CN113941517B - Product vision sorting equipment and sorting method thereof - Google Patents
Product vision sorting equipment and sorting method thereof Download PDFInfo
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- CN113941517B CN113941517B CN202111198442.8A CN202111198442A CN113941517B CN 113941517 B CN113941517 B CN 113941517B CN 202111198442 A CN202111198442 A CN 202111198442A CN 113941517 B CN113941517 B CN 113941517B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 103
- 230000000007 visual effect Effects 0.000 claims abstract description 91
- 239000012780 transparent material Substances 0.000 claims abstract description 4
- 238000005286 illumination Methods 0.000 claims description 64
- 238000007664 blowing Methods 0.000 claims description 39
- 230000002950 deficient Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000011179 visual inspection Methods 0.000 description 10
- 238000007689 inspection Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
Abstract
The invention provides visual product sorting equipment and a sorting method thereof, wherein the visual product sorting equipment comprises a feeding mechanism for conveying a card holder, a base, a rotary table, two end face visual detection units, a plurality of side surface visual detection units and a display output unit; the base is fixedly arranged on the ground; one end of the base far away from the ground is provided with a longitudinally through window; the rotary table is arranged at one end of the base far away from the ground, and is provided with a rotating part; the rotating part of the rotary table is made of transparent materials; the detection parts of the two end face visual detection units are opposite to the surface, away from the ground, of the rotating part of the rotary table at the window and are close to the surface of the ground; the plurality of side surface visual detection units are arranged on the end surface of the base far away from the ground at intervals; the display output unit is used for receiving the images acquired by the visual detection units, comparing the images with the preset images of the card holders, and moving the card holders from the rotary table to the qualified product area or the unqualified product area according to the image comparison result.
Description
Technical Field
The invention relates to the technical field of visual sorting, in particular to product visual sorting equipment for detecting tiny parts and a sorting method thereof.
Background
The mobile phone card support is made of a slotted or open-hole thin workpiece, a plurality of surfaces are arranged at the position of the slotted or open-hole, the end face and the outer side face of the card support and the side surface of the slotted or open-hole are required to be detected by manual detection, and the detection positions are more, so that the mobile phone card support is extremely tired in manual visual detection, is easy to generate omission detection, causes defective products to flow out and influences the quality of products. The machine vision detection is to obtain the appearance image of the product by a machine and measure and judge, and is widely applied to key links such as the product production process, the product packaging and the like at present to replace the manual naked eye detection. Because the card support belongs to the miniature workpiece, the detection of the machine vision by adopting a single camera still can possibly generate the detection of the missing local surface, and the full detection of each surface of the card support can not be fully and reliably carried out.
Therefore, it is necessary to provide a device that can fully detect the shape of each surface of a micro-workpiece and fully determine the quality of the workpiece.
Disclosure of Invention
In view of the above, the present invention provides an apparatus and a sorting method thereof, which can perform comprehensive visual sorting of micro workpieces having a plurality of different end surfaces.
The technical scheme of the invention is realized as follows:
on one hand, the invention provides visual product sorting equipment, which comprises a feeding mechanism for conveying a card holder, a base (1), a rotary table (2), two end face visual detection units (3), a plurality of side surface visual detection units (4) and a display output unit (5);
the base (1) is fixedly arranged on the ground; one end of the base (1) far away from the ground is provided with a longitudinally through window (100);
the rotary table (2) is arranged at one end of the base (1) far away from the ground, and a rotating part for placing the clamping support is horizontally arranged at one end of the rotary table (2) far away from the ground; the rotating part of the rotary table (2) is movably connected with the base (1) and can rotate relative to the base (1), and the rotating part of the rotary table (2) is made of transparent materials;
the two end face visual detection units (3) are oppositely arranged on the surface of the end part of the base (1) provided with the window (100) close to the ground and the surface far away from the ground; the detection parts of the two-end-face visual detection units (3) are opposite to the surface, far away from the ground, of the rotating part of the rotary table (2) at the window (100) and the surface, close to the ground, of the clamp, and the two-end-face visual detection units (3) respectively acquire images of the surface, close to the ground, of the clamp and the surface, far away from the ground, of the rotating part of the rotary table (2) and send the acquired images to the display output unit (5);
the side surface visual detection units (4) are arranged on the end surface of the base (1) far away from the ground at intervals, the side surface visual detection units (4) acquire images of the outer side surface of the clamping support on the rotating part of the rotary table (2) and the side surface at the position of the opening, and the acquired images are sent to the display output unit (5);
the display output unit (5) is used for receiving images of the surface, close to the ground, of the card support and the surface, far away from the ground, sent by the two end surface visual detection unit (3) and the plurality of side surface visual detection units (4), and images of the outer side surface of the card support and the side surface at the opening are compared with the preset images of the card support, and the card support is moved from the rotary table (2) to the qualified product area or the unqualified product area according to the image comparison result.
