CN113369169A - Automatic sorting device and method based on visual identification - Google Patents
Automatic sorting device and method based on visual identification Download PDFInfo
- Publication number
- CN113369169A CN113369169A CN202110585505.9A CN202110585505A CN113369169A CN 113369169 A CN113369169 A CN 113369169A CN 202110585505 A CN202110585505 A CN 202110585505A CN 113369169 A CN113369169 A CN 113369169A
- Authority
- CN
- China
- Prior art keywords
- detection
- steel
- conveying
- section
- telescopic rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 116
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 76
- 239000010959 steel Substances 0.000 claims abstract description 76
- 230000007246 mechanism Effects 0.000 claims description 70
- 230000003287 optical effect Effects 0.000 claims description 16
- 238000013016 damping Methods 0.000 claims description 14
- XLOMVQKBTHCTTD-UHFFFAOYSA-N Zinc monoxide Chemical compound [Zn]=O XLOMVQKBTHCTTD-UHFFFAOYSA-N 0.000 claims description 12
- HQKMJHAJHXVSDF-UHFFFAOYSA-L magnesium stearate Chemical compound [Mg+2].CCCCCCCCCCCCCCCCCC([O-])=O.CCCCCCCCCCCCCCCCCC([O-])=O HQKMJHAJHXVSDF-UHFFFAOYSA-L 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 12
- 230000002950 deficient Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 7
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 6
- 235000021355 Stearic acid Nutrition 0.000 claims description 6
- 230000003712 anti-aging effect Effects 0.000 claims description 6
- 239000004917 carbon fiber Substances 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 6
- 239000003795 chemical substances by application Substances 0.000 claims description 6
- 239000007822 coupling agent Substances 0.000 claims description 6
- 239000000835 fiber Substances 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 6
- 235000019359 magnesium stearate Nutrition 0.000 claims description 6
- QIQXTHQIDYTFRH-UHFFFAOYSA-N octadecanoic acid Chemical compound CCCCCCCCCCCCCCCCCC(O)=O QIQXTHQIDYTFRH-UHFFFAOYSA-N 0.000 claims description 6
- OQCDKBAXFALNLD-UHFFFAOYSA-N octadecanoic acid Natural products CCCCCCCC(C)CCCCCCCCC(O)=O OQCDKBAXFALNLD-UHFFFAOYSA-N 0.000 claims description 6
- 229940114930 potassium stearate Drugs 0.000 claims description 6
- ANBFRLKBEIFNQU-UHFFFAOYSA-M potassium;octadecanoate Chemical compound [K+].CCCCCCCCCCCCCCCCCC([O-])=O ANBFRLKBEIFNQU-UHFFFAOYSA-M 0.000 claims description 6
- 239000008117 stearic acid Substances 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 239000011787 zinc oxide Substances 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 claims description 4
- 239000004020 conductor Substances 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000003754 machining Methods 0.000 abstract description 3
- 241001131688 Coracias garrulus Species 0.000 description 40
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000036961 partial effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Sorting Of Articles (AREA)
Abstract
The invention belongs to the technical field of machining, and particularly relates to an automatic sorting device based on visual identification, which comprises a conveying front section, a detection middle section and a conveying rear section, wherein the conveying front section is arranged on the left side of the detection middle section, the conveying rear section is arranged on the right side of the detection middle section, the conveying front section is parallel to the detection middle section and the conveying rear section, a first clamping arm is arranged behind the conveying front section, a second clamping arm is arranged in front of the detection middle section, and a third clamping arm is arranged behind the conveying rear section. The invention also provides a using method of the device, which comprises the steps of steel conveying, steel sorting, deformation detection and the like.
Description
Technical Field
The invention belongs to the technical field of machining, and particularly relates to an automatic sorting device and method based on visual identification.
Background
In the machining field, the steel is packed and sorted to make very complicated one step, needs the manual work to come the good of product to distinguish, and is inefficient, and can't filter fine department, and present letter sorting production line is one thing more simultaneously and uses, can't sieve the steel of different grade type, and the time consuming and time consuming fund of setting up different production lines.
Patent publication No. CN112090766A discloses a sorting apparatus, relating to the field of mechanical structures, which includes a sorting device moving along a predetermined path and a container conveying device located below the sorting device; the sorting device comprises a plurality of sorting stations, the sorting stations are arranged along a preset path, and a first discharge hole and a second discharge hole are respectively formed in each sorting station along two sides of the preset path; the container conveying device is provided with a plurality of containers, the plurality of containers are arranged in a linear array, the direction of the linear array is the connecting line direction along the first discharge hole and the second discharge hole, and the plurality of containers on the container conveying device can reciprocate in the connecting line direction of the first discharge hole and the second discharge hole, so that two containers in the plurality of containers are aligned with the first discharge hole and the second discharge hole. By the invention, the problems of low sorting efficiency and high operation and management cost of the existing sorting equipment are solved;
the patent with publication number CN109499895A discloses a vertical sorting device, which relates to the field of logistics transportation and comprises a delivery device and a storage device; the delivery device comprises a sorting assembly vertically arranged along the up-down direction; a sorting assembly for delivering items; the storage device is used for storing the articles delivered by the sorting assembly.
