CN112573138A - Automatic deviation rectifying and adjusting system and method for conveying device - Google Patents
Automatic deviation rectifying and adjusting system and method for conveying device Download PDFInfo
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- CN112573138A CN112573138A CN202011595692.0A CN202011595692A CN112573138A CN 112573138 A CN112573138 A CN 112573138A CN 202011595692 A CN202011595692 A CN 202011595692A CN 112573138 A CN112573138 A CN 112573138A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/60—Arrangements for supporting or guiding belts, e.g. by fluid jets
- B65G15/64—Arrangements for supporting or guiding belts, e.g. by fluid jets for automatically maintaining the position of the belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Abstract
The invention discloses an automatic deviation rectifying and adjusting system of a conveying device, wherein the conveying device comprises a conveying belt, a driving roller and a driven roller; the automatic correction device comprises calibration objects respectively arranged at the belt surface of a conveying belt, a correction device for driving the first end of a driven roller to move along the x-axis direction and an acquisition device for detecting detection information of the calibration objects, wherein the acquisition device is erected above the conveying belt, and the correction device is arranged outside the conveying belt; the industrial personal computer is used for processing detection information transmitted by the acquisition device to acquire a real-time mass center coordinate of a calibration object, subtracting Y-axis coordinate data Y1 and Y0 in the real-time mass center coordinate, comparing a difference value with a preset detection threshold range, judging a deviation result of the conveying belt, and controlling the first end of the driven roller to move according to the deviation result. Like this, need not the manual work and carry out periodic detection and alignment, can adjust automatically when the conveyer belt takes place to squint, reduced artifical intensity, improved production efficiency.
Description
Technical Field
The invention relates to the technical field of conveying belts, in particular to an automatic deviation rectifying and adjusting system of a conveying device and a deviation rectifying and adjusting method thereof.
Background
At present, a belt conveyor is widely applied to the industries of electronic plastics, light food industry, chemical engineering, medicine and the like, a conveying belt is used as a key part of the belt conveyor, and the belt conveyor is safe and stable and is directly hooked with production safety and efficiency. However, under the condition of high-speed and long-time operation, the conveyor belt is prone to deviation due to factors such as low machining precision, low installation precision or poor daily maintenance. Once the offset of the conveyor belt is too large, the edge of the conveyor belt is easily worn and broken to reduce the service life of the conveyor belt, and furthermore, the conveyor belt is instantly torn into a strip shape to be discarded.
On the basis, the deviation detection and the alignment of the conveying belt are regularly carried out by some people, but the manual detection strength is high, the emergency can not be detected in time, and the production stop alignment is needed for the conveying belt which is deviated, so that the production efficiency is greatly reduced.
Disclosure of Invention
The invention aims to provide an automatic deviation rectifying and adjusting system and a deviation rectifying and adjusting method of a conveying device, which automatically detect the deviation of a conveying belt and immediately adjust the conveying belt when the conveying belt deviates.
In order to achieve the above purpose, the solution of the invention is as follows:
an automatic deviation rectifying and adjusting system of a conveying device comprises a conveying belt, a driving roller and a driven roller, wherein the driving roller and the driven roller are used for enabling the conveying belt to move; the automatic correction device comprises a plurality of calibration objects, a correction device and an acquisition device, wherein the calibration objects are respectively arranged on the belt surface of the conveying belt, the correction device is used for driving the first end of the driven roller to move along the x-axis direction, and the acquisition device is used for detecting the detection information of the calibration objects; the collecting device is erected above the conveying belt, the calibration objects are sequentially arranged along the x-axis direction, and the deviation correcting device is arranged outside the conveying belt;
the industrial personal computer is used for processing detection information transmitted by the acquisition device to obtain a real-time centroid coordinate of the calibration object, performing subtraction calculation on Y-axis coordinate data Y1 in the real-time centroid coordinate and Y-axis coordinate data Y0 in a set initial centroid coordinate, comparing a difference value between the Y-axis coordinate data Y1 and the Y-axis coordinate data Y0 with a preset detection threshold range to judge a deviation result of the conveying belt, and controlling the first end of the driven roller to move according to the deviation result.
The calibration objects are respectively arranged at intervals at the center line of the belt surface of the conveying belt.
The acquisition device is an image acquisition device, and a camera of the image acquisition device is over against the center line of the conveying belt; and the acquisition end of the image acquisition device is electrically connected with the signal input end of the industrial personal computer.