On the basis of the technical scheme, preferably, the two-end-face visual detection units (3) comprise a first bracket (31), a first illumination part (32) and a first lens (33); one end of the first bracket (31) is fixedly connected with the surface of the end part of the base (1) with the window (100) close to the ground or the surface far away from the ground, and the other end of the first bracket (31) extends outwards vertically towards the direction far away from the end part of the base (1); the first lens (33) is arranged at one end of the first bracket (31) far away from the base (1), and the view finding part of the first lens (33) is opposite to the surface of the clamping support on the rotary table (2) close to the ground or the surface of the clamping support far away from the ground; the first illumination unit (32) is provided on the first mount (31) and is located on the optical path of the view finding unit of the first lens (33).
Preferably, each side surface visual detection unit (4) comprises a second bracket (41), a second illumination part (42), a light reflecting part (43) and a second lens (44); the second bracket (41) is fixedly arranged on the end surface of the base (1) far away from the ground and extends outwards in the direction far away from the ground; the end part of the second bracket (41) far away from the ground is provided with second lenses (44), and the view finding parts of the second lenses (44) are respectively aligned with one outer side surface of the clamping support placed on the rotary table (2) and one side surface adjacent to the outer side surface at the opening of the clamping support; the second illumination part (42) is arranged on the light path of the view finding part of the second lens (44) and is used for illuminating the card holder; the light reflecting part (43) is arranged between the second illumination part (42) and the end surface of the base (1) far away from the ground, the light reflecting part (43) diffusely reflects the light emitted by the second illumination part (42) and illuminates one outer side surface of the card support and the surface of the adjacent side of the opening of the view finding part of the second lens (44).
Preferably, each side surface visual detection unit (4) further comprises an illumination portion adjusting mechanism (45) and a light reflecting portion adjusting mechanism (46); one end of the illumination part adjusting mechanism (45) is fixedly connected with the side surface of the second bracket (41) in the extending direction, the other end of the illumination part adjusting mechanism (45) horizontally extends towards the direction away from the second bracket (41), the second illumination part (42) is movably connected with the illumination part adjusting mechanism (45), and the illumination part adjusting mechanism (45) adjusts an included angle between the light emitting direction of the second illumination part (42) and the base (1); one end of the light reflecting part adjusting mechanism (46) is fixedly connected with the side surface of the extending direction of the second bracket (41), the other end of the light reflecting part adjusting mechanism (46) horizontally extends towards the direction away from the second bracket (41), the light reflecting part (43) is movably connected with the light reflecting part adjusting mechanism (46), and the light reflecting part adjusting mechanism (46) adjusts an included angle between the light reflecting part (43) and the base (1).
Further preferably, the first illumination portion (32) is an annular illumination portion; the second illumination part (42) is a semi-annular light source; the normal direction of the view finding part of the first lens (33) coincides with the central axis of the first illumination part (32); a normal direction of a view finding part of the second lens (44) coincides with a central axis of the second illumination part (42).
Preferably, the feeding mechanism is a vibration disc, and the discharging end of the feeding mechanism extends to the end surface of the rotating part of the rotary table (2) far away from the ground; the feeding mechanism feeds the clamping holders into the rotating part of the rotary table (2) at intervals with the same orientation.
Preferably, the display output unit (5) comprises a display (51), a processor (52) and an output actuator (53); the processor (52) is electrically connected with the feeding mechanism, the rotary table (2), the two end face visual detection units (3), the side surface visual detection units (4), the display (51) and the output execution mechanism (53); the processor (52) drives the rotary table (2) to rotate, the rotating part of the rotary table (2) drives the clamping support to rotate, images of the surfaces of the clamping support are acquired by the first lenses (33) and the second lenses (44) sequentially through the two end surface visual detection units (3) and the side surface visual detection units (4), the images are sent to the processor (52), and the processor (52) compares the acquired images with the area of a preset image area and sends the images to the display (51) for display output; the card holders with the qualified image area or the unqualified card holders are respectively output to the qualified product area or the unqualified product area by an output executing mechanism (53).
Further preferably, the output execution mechanism (53) comprises a first air blowing mechanism (531), a second air blowing mechanism (532), a third air blowing mechanism (533), a first output channel (534), a second output channel (535) and a third output channel (536); the first output channel (534), the second output channel (535) and the third output channel (536) are arranged at intervals at the edge of the rotating part of the rotary table (2); the first air blowing mechanism (531), the second air blowing mechanism (532) and the third air blowing mechanism (533) are arranged at intervals in the direction of one side of the rotating part of the rotary table (2) away from the ground; the air outlet direction of the first air blowing mechanism (531) is opposite to one end of the first output channel (534), and the other end of the first output channel (534) is communicated with the qualified product area; the air outlet direction of the second air blowing mechanism (532) is opposite to one end of the second output channel (535), and the other end of the second output channel (535) is communicated with the region to be rechecked (537); the air outlet direction of the third air blowing mechanism (533) is opposite to one end of the third output channel (536), and the other end of the third output channel (536) is communicated with the unqualified product area.