Publication number CN111774311A discloses a sorting device, which includes a cargo transferring device, an information acquiring device and a sorting device, wherein the cargo transferring device is used for storing and transferring cargo; the information acquisition device is arranged at the outlet of the cargo transferring device and is used for acquiring the information of the cargos arriving at the outlet; the sorting device is communicated with the outlet to receive the goods, and the sorting device is in signal connection with the information acquisition device to convey the goods to a preset position according to the information of the goods. The sorting equipment can enable goods to directly reach the sorting device from the goods transferring device, so that the middle circulation process of transferring the goods from the goods transferring device to the sorting device is saved, the manual labor intensity is reduced, and the logistics cost is saved.
However, the following problems still exist:
1. good products and defective products cannot be sorted, and the product quality cannot be guaranteed;
2. different types of steel need to be screened and sorted by different production lines, and cylindrical and sheet-shaped steel cannot be sorted simultaneously;
3. fine recesses or projections of the steel cannot be detected effectively.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic sorting device based on visual identification, which is used for solving the problems that in the prior art, fine depressions or bulges of steel cannot be effectively detected, different types of steel need to be screened and sorted by different production lines, cylindrical and sheet-shaped steel cannot be simultaneously sorted, and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
an automatic sorting device based on visual identification comprises a conveying front section, a detection middle section and a conveying rear section, wherein the conveying front section is arranged on the left side of the detection middle section, the conveying rear section is arranged on the right side of the detection middle section, and the conveying front section is parallel to the detection middle section and the conveying rear section;
a first clamping arm is arranged behind the front conveying section, a second clamping arm is arranged in front of the middle detection section, and a third clamping arm is arranged behind the rear conveying section;
the detection middle section comprises a detection mechanism, a clamping mechanism and a detection fixing frame, the detection mechanism is arranged above the clamping mechanism, and the bottom of the clamping mechanism is arranged at the top end of the detection fixing frame;
the detection mechanism comprises a curvature detection device, a mirror reflector, a buffering connecting column and a lifting mechanism, wherein the curvature detection device is arranged at the lower end of the mirror reflector, and the buffering connecting column is connected with the mirror reflector and the lifting mechanism.
Further, curvature detection device includes gyro wheel, first bracing piece, second bracing piece and cylinder, it is connected with the gyro wheel axle to rotate on the gyro wheel axis, first bracing piece and second bracing piece are L shape, just first bracing piece upper end is articulated with second bracing piece lower extreme, first bracing piece lower extreme is fixed on the gyro wheel axle, second bracing piece upper end is connected with the fixed plate through the second bearing.
Furthermore, the curvature detection device further comprises a telescopic rod, the bottom of the air cylinder is fixedly installed on the roller shaft, one end of the telescopic rod is arranged inside the air cylinder and is in sliding connection with the air cylinder, and the other end of the telescopic rod is hinged to the middle of the second supporting rod.
Further, a transmitter for transmitting an optical signal is arranged inside the specular reflection plate.
Further, the surface of the specular reflection board is provided with a first detector for detecting reflection of the optical signal.
Further, a second detector and an optical processor for detecting reflection from the convex optical signal are provided inside the specular reflection plate.
Furthermore, the curvature detection device also comprises a detection mechanism, wherein the detection mechanism also comprises a slide bar, a bar-shaped resistor parallel to the slide bar and a slide block, the slide block is arranged on the slide bar and is connected with the slide bar in a sliding way, one end of the slide block is fixed on the telescopic rod, the other end of the slide block is connected with the bar-shaped resistor in a sliding way, and the bar-shaped resistor is fixed on the air cylinder;
the detection mechanism is arranged on the cylinder, and one end of the detection mechanism and the telescopic rod move synchronously
Furthermore, the slide bar is the conductor just slide bar one end is equipped with the access seat, bar resistor one end is equipped with connects out the seat, access seat with connect out between the seat through the wire and be connected, still establish ties in the wire and have power, ampere meter and protection resistance.
Furthermore, the roller is made of damping antiskid materials and comprises short fibers, water-based glue, zinc oxide, an anti-aging agent, stearic acid, a photoinitiator, magnesium stearate, potassium stearate, a coupling agent and carbon fibers.