Two light sources which are arranged back to back are installed above the conveying belt, the two light sources are respectively located on two sides of the image acquisition device, the two light sources are sequentially arranged along the x-axis direction, and the two light sources are respectively projected to the center line of the conveying belt and form a light band together.
The deviation correcting device comprises a deviation correcting motor arranged on a frame body of the conveying device, a deviation correcting screw rod in transmission connection with an output shaft of the deviation correcting motor and a deviation correcting sliding sleeve arranged on the frame body in a sliding mode along the X-axis direction; the deviation-correcting screw rod is erected on the frame body in a rotatable mode, the deviation-correcting sliding sleeve is sleeved outside the deviation-correcting screw rod, and the first end of the driven roller is installed on the deviation-correcting sliding sleeve; and the control end of the deviation rectifying motor is electrically connected with the signal output end of the industrial personal computer.
Each calibration object is a wear-resistant calibration object, and the surface of each calibration object is coated with a reflective layer respectively.
A deviation rectifying and adjusting method of a conveying device is characterized in that a conveying belt of the conveying device is provided with a plurality of calibration objects, the calibration objects are sequentially arranged along the length direction, the length direction of the conveying belt is taken as the x-axis direction, and the direction which is horizontally vertical to the x-axis is taken as the y-axis direction; which comprises the following steps:
step A1: setting data: when the conveyer belt does not deviate, acquiring an initial centroid coordinate of the calibration object, and setting a detection threshold range;
step A2: obtaining a real-time centroid: acquiring a real-time centroid coordinate of the calibration object in the running process of the conveyor belt;
step A3: calculating a difference value: subtracting the Y-axis coordinate data Y1 in the real-time centroid coordinate from the Y-axis coordinate data Y0 in the initial centroid coordinate to obtain a difference b of subtracting the Y-axis coordinate data Y0 from the Y-axis coordinate data Y1;
step A4: and (3) comparison and judgment: comparing the difference b with the detection threshold range; when the difference value b is within the detection threshold range, judging that the conveying belt is in a normal working state; and when the difference value b exceeds the detection threshold range, judging that the conveyer belt deviates, and controlling the conveyer belt to return to the non-deviating state.
Detecting the passing calibration object by adopting an acquisition device, wherein the acquisition device is an image acquisition device;
processing detection information detected by the image acquisition device by adopting an industrial personal computer to acquire the initial centroid coordinate and the real-time centroid coordinate, and setting the detection threshold range in the industrial personal computer; and the comparison judgment between the calculated difference value in the step A3 and the step A4 is completed by adopting the industrial personal computer.
The conveyer belt moves through the mutual matching of the driving roller and the driven roller, and a deviation correcting device is arranged outside the conveyer belt; the deviation correcting device comprises a deviation correcting motor, a deviation correcting screw rod in transmission connection with an output shaft of the deviation correcting motor and a deviation correcting sliding sleeve capable of sliding along the x-axis direction, the deviation correcting screw rod is rotatably installed outside the conveying belt, the deviation correcting sliding sleeve is in spiral fit with the deviation correcting screw rod, and a first end of the driven roller is installed on the deviation correcting sliding sleeve; and the signal output end of the industrial personal computer is electrically connected with the signal input end of the deviation rectifying motor.
In the step A3, when the difference b exceeds the detection threshold range and the difference b is a negative value, the industrial personal computer judges that the conveyer belt deviates to the negative direction of the y axis, and then the industrial personal computer controls the driven roller to move along the positive direction of the x axis; when the difference b is a positive value, the industrial personal computer judges that the conveying belt deviates along the positive direction of the y axis, and then the industrial personal computer controls the driven roller to move along the negative direction of the x axis.
The invention relates to an automatic deviation rectifying and adjusting system and a deviation rectifying and adjusting method of a conveying device, which have the following beneficial effects:
1. arranging a plurality of calibration objects on a conveying belt, detecting position information of the calibration objects on the conveying belt in real time through a collecting device, and transmitting the position information to an industrial personal computer, wherein when the y-axis direction offset of one calibration object exceeds a preset detection threshold range, the industrial personal computer judges the offset of the conveying belt, and outputs a signal to a deviation correcting device so that the first end of a driven roller moves in the opposite direction of the offset to return the conveying belt, and the y-axis coordinate of each calibration object falls into the set detection threshold range; like this, need not the manual work and detect regularly and adjust to, can adjust automatically when the conveyer belt takes place to squint, reduced artifical intensity, improved production efficiency.
