CN114101201B - Cleaning device and method for automatically identifying and classifying automobile parts - Google Patents
Cleaning device and method for automatically identifying and classifying automobile parts Download PDFInfo
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- CN114101201B CN114101201B CN202111298281.XA CN202111298281A CN114101201B CN 114101201 B CN114101201 B CN 114101201B CN 202111298281 A CN202111298281 A CN 202111298281A CN 114101201 B CN114101201 B CN 114101201B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/12—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration by sonic or ultrasonic vibrations
- B08B3/123—Cleaning travelling work, e.g. webs, articles on a conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/022—Cleaning travelling work
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
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Abstract
The invention relates to the technical field of automobile part cleaning, in particular to a cleaning device for automatically identifying and classifying automobile parts, which comprises an identification and classification device, a conveying device, an ultrasonic cleaning device, a clamping device and a high-pressure water washing device, wherein the identification and classification device comprises a computer, a touch sensor and an infrared camera, and the touch sensor and the infrared camera are connected with the computer; the ultrasonic cleaning device is connected with the conveying device through a linear type conveying belt; the clamping device is arranged above the ultrasonic cleaning device; and the high-pressure washing device is connected with the conveying device through an arc-shaped conveying belt. In addition, a cleaning method is further provided, the material is identified through the touch sensor, the outline of the part is scanned through the infrared camera, the part is transmitted to Open CV software in a computer to identify the volume and the length, the part is divided into two types, and the part is cleaned in a classified mode, so that the cleaning efficiency and the cleaning degree can be obviously improved, and the labor cost is reduced.
Description
Technical Field
The invention relates to the technical field of automobile part cleaning, in particular to a cleaning device and a method for automatically identifying and classifying automobile parts.
Background
After the new energy automobile parts are processed, harmful substances such as oil sludge, carbon deposition and colloid in the new energy automobile parts have certain damage to the interior of the automobile. Therefore, it is necessary to clean the parts to remove the foreign materials remaining on the parts. The existing automobile part cleaning device mainly relies on manual work for classification, and then is cleaned through the cleaning device, so that the efficiency is low, and the labor cost is high.
Disclosure of Invention
The invention solves the problems of low efficiency and high labor cost of the cleaning device for the automobile parts in the related technology which mainly depends on manual classification and then is cleaned by the cleaning device, provides the cleaning device for automatically identifying and classifying the automobile parts, automatically identifies and classifies the automobile parts and then cleans in a classification way, and also provides the cleaning method by the device, after the automatic identification and classification are finished, the parts are metal and the volume is not more than 0.18m3Cleaning the workpiece by an ultrasonic cleaning device when the length of the workpiece is not more than 1 m; the parts are plastic and have a length of more than 1m or a volume of more than 0.18m3The metal parts and the length of the metal parts are larger than 1m, the metal parts are cleaned in the high-pressure water washing device, the cleaning efficiency and the cleaning degree can be obviously improved, and meanwhile, the labor cost is reduced.
In order to solve the technical problems, the invention is realized by the following technical scheme: a cleaning apparatus for automatically identifying and classifying automobile parts, comprising:
the identification and classification device comprises a computer, a touch sensor and an infrared camera, and the touch sensor and the infrared camera are connected with the computer;
the touch sensor is arranged on one side of the conveying device, and the infrared camera is arranged above the conveying device;
the ultrasonic cleaning device is connected with the conveying device through a linear type conveying belt;
the clamping device is arranged above the ultrasonic cleaning device;
and the high-pressure washing device is connected with the conveying device through an arc-shaped conveying belt.
Preferably, the conveying device comprises a driving motor and a conveying belt, the driving motor is installed on the conveying belt through a bolt, the touch sensor is installed on one side of the conveying belt, and the infrared camera is installed in a box body above the conveying belt.
Preferably, the ultrasonic cleaning device comprises a first frame, a proximity switch and a cleaning tank, wherein the cleaning tank is arranged on the first frame, a cleaning basket and a cleaning backboard are arranged in the cleaning tank, a heating pipe is fixed on the rear side of the cleaning tank, a plurality of transducers are arranged at the bottom of the cleaning tank, and the cleaning backboard is arranged below the cleaning basket; an electric control cabinet is arranged on one side in the first rack, and a power supply change-over switch and a temperature control meter are arranged in the electric control cabinet; the universal wheels and the booster pump are mounted at the bottom of the first frame.