The use method of the device comprises the following steps:
s1, adsorbing and clamping the steel to the front conveying section through the first clamping arm, conveying the steel to the middle detection section through the front conveying section through the crawler belt, and clamping the steel by the clamping mechanism;
s2, driving the curvature detection device to descend by the lifting mechanism, rolling on the surface of the steel by the roller, bouncing the roller by the deformed part when the roller rolls to the deformed part, compressing the telescopic rod to the cylinder at the moment, so that the telescopic rod and the compressed cylinder move relatively, and detecting the deformation or crack of the surface of the steel by the detection mechanism; after the roller leaves the deformation position, the telescopic rod rebounds to the initial position; the detection is realized, meanwhile, the damping effect can be realized, the slide bar, the strip resistor, the slide block, the power supply, the ammeter and the protection resistor form a closed loop through a lead, when the telescopic rod and the compressed air cylinder slide relatively, the slide block changes the contact position of the slide bar and the strip resistor, so that the resistance value of the strip resistor is changed, and the current change in the closed loop is measured through the ammeter to realize the surface deformation detection of steel; the protective resistor can prevent the circuit from being burnt out due to overlarge current in the closed loop;
s3, when the roller rolls on the steel surface, the emitter mounted on the mirror reflection plate emits light source to the steel surface, the first detector collects the light source refracted by the concave part, the second detector collects the light source refracted by the convex part, the optical processor collects data, and the defective products are discharged.
Compared with the prior art, the invention has the following beneficial effects:
1. the steel is adsorbed and clamped to the conveying front section through the first clamping arm, the steel is conveyed to the detection middle section through the track by the conveying front section, the steel is clamped by the clamping mechanism, after the curvature of the steel is detected through the detection mechanism, good steel products after detection are transferred to the conveying rear section through the second clamping arm, and then good steel products and defective steel products are sorted through the third clamping arm, so that the sorting efficiency is greatly improved, and the product quality is guaranteed to be distinguished;
2. the roller rolls on the surface of the steel, when the roller rolls to a deformed position, the roller is bounced by the deformed position, at the moment, the telescopic rod is compressed to the cylinder, so that the telescopic rod and the compressed cylinder perform relative motion, and the deformation or crack of the surface of the steel is detected by the detection mechanism; after the roller leaves the deformation position, the telescopic rod rebounds to the initial position; the detection is realized, meanwhile, the damping effect can be realized, the slide bar, the strip resistor, the slide block, the power supply, the ammeter and the protection resistor form a closed loop through a lead, when the telescopic rod and the compressed air cylinder slide relatively, the slide block changes the contact position of the slide bar and the strip resistor, so that the resistance value of the strip resistor is changed, and the current change in the closed loop is measured through the ammeter to realize the surface deformation detection of steel;
3. the transmitter of installation on the specular reflection board is to steel surface emission light source, when collecting the concave department refraction light source through first detector, because the sunken gathering when can leading to light to return the refraction, when the second detector is collected protruding department refraction light source, the protruding department of steel scatters when can leading to light to return, when optical processor carries out data analysis to these abnormal refractions to can judge the curvature of steel different positions, with this assurance yields.
Drawings
FIG. 1 is a schematic front view of an automatic sorting apparatus based on visual recognition according to an embodiment of the present invention;
FIG. 2 is a schematic partial structural diagram of an automatic sorting apparatus based on visual recognition according to an embodiment of the present invention;
FIG. 3 is a schematic view of a partial structure of an automatic sorting apparatus based on visual recognition according to an embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of the structure of FIG. 3 at Y;
FIG. 5 is a schematic view of a partial structure of an automatic sorting apparatus based on visual recognition according to an embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view taken at B-B in FIG. 5;
FIG. 7 is a partially enlarged view of the structure at X in FIG. 6;
reference numerals in the drawings of the specification include:
a conveying front section 1 and a first clamping arm 11;
the detection middle section 2, the second clamping arm 21, the detection mechanism 22, the mirror reflection plate 222, the buffer connecting column 223, the lifting mechanism 224, the clamping mechanism 23 and the detection fixing frame 24;
the rear conveying section 3 and the third clamping arm 31;
the curvature detection device 4, a roller 41, a roller shaft 42, a first support rod 43, a second support rod 44, a cylinder 46 and an expansion rod 47;
the detection mechanism 5, the slide rod 51, the connecting seat 511, the bar-shaped resistor 52 and the connecting seat 521 and the slide block 53.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described in conjunction with the accompanying drawings and examples:
it should be noted that the same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being fixed or detachable or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Example one
As shown in fig. 1-7, an automatic sorting device based on visual identification comprises a conveying front section 1, a detecting middle section 2, and a conveying rear section 3, wherein the conveying front section 1 is arranged at the left of the detecting middle section 2, the conveying rear section 3 is arranged at the right of the detecting middle section 2, and the conveying front section 1 is parallel to the detecting middle section 2 and the conveying rear section 3;
a first clamping arm 11 is arranged behind the front conveying section 1, a second clamping arm 21 is arranged in front of the middle detection section 2, and a third clamping arm 31 is arranged behind the rear conveying section 3;
the detection middle section 2 comprises a detection mechanism 22, a clamping mechanism 23 and a detection fixing frame 24, the detection mechanism 22 is arranged above the clamping mechanism 23, and the bottom of the clamping mechanism 23 is arranged at the top end of the detection fixing frame 24;
the detection mechanism 22 includes a curvature detection device 4, a specular reflection plate 222, a buffer connection column 223 and a lifting mechanism 224, the curvature detection device 4 is disposed at the lower end of the specular reflection plate 222, and the buffer connection column 223 is connected with the specular reflection plate 222 and the lifting mechanism 224.