2. The setting of two light sources is formed with the light area on the conveyer belt, and each calibration thing passes through light area department in proper order at conveyer belt operation in-process, and the calibration thing that is shone by the light area is shot to the collection camera to there is obvious difference with other positions of conveyer belt, the collection camera is changeed the discernment.
3. The arrangement of the reflective layer on each calibration object enables the calibration objects to be obviously different from the belt surface of the conveying belt, and the calibration objects are easier to identify by the collecting camera and acquire the coordinates of the corresponding calibration objects.
Drawings
FIG. 1 is a schematic structural diagram of an automatic deviation rectification adjustment system according to the present invention;
FIG. 2 is a schematic view showing the arrangement of the light source and the image capturing device according to the present invention;
FIG. 3 is a schematic structural diagram of the deviation correcting device of the present invention;
FIG. 4 is a schematic diagram of a right-offset conveyor belt according to the present invention;
FIG. 5 is a schematic left-hand side view of the conveyor belt of the present invention;
FIG. 6 is a block diagram of a process of adjusting deviation correction according to the present invention.
In the figure:
10-a frame; 101-a scaffold;
11-a conveyor belt; 12-a drive roller;
13-a driven roller; 14-carrying rollers;
15-driving the motor; 16-a drive sprocket;
17-a driven sprocket; 18-a chain;
20-calibration object; 30-a deviation correcting device;
40-a capture camera; 51-a light source;
52-a control box; 61-a deviation-rectifying motor;
62-deviation correcting screw rod; 63-deviation rectifying sliding sleeve.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
An automatic deviation rectifying and adjusting system for a conveyor, as shown in fig. 1-6, is suitable for use in a conventional conveyor.
As shown in fig. 1, the conventional conveying device includes a frame 10, a conveyor belt 11, a driving roller 12, a driven roller 13 and a plurality of carrier rollers 14; each bearing roller 14 arranges along the length direction of frame 10 in proper order, and drive roller 12 and driven roller 13 are installed on frame 10 with can rotating mode respectively, and drive roller 12 and driven roller 13 locate the both ends department of frame 10 respectively, and each bearing roller 14 is located between drive roller 12 and the driven roller 13, and conveyer belt 11 is around locating between drive roller 12 and the driven roller 13, and conveyer belt 11 moves under the cooperation of drive roller 12 and driven roller 13 like this, and each bearing roller 14 plays the effect of supporting conveyer belt 11 jointly. The automatic feeding device comprises a rack 10, a driving motor 15, a driven roller 13, a chain wheel structure, a chain, a driving chain wheel 16, a driven chain wheel 17 and a chain 18, wherein the driving motor 15 is installed at one side of the rack 10, the driving roller 12 is driven by the driving motor 15 to rotate through the chain wheel structure, so that the driven roller 13 rotates, the chain wheel structure comprises the driving chain wheel 16, the driven chain wheel 17 and the chain 18 wound between the driving chain wheel 16 and the driven chain wheel 17, the driving chain wheel 16 is sleeved outside an output shaft of; when the driving motor 15 is operated, the driving motor 15 drives the driving sprocket 16 to rotate so as to rotate the driven sprocket 17, thereby rotating the driving roller 12, which in turn drives the driven roller 13 to rotate, and further the conveying belt 11 is conveyed.
For convenience of description, the length direction of the conveyor belt 11 is taken as the x-axis direction, the width direction of the conveyor belt 11 is taken as the y-axis direction, and the conveying direction of the conveyor belt 11 is taken from the front to the rear direction, and the two sides of the frame 10 are the left side and the right side, i.e., a person stands at the rear end of the conveyor belt 11, and the right-hand side facing the conveyor belt 11 is the right side, and the left-hand side is the left side.
Example one
As shown in fig. 1-5, the automatic deviation rectifying and adjusting system includes a plurality of calibration objects 20, a deviation rectifying device 30 and an image collecting device, wherein the image collecting device is used for collecting images of the calibration objects 20 passing through in sequence; the deviation correcting device 30 is used for driving the first end of the driven roller 13 to move along the x-axis direction. The calibration objects 20 are respectively arranged on the belt surface of the conveyer belt 11 at intervals, the image acquisition device is erected above the conveyer belt 11 and is positioned at the rear end of the conveyer belt 11, the deviation correction device is arranged on one side of the frame 10, namely outside the conveyer belt 11 and is positioned at the rear end of the conveyer belt 11.