Preferably, the clamping device comprises a manipulator, a lifting device, a support column and a guide rail, the manipulator is mounted on a fixing plate through the lifting device, the fixing plate is slidably mounted on the guide rail, the guide rail is mounted on a guide rail mounting plate, and the guide rail mounting plate is fixed on the ground through the support column.
As a preferred scheme, the high-pressure washing device comprises a second rack, a conveying assembly, a spray box assembly, a liquid storage tank and an electric cabinet, wherein the bottom of the second rack is provided with a ground foot, and the conveying assembly is wrapped in the second rack through an outer seal; the conveying assembly comprises rotating shafts, bearings with sliding block seats, chain wheels and chains, wherein the bearings with the sliding block seats and the chain wheels are arranged on two sides of the two rotating shafts, the chains are arranged between the two chain wheels, and the two chains are provided with support plates; the spraying box assembly is arranged in the cleaning cavity, the cleaning cavity is arranged at the top of the second rack, and the spraying box assembly comprises an upper spraying box and side spraying boxes on two sides; the bottom of the liquid storage tank is arranged on the second rack, the top of the liquid storage tank is provided with a bag filter, and the outer side of the liquid storage tank is provided with a blow-off pipe; the electrical cabinet is mounted on the second frame.
On the other hand, the invention provides a cleaning method for automatically identifying and classifying automobile parts, which comprises the following steps:
s1, identifying material: when the part is conveyed to the side of the touch sensor through the conveying device, whether the amplitude of the output signal of the touch sensor in the computer changes or not can be observed to judge whether the part is made of metal or plastic;
s2, identifying volume: when the parts are identified as plastic materials, the parts are directly conveyed into a high-pressure washing device by a conveying device for washing; when the part is identified as a metal material, the volume is continuously identified, the infrared camera scans the outline of the part and transmits the part outline to a computer to identify the volume through Open CV software;
s3, establishing a model point cloud base: inputting an STL format file of a part, extracting data information, converting the data information into a common PCD format of point cloud data, performing normal vector estimation on each point, selecting proper features to construct and store a feature vector, establishing an index of the feature vector, and preparing data for subsequent feature matching;
s4, identifying and positioning part length: finding out the approximate size of an object by using Open CV software, taking actually scanned point cloud data as input, carrying out normal vector estimation on each point after preprocessing, constructing a characteristic vector same as a model base, matching, completing an identification task and obtaining length information of a part through coordinate conversion;
s5, planning the grasping orientation: the grabbing azimuth planning module takes the point cloud model of the identified part as input, calculates the feasible region of the accessible direction by combining the structure and the size information of the mechanical arm, calculates the feasible region of the contactable azimuth by combining the constraint information of the part, optimizes the grabbing quality according to grabbing indexes and finds the optimal grabbing azimuth meeting the assembly requirement;
s6, cleaning: when the classified parts are metal and the volume is not more than 0.18m through the previous steps3When the length of the part is not more than 1m, the part is grabbed into an ultrasonic cleaning device through a manipulator for cleaning; when the classified parts are plastic and the length is more than 1m or the volume is more than 0.18m through the steps3The length of the metal parts is more than 1m, and the metal parts are directly conveyed into a high-pressure water washing device through a conveyor belt for washing.
Preferably, in step S2, when the Open CV software performs volume recognition, the original image is preprocessed first, and in order to increase the speed of image data processing, the color image is converted into a grayscale image, then the converted grayscale image is denoised, the image information is reduced again, and then the image is edge-extracted to derive the corresponding format of the part.
Preferably, in step S3, in order to fully utilize the model information to identify the part, the model is extracted, integrated and stored to form a model point cloud library.
Preferably, in step S6, when the proximity switch senses that there is a part in the cleaning tank during the ultrasonic cleaning, the linear conveyor belt automatically stops transmitting, then the ultrasonic cleaning is performed, and after the set time, the ultrasonic cleaning device gives an alarm to verify that the part is cleaned, and at the same time, the manipulator picks up the part and places the part on the linear conveyor belt to continue transmitting.