In concrete use, adsorb the centre gripping to carrying anterior segment 1 with steel through first centre gripping arm 11, carry anterior segment 1 to carry steel to detecting middle section 2 through the track, fixture 23 carries out the centre gripping to steel, after carrying out the curvature detection to steel through detection mechanism 22, non-defective products steel after detecting the completion shifts to carrying back end 3 through second centre gripping arm 21, carry out the letter sorting of non-defective products and defective products through third centre gripping arm 31 afterwards, by a wide margin improved letter sorting efficiency and guaranteed the differentiation of product quality simultaneously, fixture 23 is inside claw shape simultaneously, can effectually carry out the centre gripping to cylindrical steel, also can carry out the centre gripping to flaky steel, make the universality of device higher.
The curvature detection device 4 comprises a roller 41, a first support rod 43, a second support rod 44 and a cylinder 46, wherein the axis of the roller 41 is rotatably connected with a roller shaft 42, the first support rod 43 and the second support rod 44 are both L-shaped, the upper end of the first support rod 43 is hinged with the lower end of the second support rod 44, the lower end of the first support rod 43 is fixed on the roller shaft 42, and the upper end of the second support rod 44 is connected with the fixing plate 21 through a second bearing 45.
The curvature detection device 4 further comprises an expansion link 47, the bottom of the air cylinder 46 is fixedly mounted on the roller shaft 42, one end of the expansion link 47 is inside the air cylinder 46 and is connected with the air cylinder in a sliding manner, and the other end of the expansion link 47 is hinged to the middle of the second support rod 44.
When the device is used specifically, the lifting mechanism 224 drives the curvature detection device 4 to descend, then the roller 41 rolls on the surface of the steel, when the roller rolls to a deformation position, the roller 41 is bounced by the deformation position, at the moment, the telescopic rod 47 is compressed to the air cylinder 46, so that the telescopic rod 47 and the compressed air cylinder 46 perform relative motion, and the deformation or crack of the surface of the steel is detected through the detection mechanism 5;
after the roller 41 leaves the deformation position, the telescopic rod 47 rebounds to the initial position; when the detection is realized, the damping effect can be realized, the sliding rod 51, the strip-shaped resistor 52, the sliding block 53, the power supply, the ammeter and the protective resistor form a closed loop through a conducting wire, and when the telescopic rod 47 slides relative to the compressed cylinder 46, the sliding block 53 changes the contact position of the sliding rod 51 and the strip-shaped resistor 52, so that the resistance value of the strip-shaped resistor 52 is changed, and the current change in the closed loop is detected through the ammeter to realize the surface deformation detection of the steel;
the protection resistor can prevent the current in the closed loop from being overlarge and burning out the circuit, and meanwhile, the deformation part on the surface of the steel can be accurately detected to accurately distinguish and screen the good steel.
The curvature detection device 4 further comprises a detection mechanism 5, the detection mechanism 5 further comprises a sliding rod 51, a bar-shaped resistor 52 parallel to the sliding rod 51 and a sliding block 53, the sliding block 53 is installed on the sliding rod 51 and is in sliding connection with the sliding rod 51, one end of the sliding block 53 is fixed on the telescopic rod 47, the other end of the sliding block 53 is in sliding connection with the bar-shaped resistor 52, and the bar-shaped resistor 52 is fixed on the air cylinder 46;
the detection mechanism 5 is arranged on the cylinder 46, and one end of the detection mechanism 5 and the telescopic rod 47 move synchronously
The sliding rod 51 is a conductor, one end of the sliding rod 51 is provided with an access seat 511, one end of the bar-shaped resistor 52 is provided with an outgoing seat 521, the access seat 511 is connected with the outgoing seat 521 through a lead, and a power supply, a current meter and a protection resistor are also connected in series in the lead.
The roller 41 is made of damping antiskid materials and is composed of short fibers, water-based glue, zinc oxide, an anti-aging agent, stearic acid, a photoinitiator, magnesium stearate, potassium stearate, a coupling agent and carbon fibers.