In another aspect, the invention provides a method of sorting a visual sorting apparatus for products, comprising the steps of:
s1: the product vision sorting equipment is configured, a qualified card holder sample is placed on the end face, far away from the ground, of the rotating part of the rotary table (2), the rotary table (2) is started to enable the qualified card holder to sequentially pass through the two end face vision detection units (3) and the plurality of side surface vision detection units (4), and the two end face vision detection units (3) and the plurality of side surface vision detection units (4) respectively carry out imaging on the end face, close to the ground, of the qualified card holder, the end face, far away from the ground, of each side surface of the qualified card holder and the side surface of the card holder opening; the processor (52) stores the shape and the corresponding pixel number of each surface area of the qualified card support corresponding to the image under the focal length of each current first lens (33) or each second lens (44);
s2: storing the shape of each surface area of the card holder, and setting the threshold value of the number of pixels of each surface area of the card holder;
s3: starting a feeding mechanism to enable the feeding mechanism to arrange the clamping holders to be detected in order and adopt the same orientation, and intermittently outputting the clamping holders to the end face of the rotating part of the rotary table (2) far away from the ground; the rotating part of the rotary table (2) rotates clockwise, and the two end face visual detection units (3) and the side surface visual detection units (4) are used for respectively detecting images of the end face of the card holder to be detected, the end face away from the ground, each side surface of the card holder to be detected and the side surface of the opening of the card holder; the acquired image is sent to a processor (52), and the processor (52) compares the shape of each surface area of the card holder to be detected in the current image with the shape of each surface area of the preset qualified card holder; when the image contour shapes of the two images are similar, executing a step S4; when the image outline shapes of the two images are dissimilar, the rotating part of the rotary table (2) drives the clamping support to move to the second output channel (535), and the second blowing mechanism (532) outputs the clamping support to a defective product area;
s4: if the pixel number of each surface area of the card holder to be detected is within the pixel number threshold range of each surface area of the qualified card holder, the rotation part of the rotary table (2) drives the card holder to move to the first output channel (534), and the first blowing mechanism (531) outputs the qualified card holder to the qualified product area; the number of pixels of each surface area of at least two card holders to be detected exceeds the shape of each surface area of a qualified card holder and the threshold range of the corresponding number of pixels, the rotation part of the rotary table (2) drives the card holders to move to a third output channel (536), and a third blowing mechanism (533) outputs the unqualified card holders to an unqualified product area; if the pixel number of one surface area of the card holder to be detected exceeds the pixel number threshold range of each surface area of the qualified card holder, the rotation part of the rotary table (2) drives the card holder to move to the second output channel (535), and the second blowing mechanism (532) outputs the qualified card holder to the area to be rechecked (537);
s5: the contents of the steps S1-S4 are repeated after the replacement of the card holder type and the adjustment of any one of the end face visual detection units (3) and any one of the side face visual detection units (4).
Compared with the prior art, the visual product sorting equipment and the sorting method thereof have the following beneficial effects:
(1) According to the invention, through the arrangement of the transparent rotary table rotating part, the end face and the inner and outer sides of the clamping type miniature workpiece are subjected to local view finding sequentially through the end face visual detection unit and the side surface visual detection units, after multiple times of sequential photographing and comparison, the classified output to the qualified product area, the area to be rechecked or the unqualified product area is carried out by the display output unit according to the comparison result, and the workpiece in the area to be rechecked is subjected to the rechecked;
(2) The number threshold value of the pixels of each surface area of the qualified product card holder can be judged or adjusted by comparing the number of the workpieces in the area to be rechecked with the number of the workpieces in the unqualified product area, so that the scale standard of the inspection is adjusted;
(3) The processor sends the workpieces with different detection results to different output channels according to the detection strategy, so that the storage in different areas is realized;
(4) The equipment replaces manual visual detection by machine vision, and the reliability and the detection efficiency can be obviously improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of a receptacle of a visual product sorting apparatus and a sorting method thereof according to the present invention;
fig. 2 is an apparatus perspective view of a visual sorting apparatus for products and a sorting method thereof according to the present invention;
fig. 3 is a perspective view of a visual product sorting apparatus and method of the present invention with a portion of the housing removed;
fig. 4 is a perspective view showing a combination state of a base, a turntable, two end face visual inspection units and a plurality of side surface visual inspection units of a product visual sorting apparatus and a sorting method thereof according to the present invention;
fig. 5 is a perspective view showing another posture of a combination state of a base, a turntable, two end face visual inspection units and a plurality of side surface visual inspection units of a product visual sorting apparatus and a sorting method thereof according to the present invention;