Specifically, each calibration object 20 is disposed at a center line of a belt surface of the conveyor belt 11, and each calibration object 20 is sequentially and uniformly spaced along a length direction of the conveyor belt 11, in this embodiment, each calibration object 20 is in a square strip shape, that is, each calibration object 20 is disposed on the belt surface of the conveyor belt 11 in a manner that its length direction is disposed along the center line of the conveyor belt 11. Preferably, each of the markers 20 is a wear-resistant marker to prevent objects on the conveyor belt 11 from wearing the markers 20 during operation of the conveyor belt and affecting the belt offset detection.
The frame 10 is provided with a support 101, the support 101 is arranged at the rear end of the conveying device, the end is close to the driven roller 13, the support 101 is in a gantry type, and the support 101 is not limited to the gantry type and can also be in a conventional shape such as an n-shape or an L-shape. The image acquisition device is installed on the support 101, so that the image acquisition device is located right above the conveying belt 11, in this embodiment, the image acquisition device is an industrial acquisition camera 40, and a camera of the acquisition camera 40 is right opposite to the central line of the conveying belt 11. In this way, during the operation of the conveyor belt 11, the calibration object 20 at the camera 40 is captured by the capturing camera 40 in real time.
In this embodiment, the image capturing device may be replaced with another image capturing device, for example, when the calibration object 20 is set to have a height characteristic, the image capturing device is replaced with a 3D camera; for another example, when the calibration object is set to infrared characteristics, an NIR near-infrared spectrometer is used instead of the image acquisition device.
As a preferable mode, as shown in fig. 2, two light sources 51 arranged opposite to each other are mounted on the support 101, the two light sources 51 are respectively disposed at two sides of the collecting camera 40, and the two light sources 51 are sequentially arranged along the conveying direction of the conveying belt 11, in this embodiment, both the two light sources 51 are conventional light bars, and in addition, other light forms such as light strips and the like may also be used; thus, both light sources 51 illuminate the center line of the belt face of the conveyor belt 11, and the collecting camera 40 faces the light belt to collect the corresponding calibration objects 20 at the light belt. Preferably, the axes of the two light sources 51 are symmetrically arranged around the collecting camera 40, and the two light sources 51 are arranged in a splayed shape together to better converge light so that a light band is formed at the center line of the band surface of the conveying belt 11.
Preferably, the upper side of each calibration object 20 is provided with a reflective layer, which cooperates with the two light sources 51 to further increase the brightness of light, so as to form a distinct bright distinction with the position on the belt surface of the conveyor belt 11 where no light source is located, and make the collection camera easier to identify.
As shown in fig. 1 and fig. 3, the deviation correcting device includes a deviation correcting motor 61, a deviation correcting screw 62 and a deviation correcting sliding sleeve 63; the deviation correcting motor 61 is installed at one side of the frame 10, the deviation correcting motor 61 is arranged along the x-axis direction, the side of the frame 10 where the deviation correcting motor 61 is located is the same as the driving motor, the embodiment takes the side as the right side for illustration, the deviation correcting screw 62 is installed at the right side of the frame 10 in a rotatable manner, and the rotating structure of the deviation correcting screw 62 is a conventional known structure, so that the description is not repeated. One end of the deviation-rectifying screw rod 62 is in transmission connection with an output shaft of the deviation-rectifying motor 61, and the connection of the deviation-rectifying screw rod and the deviation-rectifying motor is of a conventional known structure, and if the deviation-rectifying screw rod and the deviation-rectifying motor are connected by a coupler; the deviation rectifying screw 62 is externally sleeved with a deviation rectifying sliding sleeve 63, the deviation rectifying sliding sleeve 63 is spirally matched with the deviation rectifying screw 62, the deviation rectifying sliding sleeve 63 is installed at the right side of the rack 10 in a manner of sliding along the x-axis direction, the installation structure of the deviation rectifying sliding sleeve 63 is a conventional known structure, for example, a sliding bump arranged along the x-axis direction is installed on the deviation rectifying sliding sleeve 63, and a sliding groove is formed on the rack 10 corresponding to the sliding bump; the right end of the driven roller 13 extends out of the frame 10, and the right end of the driven roller 13 is fixedly connected to the deviation rectifying sliding sleeve 63. In the present invention, the deviation rectifying motor 61 is a conventional forward and reverse rotation motor.