The damping antiskid material comprises 5-10 parts of short fibers, 0.5-5 parts of water-based glue, 3-7 parts of zinc oxide, 1-5 parts of an anti-aging agent, 2-8 parts of stearic acid, 1-5 parts of a photoinitiator, 10-13 parts of magnesium stearate, 1-8 parts of potassium stearate, 3-10 parts of a coupling agent and 0.5-10 parts of carbon fibers, and the roller 41 is made of a damping antiskid material and has high strength wear resistance and antiskid performance, so that the device has higher adsorption force in the climbing process of the steel surface, and the problem of backward movement or in-situ skidding is avoided. And the raw materials in the formula are easy to purchase, and in the manufacturing process, the formula is simple and easy to operate, so that great convenience is brought to manufacturers.
Example two
As a further improvement of the previous embodiment, as shown in fig. 1-7, an automatic sorting device based on visual recognition includes a conveying front section 1, a detecting middle section 2, and a conveying rear section 3, where the conveying front section 1 is disposed at the left of the detecting middle section 2, the conveying rear section 3 is disposed at the right of the detecting middle section 2, and the conveying front section 1 is parallel to the detecting middle section 2 and the conveying rear section 3;
a first clamping arm 11 is arranged behind the front conveying section 1, a second clamping arm 21 is arranged in front of the middle detection section 2, and a third clamping arm 31 is arranged behind the rear conveying section 3;
the detection middle section 2 comprises a detection mechanism 22, a clamping mechanism 23 and a detection fixing frame 24, the detection mechanism 22 is arranged above the clamping mechanism 23, and the bottom of the clamping mechanism 23 is arranged at the top end of the detection fixing frame 24;
the detection mechanism 22 includes a curvature detection device 4, a specular reflection plate 222, a buffer connection column 223 and a lifting mechanism 224, the curvature detection device 4 is disposed at the lower end of the specular reflection plate 222, and the buffer connection column 223 is connected with the specular reflection plate 222 and the lifting mechanism 224.
In concrete use, adsorb the centre gripping to carrying anterior segment 1 with steel through first centre gripping arm 11, carry anterior segment 1 to carry steel to detecting middle section 2 through the track, fixture 23 carries out the centre gripping to steel, after carrying out the curvature detection to steel through detection mechanism 22, the non-defective products steel after detecting the completion shifts to carrying back end 3 through second centre gripping arm 21, carry out the letter sorting of non-defective products and defective products through third centre gripping arm 31 afterwards, by a wide margin improvement letter sorting efficiency has guaranteed the differentiation of product quality simultaneously.
The curvature detection device 4 comprises a roller 41, a first support rod 43, a second support rod 44 and a cylinder 46, wherein the axis of the roller 41 is rotatably connected with a roller shaft 42, the first support rod 43 and the second support rod 44 are both L-shaped, the upper end of the first support rod 43 is hinged with the lower end of the second support rod 44, the lower end of the first support rod 43 is fixed on the roller shaft 42, and the upper end of the second support rod 44 is connected with the fixing plate 21 through a second bearing 45.
The curvature detection device 4 further comprises an expansion link 47, the bottom of the air cylinder 46 is fixedly mounted on the roller shaft 42, one end of the expansion link 47 is inside the air cylinder 46 and is connected with the air cylinder in a sliding manner, and the other end of the expansion link 47 is hinged to the middle of the second support rod 44.
When the device is used specifically, the lifting mechanism 224 drives the curvature detection device 4 to descend, then the roller 41 rolls on the surface of the steel, when the roller rolls to a deformation position, the roller 41 is bounced by the deformation position, at the moment, the telescopic rod 47 is compressed to the air cylinder 46, so that the telescopic rod 47 and the compressed air cylinder 46 perform relative motion, and the deformation or crack of the surface of the steel is detected through the detection mechanism 5;
after the roller 41 leaves the deformation position, the telescopic rod 47 rebounds to the initial position; when the detection is realized, the damping effect can be realized, the sliding rod 51, the strip-shaped resistor 52, the sliding block 53, the power supply, the ammeter and the protective resistor form a closed loop through a conducting wire, and when the telescopic rod 47 slides relative to the compressed cylinder 46, the sliding block 53 changes the contact position of the sliding rod 51 and the strip-shaped resistor 52, so that the resistance value of the strip-shaped resistor 52 is changed, and the current change in the closed loop is detected through the ammeter to realize the surface deformation detection of the steel;
the protection resistor can prevent the current in the closed loop from being overlarge and burning out the circuit, and meanwhile, the deformation part on the surface of the steel can be accurately detected to accurately distinguish and screen the good steel.