fig. 6 is a perspective view of an end vision inspection unit of a product vision sorting apparatus and a sorting method thereof according to the present invention;
fig. 7 is a perspective view showing the structure of a side surface vision inspection unit of a product vision sorting apparatus and a sorting method thereof according to the present invention;
FIG. 8 is a left side view of FIG. 7;
fig. 9 is a perspective view showing the structure of another side surface vision inspection unit of a product vision sorting apparatus and a sorting method thereof according to the present invention;
FIG. 10 is a top view of FIG. 9;
FIG. 11 is a perspective view of the exploded condition of FIG. 9;
fig. 12 is a perspective view showing a combination state of a return table and an output actuator of a visual sorting apparatus for products and a sorting method thereof according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will clearly and fully describe the technical aspects of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
As shown in fig. 1 to 5, in one aspect, the present invention provides a visual product sorting apparatus, which includes a feeding mechanism for conveying a card holder, a base 1, a turntable 2, two end face visual detection units 3, a plurality of side surface visual detection units 4, and a display output unit 5;
in the scheme, the feeding mechanism can select a vibrating disk, and the discharging end of the feeding mechanism extends to the end surface of the rotating part of the rotary table (2) far away from the ground; the feeding mechanism sends the clamping holders into the rotating part of the rotary table (2) at intervals in the same direction;
the base 1 is fixedly arranged on the ground; one end of the base 1 far away from the ground is provided with a window 100 which is longitudinally penetrated; the base 1 is used for supporting other components;
the rotary table 2 is arranged at one end of the base 1 far away from the ground, and a rotating part for placing the clamping support is horizontally arranged at one end of the rotary table 2 far away from the ground; the rotating part of the rotary table 2 is movably connected with the base 1 and can rotate relative to the base 1, and the rotating part of the rotary table 2 is made of transparent materials; the rotary table 2 is used for rotationally conveying the card holders to be detected which are fed by the feeding mechanism and sequentially passes through the two end face visual detection units 3 and the plurality of side surface visual detection units 4;
the two end face visual detection units 3 are oppositely arranged on the surface of the end part of the base 1, which is provided with the window 100 and is close to the ground, and the surface of the end part is far from the ground; the detection parts of the two-end-face visual detection units 3 are opposite to the surface of the rotating part of the rotary table 2 in the axis direction of the window 100, which is far away from the ground, and the surface of the clamp placed on the rotating part of the rotary table 2, which is close to the ground, and the surface of the clamp, which is far away from the ground, are respectively acquired by the two-end-face visual detection units 3, and the acquired images are sent to the display output unit 5; the detection parts of the two-end visual detection units 3 and the window 100 are preferably coaxially arranged; the two end face visual detection units 3 respectively acquire images of two end faces of the card holder to be detected;
the side surface visual detection units 4 are arranged on the end surface of the base 1 far away from the ground at intervals, the side surface visual detection units 4 acquire images of the outer side surface of the clamping support on the rotating part of the rotary table 2 and the side surface at the position of the opening, and the acquired images are sent to the display output unit 5; the card holder illustrated in fig. 1 has, in addition to its both end surfaces, outer side surfaces A1, A2, A3 and A4 and inner side surfaces B1, B2, B3 and B4 at the openings, at least 10 surfaces.
The display output unit 5 is used for receiving images of the surface, close to the ground, of the card support and the surface, far away from the ground, sent by the two end surface visual detection units 3 and the side surface visual detection units 4, and images of the outer side surface of the card support and the side surface at the opening are compared with the preset image of the card support, and the card support is moved from the rotary table 2 to the qualified product area or the unqualified product area according to the image comparison result, so that the partition placement after the automatic visual inspection is realized. The scheme can replace manual naked eye detection, the working efficiency is greatly improved, and the detection omission rate is greatly reduced.
As can be seen from fig. 4 to 6, the two-end visual inspection units 3 each include a first bracket 31, a first illumination portion 32, and a first lens 33; one end of the first bracket 31 is fixedly connected with the surface of the end part of the base 1, which is provided with the window 100 and is close to the ground or the surface far from the ground, and the other end of the first bracket 31 extends outwards vertically towards the direction far from the end part of the base 1; the first lens 33 is arranged at one end of the first bracket 31 far away from the base 1, and the view finding part of the first lens 33 is opposite to the surface of the clamping bracket on the rotary table 2 close to the ground or the surface of the clamping bracket far away from the ground; the first illumination portion 32 is disposed on the first bracket 31 and is located on the optical path of the viewfinder portion of the first lens 33. The first lens 33 acquires images of the end face of the card holder to be detected, which is far from the ground, and the end face of the card holder, which is close to the ground, respectively, and the first lens 33 is supplemented with light by the first illumination portion in order to sufficiently acquire the outline thereof.