When the deviation correcting motor 61 rotates forward, the output shaft of the deviation correcting motor 61 drives the deviation correcting screw rod 62 to rotate clockwise, so that the deviation correcting sliding sleeve 63 moves forward along the x-axis direction, and the right end of the driven roller 13 also moves forward along the x-axis direction.
When the deviation correcting motor 61 rotates reversely, the output shaft of the deviation correcting motor 61 drives the deviation correcting screw rod 62 to rotate counterclockwise, so that the deviation correcting sliding sleeve 63 moves backward along the x-axis direction, and the right end of the driven roller 13 also moves backward along the x-axis direction.
Preferably, a control box 52 is installed at the rear end of the right side of the rack 10, a conventional board card is installed in the control box 52, and the control end of the deviation rectification motor 61 is electrically connected with the signal output end of the board card to control the start and the forward and reverse rotation of the deviation rectification motor 61 by the board card.
In the invention, the automatic deviation rectifying and adjusting system also comprises an industrial personal computer which is arranged outside the conveying device. The signal output end of the industrial personal computer is respectively and electrically connected with the signal input end of the board card and the signal input end of the driving motor 15, so that the industrial personal computer is adopted to respectively control the starting and stopping of the conveying belt 11 and the forward and reverse rotation and starting and stopping of the deviation correcting motor 62; the signal input end of the industrial personal computer is electrically connected with the acquisition end of the acquisition camera 40, so that the acquisition camera 40 transmits the real-time acquired image to the industrial personal computer for processing.
The industrial personal computer is used for processing the image transmitted by the acquisition camera 40 to acquire the real-time centroid coordinate of the calibration object 20 right below the acquisition camera 40, subtracting the Y-axis direction coordinate data Y1 in the acquired real-time centroid coordinate from the Y-axis direction coordinate data Y0 in the initial centroid coordinate set in the industrial personal computer, comparing the difference value between the Y-axis direction coordinate data Y1 and the Y0 with the detection threshold range preset in the industrial personal computer to judge the offset structure of the conveyor belt 11, and controlling the deviation correcting motor 62 to rotate forwards or backwards according to the offset result so as to enable the driven roller 61 to move forwards or backwards.
The automatic deviation rectifying and adjusting system of the conveying device of the invention detects the deviation of the conveying belt 11 and automatically rectifies the deviation in the following way. In the present embodiment, the description will be given taking an example in which the detection threshold range is preset to [ -a.a ].
And when the industrial personal computer judges that Y1-Y0 is in the range of [ -a.a ], judging that the conveyer belt 11 does not deviate, and not operating the industrial personal computer, namely, the deviation correcting device does not operate, and the conveyer belt 11 normally operates.
When the industrial personal computer judges that Y1-Y0 exceeds [ -a.a ], as shown in FIG. 4, when the difference value of Y1-Y0 is a negative value, the deviation of the conveying belt 11 to the negative direction of the Y axis is judged, in the embodiment, the negative direction of the Y axis refers to the deviation of the rear end of the conveying belt 11 from the rear to the front to the right side, the deviation of the conveying belt 11 is judged to be right, the industrial personal computer outputs a control signal to the board card, and the board card controls the deviation rectifying motor 62 to rotate forward, so that the right end of the driven roller 13 moves forward (namely the positive direction of the x axis. As shown in fig. 5, when the difference between Y1 and Y0 is a positive value, it is determined that the conveyor belt 11 is shifted to the positive direction of the Y axis, where the positive direction of the Y axis refers to that the rear end of the conveyor belt 11 is shifted from back to front to left, it is determined that the conveyor belt 11 is shifted to the left, the industrial computer outputs a control signal to the board card, and the board card controls the deviation rectification motor 62 to rotate reversely, so that the right end of the driven roller 13 moves backwards (i.e., to the negative direction of the x axis) along the direction of the x.
It should be noted that, the moving distance of the right end of the driven roller 13 along the x-axis direction is determined according to the material and the actual working condition of the conveyer belt 11, and after the right end of the driven roller 13 moves along the x-axis, the collecting camera 40 shoots the image after the correction is completed and transmits the image to the industrial personal computer, and the industrial personal computer compares and judges according to the above mode to ensure that the conveyer belt 11 returns to the non-offset state.
