CN113148537A - Magnetic repulsion type magnetic suspension belt conveyor based on machine vision - Google Patents
Magnetic repulsion type magnetic suspension belt conveyor based on machine vision Download PDFInfo
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- CN113148537A CN113148537A CN202110482386.4A CN202110482386A CN113148537A CN 113148537 A CN113148537 A CN 113148537A CN 202110482386 A CN202110482386 A CN 202110482386A CN 113148537 A CN113148537 A CN 113148537A
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- Prior art keywords
- suspension
- magnetic
- conveying belt
- permanent magnet
- machine vision
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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
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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
- B65G15/30—Belts or like endless load-carriers
- B65G15/48—Belts or like endless load-carriers metallic
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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
Abstract
The invention discloses a magnetic repulsion type magnetic suspension belt conveyor based on machine vision, which comprises a roller, a magnetic conveying belt, a suspension support module, a machine vision module and a rack, wherein the roller is an antimagnetic roller; the conveying belt is a magnetic conveying belt, and is rotationally connected to the two antimagnetic rollers; the suspension support module comprises an upper permanent magnet, an electromagnet, a lower permanent magnet, a support plate and a support frame, wherein the upper permanent magnet and the electromagnet repel each other with the magnetic conveying belt to make the conveying belt suspend, and the lower permanent magnet attracts the magnetic conveying belt to make the conveying belt suspend; the machine vision module comprises a camera and a computer, the camera is used for simultaneously acquiring suspension gap images between the conveying belt and the plurality of groups of suspension support modules, and the computer analyzes the size of the suspension gap according to the images and controls the current of the electromagnet to keep the conveying belt in stable suspension; the device has simple structure, quick response and reduced energy consumption.
Description
Technical Field
The invention relates to the technical field of material continuous conveying equipment, in particular to a conveying platform for conveying materials, and particularly relates to a magnetic repulsion type magnetic suspension belt conveyor based on machine vision.
Background
The belt conveyor is a high-efficiency continuous conveying device widely applied to various industries such as coal, chemical industry, logistics, ports, electric power, building materials and the like, and has the following general structure: cylinder, conveyer belt, bearing roller, support.
The conveyed material is carried by the conveyer belt, and the conveyer belt is driven to operate by the friction force generated by the contact of the conveyer belt and the driving roller, so that the material is conveyed.
However, during the operation of the conveyor, the conveyor belt needs to be in pressing contact with the carrier roller set, so that the indentation resistance and the friction force are generated, and the rotation resistance of the carrier roller needs to be overcome when the carrier roller rotates along with the conveyor belt. Wherein the energy losses associated with the idlers account for approximately 70% of the total energy consumption of the conveyor system. The material supporting mode causes the belt conveyor to consume a large amount of energy in the operation process, mechanical abrasion is generated between moving parts, and the problems of vibration, noise, dust, low conveying efficiency and the like are also caused.
Disclosure of Invention
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the magnetic repulsion type magnetic suspension belt conveyor based on machine vision comprises a rack, two rollers and a conveying belt rotationally connected to the two rollers, wherein the rollers are rotationally arranged at two ends of the rack, a suspension support module is arranged between the two rollers and fixedly arranged on the rack, the rollers are antimagnetic rollers, the conveying belt is a magnetic conveying belt, the suspension support module comprises a plurality of upper permanent magnets, a plurality of electromagnets, a plurality of lower permanent magnets, two support plates and a support frame, the upper permanent magnets and the electromagnets are arranged in a repulsion mode with the magnetic conveying belt to enable the conveying belt to be suspended, and the lower permanent magnets are arranged in an attraction mode with the magnetic conveying belt to enable the conveying belt to be suspended; the machine vision module comprises a camera and a computer, the camera is used for simultaneously acquiring suspension gap images between the conveying belt and the plurality of groups of suspension supporting modules, and the computer analyzes the size of the suspension gap according to the images and controls the current of the electromagnet to enable the conveying belt to keep stable suspension.
Preferably, the magnetic repulsion type magnetic suspension belt conveyor based on machine vision provided by the invention is characterized in that the two support plates are fixedly arranged at the top and the bottom of the support frame, the electromagnets are uniformly and fixedly arranged on the upper surfaces of the support plates above the support frame, and the upper permanent magnets are respectively arranged on the electromagnets.
Preferably, the magnetic repulsion type magnetic suspension belt conveyor based on machine vision provided by the invention is characterized in that a plurality of lower permanent magnets are uniformly and fixedly arranged on the lower surface of a support plate positioned below a support frame, and the support frame is fixedly arranged on a rack.