As can be seen from fig. 7 to 11, each side surface visual inspection unit 4 includes a second bracket 41, a second illumination portion 42, a light reflection portion 43, and a second lens 44; the second bracket 41 is fixedly arranged on the end surface of the base 1 far away from the ground and extends outwards in the direction far away from the ground; the end part of the second bracket 41 far away from the ground is provided with second lenses 44, and the view finding part of each second lens 44 is respectively aligned with one outer side surface of the clamping support placed on the rotary table 2 and one side surface adjacent to the outer side surface at the opening of the clamping support; the second illumination part 42 is arranged on the light path of the view finding part of the second lens 44 and is used for illuminating the card holder; the light reflecting part 43 is arranged between the second illumination part 42 and the end surface of the base 1 far away from the ground, and the light reflecting part 43 diffusely reflects the light emitted by the second illumination part 42 to illuminate one outer side surface of the card support for framing the view-finding part of the second lens 44 and the surface of the adjacent side of the opening. The scheme adopts four groups of side surface visual detection units 4, and each group of side surface visual detection units 4 respectively acquire two different surfaces of a card holder to be detected, namely, the four groups of side surface visual detection units 4 respectively acquire surfaces A1 and B1, surfaces A2 and B2, surfaces A3 and B3 and surfaces A4 and B4. Because the side surface and the second lens 44 have a certain included angle, the light is supplemented to the side surface by adopting the light reflecting part 43, so that a clearer image can be conveniently obtained. As a preferable mode, as shown in the drawings, the first illumination portion 32 in this embodiment is a circular illumination portion; the second illumination portion 42 is a semi-annular light source; the normal direction of the view finding part of the first lens 33 coincides with the central axis of the first illumination part 32; the normal direction of the finder portion of the second lens 44 coincides with the central axis of the second illumination portion 42. An LED lamp is arranged in the illumination part.
Since the directions and positions of the sides of each group of the card holders to be detected are different from each other, the illumination portion adjusting mechanism 45 and the light reflecting portion adjusting mechanism 46 are provided in each side surface visual detecting unit 4 for better facing the two different card holder surfaces. One end of the illumination part adjusting mechanism 45 is fixedly connected with the side surface of the second bracket 41 in the extending direction, the other end of the illumination part adjusting mechanism 45 horizontally extends towards the direction away from the second bracket 41, the second illumination part 42 is movably connected with the illumination part adjusting mechanism 45, and the illumination part adjusting mechanism 45 adjusts the included angle between the light emergent direction of the second illumination part 42 and the base 1; one end of the light reflecting portion adjusting mechanism 46 is fixedly connected with the side surface of the extending direction of the second bracket 41, the other end of the light reflecting portion adjusting mechanism 46 horizontally extends towards the direction away from the second bracket 41, the light reflecting portion 43 is movably connected with the light reflecting portion adjusting mechanism 46, and the light reflecting portion adjusting mechanism 46 adjusts an included angle between the light reflecting portion 43 and the base 1. Since the position of the card holder to be detected is substantially fixed relative to the position of the second lens 44, in order to obtain a corresponding set of surfaces for better lighting, the second illumination portion 42 and the light reflection portion 43 each have respective adjustment components, namely an illumination portion adjustment mechanism 45 and a light reflection portion adjustment mechanism 46. As can be seen from the figure, the structures of the illumination portion adjusting mechanism 45 or the light reflecting portion adjusting mechanism 46 aligned to different sides are different, the illumination portion adjusting mechanism 45 or the light reflecting portion adjusting mechanism 46 shown in fig. 7 is L-shaped, and the second illumination portion 42 and the light reflecting portion 43 are provided at the end of the L-shaped structure and extend in a direction away from the L-shaped illumination portion adjusting mechanism 45 or the light reflecting portion adjusting mechanism 46, so that the image of the face A2/B2 or A4/B4 is better acquired. Fig. 9 shows another U-shaped structure of the illumination portion adjusting mechanism 45 or the light reflecting portion adjusting mechanism 46, and the second illumination portion 42 and the light reflecting portion 43 are disposed at an opening portion of the U-shaped structure, so that an image of the face A1/B1 or A3/B3 is better obtained. In this embodiment, the side surface visual inspection units 4 have four groups, and can be further increased or decreased according to actual inspection requirements.