Preferably, in step S6, when the high pressure water washing is performed, the parts are directly conveyed to the conveying assembly through the arc-shaped conveying belt, the upper spraying box and the side spraying boxes on two sides perform three-side washing, when the washing reaches a set time, the high pressure water washing device gives an alarm to prove that the parts are washed clean, and at this time, the parts are conveyed to the arc-shaped conveying belt through the conveying assembly to be continuously conveyed.
Compared with the prior art, the invention has the beneficial effects that: the touch sensor is used for identifying materials, the infrared camera is used for scanning the outline of the part, the outline of the part is transmitted to Open CV software in a computer to identify the volume and the length, the part is divided into two types, then the parts are classified and cleaned, the part is metal, and the volume of the part is not more than 0.18m3Cleaning the workpiece by an ultrasonic cleaning device when the length of the workpiece is not more than 1 m; the parts are plastic and have a length of more than 1m or a volume of more than 0.18m3The length of the metal part is more than 1m, and the metal part is cleaned in a high-pressure water washing device; parts of different volumes, lengths and materials are cleaned through different devices, so that the cleaning efficiency and the cleaning degree can be obviously improved, and meanwhile, the labor cost is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the conveyor of the present invention;
FIG. 3 is a schematic view of the structure of the clamping device of the present invention;
FIG. 4 is a front view of the ultrasonic cleaning device of the present invention;
FIG. 5 is an exploded view of the ultrasonic cleaning device of the present invention;
FIG. 6 is a side view of the high pressure water wash apparatus of the present invention;
FIG. 7 is a schematic diagram of the structure of the conveying assembly in the high pressure water washing apparatus of the present invention;
FIG. 8 is a flow chart of the present invention for performing classification recognition;
FIG. 9 is a diagram of a data storage structure of the present invention.
In the figure:
1. a driving motor, 2, bolts, 3, a conveyor belt, 4, a touch sensor, 5, a linear conveyor belt, 6, an arc conveyor belt, 7, a fixing plate, 8, a pillar, 9, a mechanical arm, 10, a fixed outer rod, 11, a telescopic inner rod, 12, a slide block, 13, a guide rail, 14, a first frame, 15, an electric control cabinet, 16, a hinge, 17, a power supply change-over switch, 18, a temperature control meter, 19, a booster pump, 20, a universal wheel, 21, a cleaning basket, 22, a cleaning basket, 23, a heating pipe, 24, a transducer, 25, a second frame, 26, a ground foot, 27, a rotating shaft, 28, a bearing with a seat, 29, a chain wheel, 30, a chain, 31, a support plate, 32, an outer seal, 33, a cleaning chamber, 34, an upper spraying box, 35, a side spraying box, 36, a liquid storage tank, 37, a bag type filter, 38, a sewage discharge pipe, 39, an electric cabinet, 40, a display screen, 41 and an operation button, 42. an alarm lamp.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
Example 1
As shown in fig. 1 to 7, a cleaning device for automatically identifying and classifying automobile parts comprises an identification and classification device, a conveying device, an ultrasonic cleaning device, a clamping device and a high-pressure washing device, wherein the identification and classification device comprises a computer, a touch sensor 4 and an infrared camera, Open CV software is installed in the computer, the touch sensor 4 and the infrared camera are both connected with the computer, the touch sensor 4 is used for identifying the material of parts, and the infrared camera scans the outlines of the parts and transmits the outlines to the Open CV software in the computer for identifying the volume; the touch sensor 4 is arranged at one side of the conveying device, and the infrared camera is arranged above the conveying device; the ultrasonic cleaning device is connected with the conveying device through a linear type conveying belt 5; the clamping device is arranged above the ultrasonic cleaning device; the high-pressure washing device is connected with the conveying device through an arc-shaped conveying belt 6.