Preferably, the magnetic repulsion type magnetic suspension belt conveyor based on machine vision further comprises a machine vision module, wherein the machine vision module comprises a camera and a computer, the camera is used for simultaneously acquiring suspension gap images between the conveyor belt and the plurality of groups of suspension support modules, and the computer analyzes the size of the suspension gap and controls the current of the electromagnet according to the images so as to keep the conveyor belt in stable suspension.
Compared with the prior art, the invention has the following beneficial effects:
1. the suspension system of the electromagnet and the permanent magnet replaces a carrier roller supporting system, a magnetic field formed by superposing the electromagnet and the permanent magnet can realize stable suspension of the conveying belt and materials, and the energy consumption is lower.
2. The suspension clearance between the conveying belt and the suspension device is analyzed on line in real time by adopting a machine vision identification technology, the current of the electromagnet is controlled by an analysis result, the device has the characteristics of high detection accuracy, high sensitivity, high success rate and the like, the air gap and the operation posture of the conveying belt can be adjusted in real time, and the stable suspension of the belt conveyor is realized.
3. The suspension support has no mechanical friction, and the system has small abrasion; the running resistance is small, and the energy consumption is low; high-speed operation can be realized; the structure is simple and easy to control; the cost is low; energy is saved; small vibration, low noise, stable operation and the like.
In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a perspective view of a magnetic repulsion type magnetic levitation belt conveyor according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a suspension support module according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a machine vision module according to an embodiment of the present invention.
Fig. 4 is a simplified flow diagram of a machine vision module according to an embodiment of the present invention.
In the figure: 1-roller, 2-conveyer belt, 3-suspension support module, 31-upper permanent magnet, 32-electromagnet, 33-lower permanent magnet, 34-support plate, 35-support frame, 4-machine vision module, 41-camera, 42-computer, 5-frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-4, magnetic repulsion type magnetic suspension belt conveyor based on machine vision includes frame 5, two cylinders 1 and the conveyer belt 2 that connects outside two cylinders 1 in rotation, cylinder 1 rotates and sets up in the both ends of frame 5, two be provided with suspension support module 3 between the cylinder 1, suspension support module 3 fixed mounting is on frame 5, cylinder 1 is antimagnetic cylinder, conveyer belt 2 is the magnetism conveyer belt, suspension support module 3 includes a plurality of upper permanent magnet 31, a plurality of electro-magnet 32, a plurality of lower permanent magnet 33, two backup pads 34 and support frame 35, upper permanent magnet 31 and electro-magnet 32 repel each other with conveyer belt 2 and set up, make conveyer belt 2 suspend, lower permanent magnet 33 attracts each other with conveyer belt 2 and sets up, makes conveyer belt 2 suspend.
The two support plates 34 are fixedly arranged at the top and the bottom of the support frame 35, the electromagnets 32 are uniformly and fixedly arranged on the upper surface of the support plate 34 above the support frame 35, and the upper permanent magnets 31 are respectively arranged on the electromagnets 32.
The lower permanent magnets 33 are uniformly and fixedly arranged on the lower surface of the supporting plate 34 below the supporting frame 35, and the supporting frame 35 is fixedly arranged on the frame 5.
The magnetic repulsion type magnetic suspension belt conveyor based on machine vision further comprises a machine vision module 4, wherein the machine vision module 4 comprises a camera 41 and a computer 42, the camera 41 is used for simultaneously acquiring suspension gap images between the conveyor belt and a plurality of groups of suspension supporting modules, and the computer 42 analyzes the suspension gap size according to the images and controls the current of the electromagnet 32, so that the conveyor belt 2 is kept in stable suspension, and the magnetic repulsion type magnetic suspension belt conveyor based on machine vision has the advantages of non-contact, resistance-free and nondestructive measurement, high precision and the like.
A simplified flow diagram of the machine vision module 4 is shown in fig. 4, and the specific steps are as follows:
step (1): setting a light source according to actual conditions, and acquiring an original image of a suspension gap between the conveyer belt 2 and the suspension support module 3 through an industrial CCD (charge coupled device) or CMOS (complementary metal oxide semiconductor) camera;
step (2): image preprocessing, namely converting a color image of a region of interest into a gray image according to a weighted average method, then filtering noise in the image through wavelet denoising, and finally directly converting the gray image into a binary image through a threshold segmentation method;
and (3): the edge detection greatly reduces the data volume, eliminates information which can be considered irrelevant, and retains important structural attributes of the image;
and (4): extracting edge straight line features, and positioning and extracting feature points needing to be detected in the contour;
and (5): calibrating, namely calibrating through the checkerboard target to obtain the suspension gap d at the moment;
and (6): and respectively judging errors between the multiple groups of suspension gaps d and the set stable suspension gap d0 at the moment, conveying the errors to a controller, controlling a power amplifier to change the current of the electromagnet, and realizing closed-loop feedback control of the system by adopting the controller to ensure that the conveying belt is stably suspended.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The control mode of the invention is automatically controlled by the controller, the control circuit of the controller can be realized by simple programming of a person skilled in the art, the supply of the power supply also belongs to the common knowledge in the field, and the invention is mainly used for protecting mechanical devices, so the control mode and the circuit connection are not explained in detail in the invention.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. Magnetic repulsion type magnetic suspension belt conveyor based on machine vision, including frame, two cylinders and the conveyer belt of rotation connection outside two cylinders, the cylinder rotates and sets up in the both ends of frame, its characterized in that, two be provided with suspension support module between the cylinder, suspension support module fixed mounting is in the frame, the cylinder is antimagnetic cylinder, the conveyer belt is the magnetism conveyer belt, suspension support module includes a plurality of last permanent magnet, a plurality of electro-magnet, a plurality of lower permanent magnet, two backup pads and support frame, it repels the setting with the magnetism conveyer belt to go up permanent magnet and electro-magnet, the permanent magnet is inhaled the setting with the magnetism conveyer belt mutually down.