As can be seen in fig. 2 in combination with fig. 12, the display output unit 5 comprises a display 51, a processor 52 and an output actuator 53; the processor 52 is electrically connected with the feeding mechanism, the rotary table 2, the two end face visual detection units 3, the plurality of side surface visual detection units 4, the display 51 and the output executing mechanism 53; the output actuator 53 includes a first air blowing mechanism 531, a second air blowing mechanism 532, a third air blowing mechanism 533, a first output passage 534, a second output passage 535, and a third output passage 536; the first output channel 534, the second output channel 535, and the third output channel 536 are provided at intervals at the edge of the rotating part of the turntable 2; the first air blowing mechanism 531, the second air blowing mechanism 532 and the third air blowing mechanism 533 are arranged at intervals in the direction of one side of the rotating part of the turntable 2 away from the ground; the air outlet direction of the first air blowing mechanism 531 is opposite to one end of the first output channel 534, and the other end of the first output channel 534 is communicated with the qualified product area; the air outlet direction of the second air blowing mechanism 532 is opposite to one end of the second output channel 535, and the other end of the second output channel 535 is communicated with the area 537 to be rechecked; the air outlet direction of the third air blowing mechanism 533 is opposite to one end of the third output channel 536, and the other end of the third output channel 536 communicates with the reject area. The processor 52 drives the rotary table 2 to rotate at a constant speed, the rotary part of the rotary table 2 drives the clamping support to rotate, images of the surfaces of the clamping support are acquired by the first lenses 33 and the second lenses 44 sequentially through the two end surface visual detection units 3 and the side surface visual detection units 4, the images are sent to the processor 52, and the processor 52 compares the acquired images with the area of a preset image area and sends the images to the display 51 for display output; the card holders whose image area is qualified or the card holders whose image area is unqualified are output to the qualified product area, the area 537 to be retested or the unqualified product area by the output actuator 53, respectively.
The invention discloses a specific sorting method of product visual sorting equipment, which comprises the following steps:
s1: arranging product vision sorting equipment, placing a qualified card holder sample on the end face of a rotating part of a rotary table 2 far away from the ground, starting the rotary table 2 to enable the qualified card holder to sequentially pass through two end face vision detection units 3 and a plurality of side surface vision detection units 4, and respectively carrying out imaging on the end face of the qualified card holder close to the ground, the end face far away from the ground, each side surface of the qualified card holder and the side surface of an opening of the card holder by the two end face vision detection units 3 and the plurality of side surface vision detection units 4; the processor 52 stores the shape and the corresponding number of pixels of each surface area of the qualified card tray corresponding to the image at the focal length of each current first lens 33 or each second lens 44;
s2: storing the shape of each surface area of the card holder, and setting the threshold value of the number of pixels of each surface area of the qualified card holder;
s3: starting a feeding mechanism to enable the feeding mechanism to arrange the clamping holders to be detected in order and adopt the same orientation, and intermittently outputting the clamping holders to the end face of the rotating part of the rotary table 2, which is far away from the ground; the rotating part of the rotary table 2 rotates clockwise, and the two end face visual detection units 3 and the side surface visual detection units 4 are used for respectively detecting images of the end face of the card holder to be detected, the end face far away from the ground, the side surfaces of the card holder to be detected and the side surfaces of the opening of the card holder; the acquired image is sent to a processor 52, and the processor 52 compares the shape of each surface area of the card holder to be detected in the current image with the shape of each surface area of the preset qualified card holder; when the image contour shapes of the two images are similar, executing a step S4; when the image outline shapes of the two images are dissimilar, the rotating part of the rotary table 2 drives the card holder to move to the second output channel 535, and the second blowing mechanism 532 outputs the card holder to the unqualified product area;
s4: if the pixel number of each surface area of the card holder to be detected is within the threshold value range of the pixel number of each surface area of the qualified card holder, the rotating part of the rotary table 2 drives the card holder to move to the first output channel 534, and the first air blowing mechanism 531 outputs the qualified card holder to the qualified product area; the number of pixels of each surface area of at least two card holders to be detected exceeds the shape of each surface area of a qualified card holder and the threshold range of the corresponding number of pixels, the rotation part of the rotary table 2 drives the card holders to move to the third output channel 536, and the third blowing mechanism 533 outputs the unqualified card holders to the unqualified product area; if the pixel number of a certain surface area of the card holder to be detected exceeds the pixel number threshold range of each surface area of the qualified card holder, the rotating part of the rotary table 2 drives the card holder to move to the second output channel 535, and the second blowing mechanism 532 outputs the qualified card holder to the area 537 to be rechecked;
s5: the contents of the steps S1 to S4 are repeated after the replacement of the card holder type and the adjustment of either one of the end face visual inspection unit 3 and either one of the side face visual inspection unit 4.
The threshold value of the number of pixels in each surface area of the qualified katuo may be set to be a range of ±2% - ±5% of the number of pixels in the surface area.