The parts are classified into two types by the identification and classification device, the touch sensor 4 and the infrared camera transmit relevant information to the central processing unit, the central processing unit sends an instruction to control the corresponding conveyor belt (the linear conveyor belt 5 or the arc-shaped conveyor belt 6) to transmit, so that the corresponding parts are classified into correct cleaning machines to complete cleaning, namely one type is conveyed to the ultrasonic cleaning device through the linear conveyor belt 5 to be cleaned, and the other type is conveyed to the high-pressure water cleaning device through the arc-shaped conveyor belt 6 to be cleaned.
In one embodiment, the conveying device comprises a driving motor 1 and a conveying belt 3, the driving motor 1 is installed on one side of the conveying belt 3 through a bolt 2 and a motor base and drives the conveying belt 3 to convey, a touch sensor 4 is installed on one side of the conveying belt 3, the touch sensor 4 is used for identifying materials, an infrared camera is installed in a box body above the conveying belt 3, and the infrared camera is used for scanning the outline of a part.
In one embodiment, the ultrasonic cleaning device comprises a first frame 14, a proximity switch and a cleaning tank, wherein the cleaning tank is arranged on the first frame 14, a cleaning basket 21 and a cleaning backboard 22 are arranged in the cleaning tank, a heating pipe 23 is fixed at the rear side, and a plurality of transducers 24 are arranged at the bottom of the cleaning tank, wherein the heating pipe 23 can heat the cleaning liquid in the cleaning tank to achieve the best cleaning effect; the cleaning backboard 22 is arranged below the cleaning basket 21; an electric control cabinet 15 is arranged on one side in the first frame 14 through a hinge 16, and a power supply change-over switch 17, a temperature control meter 18 and an alarm device are arranged in the electric control cabinet 15; the universal wheels 20 and the booster pump 19 are mounted at the bottom of the first frame 14.
In one embodiment, the clamping device comprises a manipulator 9, a lifting device, a support column 8 and a guide rail 13, wherein the manipulator 9 is mounted on the fixing plate 7 through the lifting device, the lifting device is a telescopic rod and comprises a fixed outer rod 10 and a telescopic inner rod 11, and the fixed outer rod 10 is mounted on the fixing plate 7 and can realize the movement of the manipulator 9 in the vertical direction; the fixing plate 7 is slidably mounted on a guide rail 13 through a slide block 12, the guide rail 13 is mounted on a guide rail mounting plate, the guide rail mounting plate is fixed on the ground through a support column 8, and the manipulator 9 can slide on the guide rail 13, so that the parts with different sizes can be cleaned at different heights.
In one embodiment, the high-pressure water washing device comprises a second frame 25, a conveying assembly, a spraying box assembly, a liquid storage tank 36 and an electric cabinet 39, wherein the bottom of the second frame 25 is provided with a ground foot 26, and the conveying assembly is wrapped in the second frame 25 through an outer seal 32; the conveying assembly comprises rotating shafts 27, bearings 28 with slider seats, chain wheels 29 and chains 30, the bearings 28 with slider seats and the chain wheels 29 are both arranged on two sides of the two rotating shafts 27, the chains 30 are arranged between the two chain wheels 29, the two chains 30 are provided with carrier plates 31, and the chain wheels 29 on one side are driven by motors; the spraying box assembly is arranged in the cleaning chamber 33, the cleaning chamber 33 is arranged at the top of the second rack 25, and the spraying box assembly comprises an upper spraying box 34 and side spraying boxes 35 at two sides; the bottom of the liquid storage tank 36 is arranged on the second frame 25, the top of the liquid storage tank is provided with a bag filter 37, and the outer side of the liquid storage tank is provided with a sewage discharge pipe 38; an electrical cabinet 39 is mounted on the second frame 25, and the electrical cabinet 39 includes a display screen 40, an operation button 41, and an alarm lamp 42.