The curvature detection device 4 further comprises a detection mechanism 5, the detection mechanism 5 further comprises a sliding rod 51, a bar-shaped resistor 52 parallel to the sliding rod 51 and a sliding block 53, the sliding block 53 is installed on the sliding rod 51 and is in sliding connection with the sliding rod 51, one end of the sliding block 53 is fixed on the telescopic rod 47, the other end of the sliding block 53 is in sliding connection with the bar-shaped resistor 52, and the bar-shaped resistor 52 is fixed on the air cylinder 46;
the detection mechanism 5 is installed on the cylinder 46, and one end of the detection mechanism 5 and the telescopic rod 47 move synchronously.
The sliding rod 51 is a conductor, one end of the sliding rod 51 is provided with an access seat 511, one end of the bar-shaped resistor 52 is provided with an outgoing seat 521, the access seat 511 is connected with the outgoing seat 521 through a lead, and a power supply, a current meter and a protection resistor are also connected in series in the lead.
The roller 41 is made of damping antiskid materials and is composed of short fibers, water-based glue, zinc oxide, an anti-aging agent, stearic acid, a photoinitiator, magnesium stearate, potassium stearate, a coupling agent and carbon fibers.
The damping antiskid material comprises 5-10 parts of short fibers, 0.5-5 parts of water-based glue, 3-7 parts of zinc oxide, 1-5 parts of an anti-aging agent, 2-8 parts of stearic acid, 1-5 parts of a photoinitiator, 10-13 parts of magnesium stearate, 1-8 parts of potassium stearate, 3-10 parts of a coupling agent and 0.5-10 parts of carbon fibers, and the roller 41 is made of a damping antiskid material and has high strength wear resistance and antiskid performance, so that the device has higher adsorption force in the climbing process of the steel surface, and the problem of backward movement or in-situ skidding is avoided. And the raw materials in the formula are easy to purchase, and in the manufacturing process, the formula is simple and easy to operate, so that great convenience is brought to manufacturers.
The specular reflection plate 222 is internally provided with a transmitter for transmitting an optical signal.
The automatic sorting apparatus based on visual recognition according to claim 5, wherein the specular reflection plate 222 is further internally provided with a second detector and an optical processor for detecting reflection from the convex optical signal.
The advantages of the second embodiment over the first embodiment are: the transmitter of installation on specular reflection board 222 is to steel surface emission light source, when collecting the depressed part refraction light source through first detector, because the sunken gathering when leading to light to return the refraction, when the second detector is collected the light source of protruding department refraction, steel protruding department scatters when leading to light to return, when optical processor carries out data analysis to these abnormal refraction, thereby can judge the curvature of steel different positions, with this assurance yields.
The automatic sorting device based on visual recognition uses the method, including the following steps:
s1, adsorbing and clamping the steel to the conveying front section 1 through the first clamping arm 11, conveying the steel to the detection middle section 2 through the track in the conveying front section 1, and clamping the steel by the clamping mechanism 23;
s2, the lifting mechanism 224 then drives the curvature detection device 4 to descend, and then the roller 41 rolls on the surface of the steel material, when the roller rolls to the deformation position, the roller 41 is bounced by the deformation position, and at this time, the telescopic rod 47 is compressed to the air cylinder 46, so that the telescopic rod 47 and the compressed air cylinder 46 perform relative motion, and the deformation or crack of the surface of the steel material is detected by the detection mechanism 5; after the roller 41 leaves the deformation position, the telescopic rod 47 rebounds to the initial position; when the detection is realized, the damping effect can be realized, the sliding rod 51, the strip-shaped resistor 52, the sliding block 53, the power supply, the ammeter and the protective resistor form a closed loop through a conducting wire, and when the telescopic rod 47 slides relative to the compressed cylinder 46, the sliding block 53 changes the contact position of the sliding rod 51 and the strip-shaped resistor 52, so that the resistance value of the strip-shaped resistor 52 is changed, and the current change in the closed loop is detected through the ammeter to realize the surface deformation detection of the steel; the protective resistor can prevent the circuit from being burnt out due to overlarge current in the closed loop;
s3, when the roller 41 rolls on the steel surface, the emitter mounted on the specular reflection plate 222 emits light to the steel surface, the first detector collects the light refracted by the concave part, the second detector collects the light refracted by the convex part, and the optical processor collects data to eliminate defective products.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.