In this embodiment, a storage unit preset with a detection threshold range and an initial centroid coordinate is provided in the industrial personal computer, and the detection threshold range is manually set according to the actual condition, the specification size and the like of the conveyor belt 11; the initial centroid coordinates are acquired by the capturing camera 40 in an undeflected state according to the actual conveying belt 11, and stored in the storage unit.
In the invention, the industrial personal computer can process the image to obtain the barycenter coordinate of the marker in the image, and the industrial personal computer can be completed by adopting the existing known industrial personal computer, such as an industrial personal computer of the Tuhua technology 610L. The industrial personal computer performs conventional binarization image processing on the transmitted image, then is assisted by a corrosion and expansion algorithm to enable a calibration object in the image to be more easily identified, and then detects the contour of the calibration object in the image through a contour detection algorithm so as to determine the centroid coordinate of the calibration object in the image.
In the initial state, under the condition that the conveyor belt 11 is ensured not to deviate, the industrial personal computer controls the conveyor belt 11 to run, the acquisition camera 40 shoots the corresponding calibration object 20 under the acquisition camera in real time, the shot image is sent to the industrial personal computer, and the industrial personal computer processes the shot image to acquire the initial centroid coordinate of the calibration object 20 and stores the initial centroid coordinate.
The invention relates to an automatic deviation rectifying and adjusting system of a conveying device, which comprises the following processes: in the working process of the conveying device, the acquisition camera 40 shoots the passing calibration object 20 in real time or at intervals, the shot images are transmitted to the industrial personal computer, the industrial personal computer processes the shot images to obtain the real-time centroid coordinate of the corresponding calibration object 20, then the industrial personal computer performs subtraction calculation on Y-axis coordinate data Y1 in the real-time centroid coordinate and Y-axis coordinate data Y0 in the initial centroid coordinate, namely Y1-Y0, and compares the difference value between the Y-axis coordinate data Y1 and the Y-axis coordinate data Y0 with a detection threshold range to judge whether the conveying belt 11 deviates or not, and adjusts according to the deviation result in the mode.
Example two
As shown in fig. 1-6, the present invention further provides a deviation rectifying method for a conveying device, which is applied to a conveying device, wherein the conveying device is an existing conventional conveying device, such as the conveying device described above. Wherein, the central line department of the band face of conveyor belt 11 of conveyor is provided with a plurality of calibration objects 20, and each calibration object 20 arranges along the length direction of conveyor belt 11 in proper order.
The deviation rectifying and adjusting method comprises the following steps:
step A1, setting data: when the conveyer belt 11 normally runs (namely the conveyer belt 11 does not deviate), the acquisition device is adopted to detect the calibration object 20 below the acquisition device, detection information is transmitted to the industrial personal computer, the industrial personal computer processes the detection information to obtain an initial centroid coordinate of the calibration object 20, and a detection threshold range is set in the industrial personal computer;
the industrial personal computer can select the centroid coordinate of one of the calibration objects 20 as the initial centroid coordinate, can also select a plurality of calibration objects 20, and calculates the average value along the x-axis direction and the average value along the y-axis direction to serve as the initial centroid coordinate.
Step A2: acquiring a real-time centroid coordinate: in the continuous operation process of the conveyer belt 11, the acquisition device detects the passing calibration object 20 in real time and transmits the detection information to the industrial personal computer, and the industrial personal computer processes the detection information of the calibration object 20 transmitted by the acquisition device to obtain the real-time initial centroid coordinate of the calibration object 20;
step A3: calculating a difference value: the industrial personal computer performs subtraction calculation on the Y-axis coordinate data Y1 in the acquired real-time centroid coordinates and the Y-axis coordinate data Y0 in the initial centroid coordinates acquired in the step A1 to acquire a difference value b between Y1 and Y0;
step A4: and (3) comparison and judgment: the industrial personal computer compares the difference value b in the step A3 with the detection threshold value range in the step A1, and when the industrial personal computer judges that the difference value b is within the detection threshold value range, the industrial personal computer judges that the conveying belt 11 is in a normal operation state; when the industrial personal computer judges that the difference value b exceeds the detection threshold value range, the deviation of the conveying belt is judged, and the industrial personal computer controls the conveying belt 11 to return.
