and is used for controlling the pickup actuator to move along the vertical direction.
7. The rubber ring sorting apparatus according to claim 6, wherein: the third driving mechanism is an air cylinder, and the picking actuator is a pneumatic clamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911407072.7A CN111069073A (en) | 2019-12-31 | 2019-12-31 | Rubber ring sorting equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911407072.7A CN111069073A (en) | 2019-12-31 | 2019-12-31 | Rubber ring sorting equipment |
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| CN111069073A true CN111069073A (en) | 2020-04-28 |
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| CN201911407072.7A Pending CN111069073A (en) | 2019-12-31 | 2019-12-31 | Rubber ring sorting equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111890362A (en) * | 2020-07-13 | 2020-11-06 | 四川国软科技发展有限责任公司 | Temporary storage system for bolt sorting |
| CN113245219A (en) * | 2021-05-24 | 2021-08-13 | 深圳市富优驰科技有限公司 | MIM vision guide robot |
| CN114367470A (en) * | 2022-03-22 | 2022-04-19 | 南京南戈特机电科技有限公司 | Automatic sorting control method and system based on coordinate robot |
| CN114535114A (en) * | 2022-01-19 | 2022-05-27 | 湖南视比特机器人有限公司 | Workpiece follow-up sorting system on conveying line |
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Application publication date: 20200428 |