2. The machine-vision-based magnetic-repulsion type magnetic-levitation belt conveyor as claimed in claim 1, wherein: the two supporting plates are fixedly arranged at the top and the bottom of the supporting frame, the electromagnets are uniformly and fixedly arranged on the upper surface of the supporting plate above the supporting frame, and the upper permanent magnets are respectively arranged on the electromagnets.
3. The machine-vision-based magnetic-repulsion type magnetic-levitation belt conveyor as claimed in claim 1, wherein: the lower permanent magnets are uniformly and fixedly arranged on the lower surface of the supporting plate below the supporting frame, and the supporting frame is fixedly arranged on the rack.
4. The machine-vision-based magnetic-repulsion type magnetic-levitation belt conveyor as claimed in claim 1, wherein: the machine vision module comprises a camera and a computer, the camera is used for simultaneously acquiring suspension gap images between the conveying belt and the multiple groups of suspension supporting modules, and the computer analyzes the size of the suspension gap and controls the current of the electromagnet according to the images.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110482386.4A CN113148537A (en) | 2021-04-30 | 2021-04-30 | Magnetic repulsion type magnetic suspension belt conveyor based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110482386.4A CN113148537A (en) | 2021-04-30 | 2021-04-30 | Magnetic repulsion type magnetic suspension belt conveyor based on machine vision |
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| CN113148537A true CN113148537A (en) | 2021-07-23 |
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| CN202110482386.4A Pending CN113148537A (en) | 2021-04-30 | 2021-04-30 | Magnetic repulsion type magnetic suspension belt conveyor based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113533334A (en) * | 2021-08-26 | 2021-10-22 | 福州理工学院 | Computer vision measuring device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11322037A (en) * | 1998-05-12 | 1999-11-24 | Ishikawajima Harima Heavy Ind Co Ltd | Belt conveyor |
| CN103171900A (en) * | 2013-04-01 | 2013-06-26 | 徐建华 | Magnetic levitation conveyor |
| CN103449096A (en) * | 2012-06-04 | 2013-12-18 | 林佐轮 | Electromagnetic and permanent magnet hybrid suspension belt conveyor |
| CN103979251A (en) * | 2014-06-05 | 2014-08-13 | 安徽理工大学 | Magnetic levitation synchronous belt conveyor |
| CN109559314A (en) * | 2019-01-18 | 2019-04-02 | 西南交通大学 | A kind of electromagnetic suspension ball system and its image processing method based on machine vision |
| CN111099262A (en) * | 2019-12-30 | 2020-05-05 | 北京工业大学 | Vibration reduction conveyor belt with magnetic suspension periodic support |
-
2021
- 2021-04-30 CN CN202110482386.4A patent/CN113148537A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11322037A (en) * | 1998-05-12 | 1999-11-24 | Ishikawajima Harima Heavy Ind Co Ltd | Belt conveyor |
| CN103449096A (en) * | 2012-06-04 | 2013-12-18 | 林佐轮 | Electromagnetic and permanent magnet hybrid suspension belt conveyor |
| CN103171900A (en) * | 2013-04-01 | 2013-06-26 | 徐建华 | Magnetic levitation conveyor |
| CN103979251A (en) * | 2014-06-05 | 2014-08-13 | 安徽理工大学 | Magnetic levitation synchronous belt conveyor |
| CN109559314A (en) * | 2019-01-18 | 2019-04-02 | 西南交通大学 | A kind of electromagnetic suspension ball system and its image processing method based on machine vision |
| CN111099262A (en) * | 2019-12-30 | 2020-05-05 | 北京工业大学 | Vibration reduction conveyor belt with magnetic suspension periodic support |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113533334A (en) * | 2021-08-26 | 2021-10-22 | 福州理工学院 | Computer vision measuring device |
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Application publication date: 20210723 |