In the present invention, each of the calibration objects is a long-strip-shaped wear-resistant calibration object, the upper side surface of each calibration object is coated with a reflective layer, correspondingly, the collecting device is an image collecting device, the image collecting device is a collecting camera, the collecting camera is arranged above the conveyor belt 11, and the mounting structure of the collecting camera is the same as that of the collecting camera described in the first embodiment. When the capturing device is an image capturing device, the aforementioned detection information refers to an image captured by the capturing camera 40.
It should be noted that the acquisition device can also select different acquisition devices according to different types of calibration objects. For example, when the calibration object has a feature of height, then the acquisition device is a 3D camera; for another example, when the calibration object has infrared characteristics, the acquisition device is an NIR near-infrared spectrometer.
Further, the conveying device is provided with a deviation correcting device in the manner described in the first embodiment.
In step a4, when the industrial personal computer determines that the difference b exceeds the detection threshold range, the industrial personal computer determines whether the difference b is a positive value or a negative value again.
If the difference b is a negative value, as shown in fig. 4, it is determined that the conveyer belt is deviated in the y-axis negative direction, where the y-axis negative direction in this embodiment refers to the deviation of the rear end of the conveyer belt 11 from the rear to the front to the right side, and it is determined that the conveyer belt 11 is deviated in the right direction, the industrial computer outputs a control signal to the board card, and the board card controls the deviation correction motor 62 to rotate in the positive direction, so that the right end of the driven roller 13 moves forward (i.e., in the positive direction) in the x-axis direction, and the driven roller 13 returns.
When the difference b is a positive value, as shown in fig. 5, it is determined that the conveyor belt 11 deviates to the positive direction of the y axis, where the positive direction of the y axis refers to that the rear end of the conveyor belt 11 deviates from back to front to left in this embodiment, then it is determined that the conveyor belt 11 deviates to the left, the industrial computer outputs a control signal to the board card, and the board card controls the deviation rectification motor 62 to rotate reversely, so that the right end of the driven roller 13 moves backward (i.e., in the negative direction) along the direction of the x axis, and the driven roller 13 returns to the initial state, so.
It should be noted that, the moving distance of the right end of the driven roller 13 along the x-axis direction is determined according to the material and the actual working condition of the conveyer belt 11, and after the right end of the driven roller 13 moves along the x-axis, the collecting camera 40 shoots the image after the correction is completed and transmits the image to the industrial personal computer, and the industrial personal computer compares and judges according to the above mode to ensure that the conveyer belt 11 returns to the non-offset state, namely the driven roller 13 returns to the initial state.
In this embodiment, a deviation rectification adjustment method of a conveying device may be used in the automatic deviation rectification adjustment system described in the first embodiment, and the industrial personal computer described in this embodiment is the industrial personal computer mentioned in the first embodiment.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made within the scope of the claims of the present invention should fall within the scope of the claims of the present invention.
Claims (10)
1. An automatic deviation rectifying and adjusting system of a conveying device comprises a conveying belt, a driving roller and a driven roller, wherein the driving roller and the driven roller are used for enabling the conveying belt to move; the method is characterized in that: the automatic correction device comprises a plurality of calibration objects, a correction device and an acquisition device, wherein the calibration objects are respectively arranged on the belt surface of the conveying belt, the correction device is used for driving the first end of the driven roller to move along the x-axis direction, and the acquisition device is used for detecting the detection information of the calibration objects; the collecting device is erected above the conveying belt, the calibration objects are sequentially arranged along the x-axis direction, and the deviation correcting device is arranged outside the conveying belt;
the industrial personal computer is used for processing detection information transmitted by the acquisition device to obtain a real-time centroid coordinate of the calibration object, performing subtraction calculation on Y-axis coordinate data Y1 in the real-time centroid coordinate and Y-axis coordinate data Y0 in a set initial centroid coordinate, comparing a difference value between the Y-axis coordinate data Y1 and the Y-axis coordinate data Y0 with a preset detection threshold range to judge a deviation result of the conveying belt, and controlling the first end of the driven roller to move according to the deviation result.
2. The automatic deviation rectifying and adjusting system of a conveying device according to claim 1, wherein: the calibration objects are respectively arranged at intervals at the center line of the belt surface of the conveying belt.
3. The automatic deviation rectifying and adjusting system of a conveying device according to claim 1, wherein: the acquisition device is an image acquisition device, and a camera of the image acquisition device is over against the center line of the conveying belt; and the acquisition end of the image acquisition device is electrically connected with the signal input end of the industrial personal computer.