Claims (10)
1. The utility model provides an automatic sorting device based on visual identification which characterized in that: the device comprises a conveying front section (1), a detection middle section (2) and a conveying rear section (3), wherein the conveying front section (1) is arranged on the left side of the detection middle section (2), the conveying rear section (3) is arranged on the right side of the detection middle section (2), and the conveying front section (1) is flush with the detection middle section (2) and the conveying rear section (3);
a first clamping arm (11) is arranged behind the front conveying section (1), a second clamping arm (21) is arranged in front of the middle detection section (2), and a third clamping arm (31) is arranged behind the rear conveying section (3);
the detection middle section (2) comprises a detection mechanism (22), a clamping mechanism (23) and a detection fixing frame (24), the detection mechanism (22) is arranged above the clamping mechanism (23), and the bottom of the clamping mechanism (23) is arranged at the top end of the detection fixing frame (24);
the detection mechanism (22) comprises a curvature detection device (4), a specular reflection plate (222), a buffering connecting column (223) and a lifting mechanism (224), wherein the curvature detection device (4) is arranged at the lower end of the specular reflection plate (222), and the buffering connecting column (223) is connected with the specular reflection plate (222) and the lifting mechanism (224).
2. The automatic sorting device based on visual recognition according to claim 1, wherein: curvature detection device (4) include gyro wheel (41), first bracing piece (43), second bracing piece (44) and cylinder (46), it is connected with roller shaft (42) to rotate on gyro wheel (41) axis, first bracing piece (43) and second bracing piece (44) are L shape, just first bracing piece (43) upper end is articulated with second bracing piece (44) lower extreme, first bracing piece (43) lower extreme is fixed on roller shaft (42), second bracing piece (44) upper end is connected with fixed plate (21) through second bearing (45).
3. The automatic sorting device based on visual recognition according to claim 2, wherein: the curvature detection device (4) further comprises a telescopic rod (47), the bottom of the air cylinder (46) is fixedly installed on the roller shaft (42), one end of the telescopic rod (47) is arranged inside the air cylinder (46) and is in sliding connection with the air cylinder, and the other end of the telescopic rod (47) is hinged to the middle of the second supporting rod (44).
4. The automatic sorting device based on visual recognition according to claim 3, wherein: the curvature detection device (4) further comprises a detection mechanism (5), the detection mechanism (5) further comprises a sliding rod (51), a strip-shaped resistor (52) parallel to the sliding rod (51) and a sliding block (53), the sliding block (53) is installed on the sliding rod (51) and is in sliding connection with the sliding rod, one end of the sliding block (53) is fixed on the telescopic rod (47), the other end of the sliding block (53) is in sliding connection with the strip-shaped resistor (52), and the strip-shaped resistor (52) is fixed on the air cylinder (46);
the detection mechanism (5) is installed on the air cylinder (46), and one end of the detection mechanism (5) and the telescopic rod (47) move synchronously.
5. The automatic sorting apparatus based on visual recognition according to claim 4, wherein: the sliding rod (51) is a conductor, an access seat (511) is arranged at one end of the sliding rod (51), an outgoing seat (521) is arranged at one end of the bar-shaped resistor (52), the access seat (511) is connected with the outgoing seat (521) through a lead, and a power supply, a current meter and a protection resistor are further connected in series in the lead.
6. Use according to claim 2, characterized in that: the roller (41) is made of damping antiskid materials and is composed of short fibers, water-based glue, zinc oxide, an anti-aging agent, stearic acid, a photoinitiator, magnesium stearate, potassium stearate, a coupling agent and carbon fibers.
7. The automatic sorting device based on visual recognition according to claim 1, wherein: the specular reflection plate (222) is internally provided with a transmitter for transmitting an optical signal.
8. The automatic sorting device based on visual recognition according to claim 1, wherein: the surface of the specular reflection plate (222) is provided with a first detector for detecting reflection of an optical signal.
9. The automatic sorting device based on visual recognition according to claim 1, wherein: the mirror reflection plate (222) is internally provided with a second detector and an optical processor for detecting an optical signal reflected by the steel bulge.