In order to prevent false detection, in the above scheme, it is set that the number of pixels of each surface area of at least two card holders to be detected exceeds the shape of each surface area of a qualified card holder and the corresponding threshold range of the number of pixels, and the number of pixels of one surface area of the card holder to be detected exceeds the threshold range of the number of pixels of each surface area of the qualified card holder, so that manual or repeated detection of equipment is necessary to prevent equipment errors. If the number of receptacles in the region 537 to be retested exceeds the number of receptacles in the reject region by a factor of 10-15, this indicates that the current pixel count threshold range is selected too small, and the upper threshold limit can be suitably raised by 0.5-1 percent.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (4)
1. The utility model provides a product vision letter sorting equipment, includes the feeding mechanism who is used for carrying the card to hold in the palm, its characterized in that: the device also comprises a base (1), a rotary table (2), two end face visual detection units (3), a plurality of side surface visual detection units (4) and a display output unit (5);
the base (1) is fixedly arranged on the ground; one end of the base (1) far away from the ground is provided with a longitudinally through window (100);
the rotary table (2) is arranged at one end of the base (1) far away from the ground, and a rotating part for placing the clamping support is horizontally arranged at one end of the rotary table (2) far away from the ground; the rotating part of the rotary table (2) is movably connected with the base (1) and can rotate relative to the base (1), and the rotating part of the rotary table (2) is made of transparent materials;
the two end face visual detection units (3) are oppositely arranged on the surface of the end part of the base (1) provided with the window (100) close to the ground and the surface far away from the ground; the detection parts of the two-end-face visual detection units (3) are opposite to the surface, far away from the ground, of the rotating part of the rotary table (2) at the window (100) and the surface, close to the ground, of the clamp, and the two-end-face visual detection units (3) respectively acquire images of the surface, close to the ground, of the clamp and the surface, far away from the ground, of the rotating part of the rotary table (2) and send the acquired images to the display output unit (5);
the side surface visual detection units (4) are arranged on the end surface of the base (1) far away from the ground at intervals, the side surface visual detection units (4) acquire images of the outer side surface of the clamping support on the rotating part of the rotary table (2) and the side surface at the position of the opening, and the acquired images are sent to the display output unit (5);
the display output unit (5) is used for receiving images of the surface, close to the ground, of the card support and the surface, far away from the ground, sent by the two end surface visual detection units (3) and the plurality of side surface visual detection units (4), and images of the outer side surface of the card support and the side surface at the opening are compared with the preset images of the card support, and the card support is moved from the rotary table (2) to the qualified product area or the unqualified product area according to the image comparison result;
the two-end-face visual detection units (3) comprise a first bracket (31), a first illumination part (32) and a first lens (33); one end of the first bracket (31) is fixedly connected with the surface of the end part of the base (1) with the window (100) close to the ground or the surface far away from the ground, and the other end of the first bracket (31) extends outwards vertically towards the direction far away from the end part of the base (1); the first lens (33) is arranged at one end of the first bracket (31) far away from the base (1), and the view finding part of the first lens (33) is opposite to the surface of the clamping support on the rotary table (2) close to the ground or the surface of the clamping support far away from the ground; the first illumination part (32) is arranged on the first bracket (31) and is positioned on the light path of the view finding part of the first lens (33);
each side surface visual detection unit (4) comprises a second bracket (41), a second illumination part (42), a light reflecting part (43) and a second lens (44); the second bracket (41) is fixedly arranged on the end surface of the base (1) far away from the ground and extends outwards in the direction far away from the ground; the end part of the second bracket (41) far away from the ground is provided with second lenses (44), and the view finding parts of the second lenses (44) are respectively aligned with one outer side surface of the clamping support placed on the rotary table (2) and one side surface adjacent to the outer side surface at the opening of the clamping support; the second illumination part (42) is arranged on the light path of the view finding part of the second lens (44) and is used for illuminating the card holder; the light reflecting part (43) is arranged between the second illumination part (42) and the end surface of the base (1) far away from the ground, the light reflecting part (43) diffusely reflects the light emitted by the second illumination part (42) and illuminates one outer side surface of the clamping support and the surface of the adjacent side of the opening of the view finding part of the second lens (44);
the display output unit (5) comprises a display (51), a processor (52) and an output executing mechanism (53); the processor (52) is electrically connected with the feeding mechanism, the rotary table (2), the two end face visual detection units (3), the side surface visual detection units (4), the display (51) and the output execution mechanism (53); the processor (52) drives the rotary table (2) to rotate, the rotating part of the rotary table (2) drives the clamping support to rotate, images of the surfaces of the clamping support are acquired by the first lenses (33) and the second lenses (44) sequentially through the two end surface visual detection units (3) and the side surface visual detection units (4), the images are sent to the processor (52), and the processor (52) compares the acquired images with the area of a preset image area and sends the images to the display (51) for display output; the card holders with the qualified image area or the unqualified card holders are respectively output to the qualified product area or the unqualified product area by an output executing mechanism (53);