4. The automatic deviation rectifying and adjusting system of a conveying device according to claim 3, wherein: two light sources which are arranged back to back are installed above the conveying belt, the two light sources are respectively located on two sides of the image acquisition device, the two light sources are sequentially arranged along the x-axis direction, and the two light sources are respectively projected to the center line of the conveying belt and form a light band together.
5. The automatic skew adjustment system for a conveyor according to any one of claims 1 to 4, wherein: the deviation correcting device comprises a deviation correcting motor arranged on a frame body of the conveying device, a deviation correcting screw rod in transmission connection with an output shaft of the deviation correcting motor and a deviation correcting sliding sleeve arranged on the frame body in a sliding mode along the X-axis direction; the deviation-correcting screw rod is erected on the frame body in a rotatable mode, the deviation-correcting sliding sleeve is sleeved outside the deviation-correcting screw rod, and the first end of the driven roller is installed on the deviation-correcting sliding sleeve; and the control end of the deviation rectifying motor is electrically connected with the signal output end of the industrial personal computer.
6. The automatic deviation rectifying and adjusting system of a conveying device according to claim 1, wherein: each calibration object is a wear-resistant calibration object, and the surface of each calibration object is coated with a reflective layer respectively.
7. A deviation rectifying and adjusting method of a conveying device is characterized in that a conveying belt of the conveying device is provided with a plurality of calibration objects, the calibration objects are sequentially arranged along the length direction, the length direction of the conveying belt is taken as the x-axis direction, and the direction which is horizontally vertical to the x-axis is taken as the y-axis direction; which comprises the following steps:
step A1: setting data: when the conveyer belt does not deviate, acquiring an initial centroid coordinate of the calibration object, and setting a detection threshold range;
step A2: obtaining a real-time centroid: acquiring a real-time centroid coordinate of the calibration object in the running process of the conveyor belt;
step A3: calculating a difference value: subtracting the Y-axis coordinate data Y1 in the real-time centroid coordinate from the Y-axis coordinate data Y0 in the initial centroid coordinate to obtain a difference b of subtracting the Y-axis coordinate data Y0 from the Y-axis coordinate data Y1;
step A4: and (3) comparison and judgment: comparing the difference b with the detection threshold range; when the difference value b is within the detection threshold range, judging that the conveying belt is in a normal working state; and when the difference value b exceeds the detection threshold range, judging that the conveyer belt deviates, and controlling the conveyer belt to move towards the opposite direction of the deviation.
8. The deviation rectifying and adjusting method of a conveying apparatus according to claim 7, wherein: detecting the passing calibration object by adopting an acquisition device, wherein the acquisition device is an image acquisition device;
processing detection information detected by the image acquisition device by adopting an industrial personal computer to acquire the initial centroid coordinate and the real-time centroid coordinate, and setting the detection threshold range in the industrial personal computer; and the comparison judgment between the calculated difference value in the step A3 and the step A4 is completed by adopting the industrial personal computer.
9. The deviation rectifying and adjusting method of a conveying apparatus according to claim 8, wherein: the conveyer belt moves through the mutual matching of the driving roller and the driven roller, and a deviation correcting device is arranged outside the conveyer belt; the deviation correcting device comprises a deviation correcting motor, a deviation correcting screw rod in transmission connection with an output shaft of the deviation correcting motor and a deviation correcting sliding sleeve capable of sliding along the x-axis direction, the deviation correcting screw rod is rotatably installed outside the conveying belt, the deviation correcting sliding sleeve is in spiral fit with the deviation correcting screw rod, and a first end of the driven roller is installed on the deviation correcting sliding sleeve; and the signal output end of the industrial personal computer is electrically connected with the signal input end of the deviation rectifying motor.
10. The deviation rectifying method of a conveyor according to claim 9, wherein: in the step A3, when the difference b exceeds the detection threshold range and the difference b is a negative value, the industrial personal computer judges that the conveyer belt deviates to the negative direction of the y axis, and then the industrial personal computer controls the driven roller to move along the positive direction of the x axis; when the difference b is a positive value, the industrial personal computer judges that the conveying belt deviates along the positive direction of the y axis, and then the industrial personal computer controls the driven roller to move along the negative direction of the x axis.
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Application publication date: 20210330 |