10. The use method of the automatic sorting device based on the visual recognition according to any one of the claims 1 to 9, characterized by comprising the following steps:
s1, adsorbing and clamping the steel to the conveying front section (1) through the first clamping arm (11), conveying the steel to the detection middle section (2) through the conveying front section (1) through the crawler belt, and clamping the steel by the clamping mechanism (23);
s2, driving the curvature detection device (4) to descend by the lifting mechanism (224), rolling on the surface of the steel by the roller (41), and when the steel rolls to a deformation position, bouncing up the roller (41) by the deformation position, and contracting the telescopic rod (47) to the cylinder (46) under pressure, so that the telescopic rod (47) and the cylinder (46) move relatively, and deformation or cracks of the surface of the steel are detected by the detection mechanism (5); after the roller (41) leaves the deformation position, the telescopic rod (47) rebounds to the initial position; when detection is realized, the damping effect can be realized, a closed loop is formed by the slide rod (51), the strip resistor (52), the slide block (53), the power supply, the ammeter and the protective resistor through a lead, and when relative sliding occurs between the telescopic rod (47) and the air cylinder (46), the slide block (53) changes the contact position of the slide rod (51) and the strip resistor (52), so that the resistance value of the strip resistor (52) is changed, and the current change in the closed loop is detected through the ammeter to realize steel surface deformation detection; the protective resistor can prevent the circuit from being burnt out due to overlarge current in the closed loop;
s3, when the roller (41) rolls on the surface of the steel material, the emitter arranged on the mirror reflection plate (222) emits light source to the surface of the steel material, the first detector collects the light source refracted at the concave part, the second detector collects the light source refracted at the convex part, the optical processor collects data, and the defective products are discharged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110585505.9A CN113369169A (en) | 2021-05-27 | 2021-05-27 | Automatic sorting device and method based on visual identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110585505.9A CN113369169A (en) | 2021-05-27 | 2021-05-27 | Automatic sorting device and method based on visual identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113369169A true CN113369169A (en) | 2021-09-10 |
Family
ID=77572183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110585505.9A Pending CN113369169A (en) | 2021-05-27 | 2021-05-27 | Automatic sorting device and method based on visual identification |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113369169A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3342146C1 (en) * | 1983-11-22 | 1985-01-03 | Württembergische Metallwarenfabrik AG, 7340 Geislingen | Device for sorting flat items, in particular punched sheet-metal items |
| CN107921484A (en) * | 2015-06-18 | 2018-04-17 | 菲利格拉德私人有限公司 | Waste separation method |
| CN109941755A (en) * | 2019-04-23 | 2019-06-28 | 惠州连硕科技有限公司 | A kind of transport device of glass cover-plate and detection device with the device |
| CN111375560A (en) * | 2020-03-25 | 2020-07-07 | 南京恒昌轻工机械有限公司 | Buttress board detects conveying system |
| CN212550553U (en) * | 2020-06-09 | 2021-02-19 | 江苏苏美达铝业有限公司 | Automatic diverging device of wheel hub detection |
-
2021
- 2021-05-27 CN CN202110585505.9A patent/CN113369169A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3342146C1 (en) * | 1983-11-22 | 1985-01-03 | Württembergische Metallwarenfabrik AG, 7340 Geislingen | Device for sorting flat items, in particular punched sheet-metal items |
| CN107921484A (en) * | 2015-06-18 | 2018-04-17 | 菲利格拉德私人有限公司 | Waste separation method |
| CN109941755A (en) * | 2019-04-23 | 2019-06-28 | 惠州连硕科技有限公司 | A kind of transport device of glass cover-plate and detection device with the device |
| CN111375560A (en) * | 2020-03-25 | 2020-07-07 | 南京恒昌轻工机械有限公司 | Buttress board detects conveying system |
| CN212550553U (en) * | 2020-06-09 | 2021-02-19 | 江苏苏美达铝业有限公司 | Automatic diverging device of wheel hub detection |
Non-Patent Citations (1)
| Title |
|---|
| 张龙: "《空间机构学与机器人设计方法》", 31 December 2018, 东南大学出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108597833B (en) | Ignition coil terminal assembly equipment | |
| CN113369169A (en) | Automatic sorting device and method based on visual identification | |
| CN110153040B (en) | High-efficient chip vision check out test set | |
| CN112974284B (en) | Integrated IC detection system | |
| CN208912571U (en) | A kind of size separation system of part | |
| CN113399281A (en) | Automatic sorting and cleaning device based on visual identification and use method | |
| CN204479489U (en) | A kind of lining core appearance detecting device | |
| CN111359895B (en) | Hub bearing inner wheel demagnetizing, cleaning, measuring and flaw detecting integrated machine | |
| CN212041540U (en) | Buckle optical detection machine | |
| CN210029223U (en) | Glass cover plate conveying device and detection equipment with same | |
| CN210121574U (en) | Discharging mechanism of solar cell sorting machine | |
| CN211191032U (en) | Mechanical part detecting, rejecting and recycling equipment | |
| CN209238471U (en) | A kind of mechanical fitting separation system based on acceleration transducer | |
| CN111289830A (en) | TO-3P packaging element's waveform test mechanism | |
| CN216937146U (en) | Front door bumper bar checking fixture structure for automobile part machining | |
| CN219266015U (en) | Magnetic shoe on-line defect detection device | |
| CN215354771U (en) | Automatic spring screening and conveying mechanism | |
| CN217797479U (en) | Automatic weighing type metal detector | |
| CN214975827U (en) | NC membrane detector | |
| CN220590803U (en) | Positioning and clamping device for visual detection of catheter | |
| CN218765093U (en) | Flatness detection device for building engineering | |
| CN219648132U (en) | Automatic grabbing full-automatic frequency measuring instrument | |
| CN220836723U (en) | Goods transportation sorting unit | |
| CN218930662U (en) | Anti-blocking device for carton sorting | |
| CN114273249B (en) | Automatic scanning, detecting and classifying device for automobile gearbox parts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210910 |