Example 2
As shown in fig. 1 to 8, another aspect of the present invention also provides a cleaning method for automatically identifying and classifying automobile parts, comprising the steps of:
s1, identifying material: when the part is conveyed to the side of the touch sensor 4 by the conveying device, whether the part is made of metal or plastic can be judged by observing whether the amplitude of the output signal of the touch sensor 4 in a computer changes or not (if one coil passes through alternating current, the other coil generates induced potential, the magnitude of the induced potential depends on the conductivity of an object to be detected according to an eddy current effect, if the part to be detected is made of metal, the magnetization phenomenon is very obvious, the inductance of the sensor coil is multiplied, so that the amplitude output by the touch sensor 4 is remarkably increased, if the part to be detected is made of plastic, the amplitude output by the touch sensor 4 is basically unchanged because most of plastic is an insulator and the resistance is very large);
s2, identifying volume: when the parts are identified as plastic materials, the parts are directly conveyed into a high-pressure washing device by a conveying device for washing; when the part is identified as a metal material, the volume is continuously identified, the infrared camera scans the outline of the part and transmits the part outline to a computer to identify the volume through Open CV software;
s3, establishing a model point cloud base: inputting an STL format file of a part, extracting data information, converting the data information into a common PCD format of point cloud data, performing normal vector estimation on each point, selecting proper features to construct and store a feature vector, establishing an index of the feature vector, and preparing data for subsequent feature matching;
s4, identifying and positioning part length: the approximate size of an object is seen through Open CV software, the actually scanned point cloud data is used as input, and after denoising and simplification preprocessing (three-dimensional point clouds obtained by non-contact scanning are generally scattered and disordered and have quite large data quantity, on one hand, not all data points play a role in identifying a target, for example, the background of the target is inevitably scanned, in addition, due to the influence of objective factors such as equipment precision, environment and the like, some noise inevitably appears in the point cloud data, the accuracy of the point cloud data is influenced, noise points and redundant data occupy storage space, on the other hand, high-density point cloud data can greatly reduce the efficiency of data processing and increase the processing difficulty, so that the processing such as segmentation, denoising, simplification and the like is required, due to the influence of a measurement mode, the equipment precision, the environment and the like, the point clouds obtained by the scanning mode are not only huge in quantity, noise points and redundant points exist, normal vector estimation can be carried out only after denoising and simplification are carried out), normal vector estimation is carried out on each point, a characteristic vector identical to that of a model base is constructed and matched, an identification task is completed, and length information of parts is obtained through coordinate conversion;
s5, planning the grabbing direction: a grabbing orientation planning module (adopting a C51 singlechip) takes a point cloud model of the identified part as input, calculates the feasible region of the accessible direction by combining the structure and the size information of the manipulator 9, calculates the feasible region of the contactable orientation by combining the constraint information of the part, optimizes grabbing quality according to grabbing indexes and finds the optimal grabbing orientation meeting the assembly requirement;
s6, cleaning: when the classified parts are metal and the volume is not more than 0.18m through the previous steps3When the length of the part is not more than 1m, the part is grabbed into an ultrasonic cleaning device through a manipulator 9 for cleaning; when the classified parts are plastic and the length is more than 1m or the volume is more than 0.18m through the steps3The length of the metal parts is more than 1m, and the metal parts are directly conveyed into a high-pressure water washing device through a conveyor belt for washing.
In an embodiment, in step S2, when the Open CV software performs volume recognition, the original image is preprocessed first, and in order to increase the speed of image data processing, the color image is converted into a grayscale image, then the converted grayscale image is subjected to denoising processing, the image information is reduced again, and then the image is subjected to edge extraction to derive the corresponding format of the part.
In one embodiment, in step S3, in order to fully utilize the model information thereof for part identification, information extraction, integration and storage are performed on the model to form a model point cloud library; for the high efficiency of point Cloud processing, the application stores the STL model point Cloud information into pcd (point Cloud data) format, which is also the basic file format of PCL, and has the characteristics of high flexibility and rapidity of data processing, as shown in fig. 9.
In one embodiment, in step S6, when the proximity switch senses that there is a part in the cleaning tank during the ultrasonic cleaning, the linear conveyor 5 automatically stops transmitting, then the ultrasonic cleaning is performed, and after the set time, the ultrasonic cleaning device gives an alarm to verify that the part is cleaned, and meanwhile, the manipulator 9 picks up the part and puts the part on the linear conveyor 5 to continue the transmission.