the output executing mechanism (53) comprises a first air blowing mechanism (531), a second air blowing mechanism (532), a third air blowing mechanism (533), a first output channel (534), a second output channel (535) and a third output channel (536); the first output channel (534), the second output channel (535) and the third output channel (536) are arranged at intervals at the edge of the rotating part of the rotary table (2); the first air blowing mechanism (531), the second air blowing mechanism (532) and the third air blowing mechanism (533) are arranged at intervals in the direction of one side of the rotating part of the rotary table (2) away from the ground; the air outlet direction of the first air blowing mechanism (531) is opposite to one end of the first output channel (534), and the other end of the first output channel (534) is communicated with the qualified product area; the air outlet direction of the second air blowing mechanism (532) is opposite to one end of the second output channel (535), and the other end of the second output channel (535) is communicated with the region to be rechecked (537); the air outlet direction of the third air blowing mechanism (533) is opposite to one end of the third output channel (536), and the other end of the third output channel (536) is communicated with the unqualified product area;
the sorting method of the product vision sorting equipment comprises the following steps:
s1: the product vision sorting equipment is configured, a qualified card holder sample is placed on the end face, far away from the ground, of the rotating part of the rotary table (2), the rotary table (2) is started to enable the qualified card holder to sequentially pass through the two end face vision detection units (3) and the plurality of side surface vision detection units (4), and the two end face vision detection units (3) and the plurality of side surface vision detection units (4) respectively carry out imaging on the end face, close to the ground, of the qualified card holder, the end face, far away from the ground, of each side surface of the qualified card holder and the side surface of the card holder opening; the processor (52) stores the shape and the corresponding pixel number of each surface area of the qualified card support corresponding to the image under the focal length of each current first lens (33) or each second lens (44);
s2: storing the shape of each surface area of the card holder, and setting the threshold value of the number of pixels of each surface area of the card holder;
s3: starting a feeding mechanism to enable the feeding mechanism to arrange the clamping holders to be detected in order and adopt the same orientation, and intermittently outputting the clamping holders to the end face of the rotating part of the rotary table (2) far away from the ground; the rotating part of the rotary table (2) rotates clockwise, and the two end face visual detection units (3) and the side surface visual detection units (4) are used for respectively detecting images of the end face of the card holder to be detected, the end face away from the ground, each side surface of the card holder to be detected and the side surface of the opening of the card holder; the acquired image is sent to a processor (52), and the processor (52) compares the shape of each surface area of the card holder to be detected in the current image with the shape of each surface area of the preset qualified card holder; when the image contour shapes of the two images are similar, executing a step S4; when the image outline shapes of the two images are dissimilar, the rotating part of the rotary table (2) drives the clamping support to move to the second output channel (535), and the second blowing mechanism (532) outputs the clamping support to a defective product area;
s4: if the pixel number of each surface area of the card holder to be detected is within the pixel number threshold range of each surface area of the qualified card holder, the rotation part of the rotary table (2) drives the card holder to move to the first output channel (534), and the first blowing mechanism (531) outputs the qualified card holder to the qualified product area; the number of pixels of each surface area of at least two card holders to be detected exceeds the shape of each surface area of a qualified card holder and the threshold range of the corresponding number of pixels, the rotation part of the rotary table (2) drives the card holders to move to a third output channel (536), and a third blowing mechanism (533) outputs the unqualified card holders to an unqualified product area; if the pixel number of one surface area of the card holder to be detected exceeds the pixel number threshold range of each surface area of the qualified card holder, the rotation part of the rotary table (2) drives the card holder to move to the second output channel (535), and the second blowing mechanism (532) outputs the qualified card holder to the area to be rechecked (537);
s5: the contents of the steps S1-S4 are repeated after the replacement of the card holder type and the adjustment of any one of the end face visual detection units (3) and any one of the side face visual detection units (4).
2. A visual product sorting apparatus as claimed in claim 1, wherein: each side surface visual detection unit (4) further comprises an illumination part adjusting mechanism (45) and a light reflecting part adjusting mechanism (46); one end of the illumination part adjusting mechanism (45) is fixedly connected with the side surface of the second bracket (41) in the extending direction, the other end of the illumination part adjusting mechanism (45) horizontally extends towards the direction away from the second bracket (41), the second illumination part (42) is movably connected with the illumination part adjusting mechanism (45), and the illumination part adjusting mechanism (45) adjusts an included angle between the light emitting direction of the second illumination part (42) and the base (1); one end of the light reflecting part adjusting mechanism (46) is fixedly connected with the side surface of the extending direction of the second bracket (41), the other end of the light reflecting part adjusting mechanism (46) horizontally extends towards the direction away from the second bracket (41), the light reflecting part (43) is movably connected with the light reflecting part adjusting mechanism (46), and the light reflecting part adjusting mechanism (46) adjusts an included angle between the light reflecting part (43) and the base (1).
3. A visual product sorting apparatus as claimed in claim 2, wherein: the first illumination part (32) is a circular illumination part; the second illumination part (42) is a semi-annular light source; the normal direction of the view finding part of the first lens (33) coincides with the central axis of the first illumination part (32); a normal direction of a view finding part of the second lens (44) coincides with a central axis of the second illumination part (42).
4. A visual product sorting apparatus as claimed in claim 1, wherein: the feeding mechanism is a vibrating disc, and the discharging end of the feeding mechanism extends to the end surface of the rotating part of the rotary table (2) far away from the ground; the feeding mechanism feeds the clamping holders into the rotating part of the rotary table (2) at intervals with the same orientation.
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