In one embodiment, in step S6, when the high pressure water washing is performed, the workpiece is directly conveyed to the conveying assembly through the arc-shaped conveying belt 6, the upper spraying box 34 and the side spraying boxes 35 on two sides perform three-side washing, when the washing reaches the set time, the high pressure water washing device gives an alarm to prove that the workpiece is washed clean, and at this time, the workpiece is conveyed to the arc-shaped conveying belt 6 through the conveying assembly to continue to be conveyed.
Since the present invention is not limited to the above embodiments, those skilled in the art can make modifications and variations to the above embodiments without departing from the scope of the present invention.
Claims (9)
1. A cleaning method for automatically identifying and classifying automobile parts is characterized by comprising a cleaning device for automatically identifying and classifying the automobile parts, wherein the cleaning device for automatically identifying and classifying the automobile parts comprises the following steps:
the identification and classification device comprises a computer, a touch sensor (4) and an infrared camera, wherein the touch sensor (4) and the infrared camera are both connected with the computer;
the touch sensor (4) is arranged on one side of the conveying device, and the infrared camera is arranged above the conveying device;
the ultrasonic cleaning device is connected with the conveying device through a linear conveyor belt (5);
the clamping device is arranged above the ultrasonic cleaning device;
the high-pressure washing device is connected with the conveying device through an arc-shaped conveying belt (6);
the cleaning method for automatically identifying and classifying the automobile parts comprises the following steps:
s1, identifying material: when the part is conveyed to the side of the touch sensor (4) through the conveying device, whether the part is made of metal or plastic can be judged by observing whether the amplitude of the output signal of the touch sensor (4) in a computer changes;
s2, identifying volume: when the parts are identified as plastic materials, the parts are directly conveyed into a high-pressure washing device by a conveying device for washing; when the part is identified as a metal material, the volume is continuously identified, the infrared camera scans the outline of the part and transmits the part outline to a computer to identify the volume through Open CV software;
s3, establishing a model point cloud base: inputting an STL format file of a part, extracting data information, converting the data information into a common PCD format of point cloud data, performing normal vector estimation on each point, constructing and storing a characteristic vector, establishing an index of the characteristic vector, and preparing data for subsequent characteristic matching;
s4, identifying and positioning part length: finding out the approximate size of an object by using Open CV software, taking actually scanned point cloud data as input, carrying out normal vector estimation on each point after preprocessing, constructing a characteristic vector same as a model base, matching, completing an identification task and obtaining length information of a part through coordinate conversion;
s5, planning the grasping orientation: the grabbing azimuth planning module takes the point cloud model of the identified part as input, calculates the feasible region of the accessible direction by combining the structure and the size information of the mechanical arm (9), calculates the feasible region of the contactable azimuth by combining the constraint information of the part, optimizes the grabbing quality according to grabbing indexes and finds the optimal grabbing azimuth meeting the assembly requirement;
s6, cleaning: when the classified parts are metal and the volume is not more than 0.18m through the previous steps3When the length of the part is not more than 1m, the part is grabbed into an ultrasonic cleaning device through a manipulator (9) for cleaning; when the classified parts are plastic and the length is more than 1m or the volume is more than 0.18m through the steps3The length of the metal parts is more than 1m, and the metal parts are directly conveyed into a high-pressure water washing device through a conveyor belt for washing.
2. The washing method for automatically identifying and classifying automobile parts according to claim 1, wherein: the conveying device comprises a driving motor (1) and a conveying belt (3), the driving motor (1) is installed on the conveying belt (3) through a bolt (2), the touch sensor (4) is installed on one side of the conveying belt (3), and the infrared camera is installed in a box body above the conveying belt (3).
3. The washing method for automatically identifying and classifying automobile parts according to claim 1, wherein: the ultrasonic cleaning device comprises a first rack (14), a proximity switch and a cleaning tank, wherein the cleaning tank is arranged on the first rack (14), a cleaning basket (21) and a cleaning backboard (22) are arranged in the cleaning tank, a heating pipe (23) is fixed on the rear side of the cleaning tank, a plurality of transducers (24) are arranged at the bottom of the cleaning tank, and the cleaning backboard (22) is arranged below the cleaning basket (21); an electric control cabinet (15) is installed on one side in the first rack (14), and a power supply changeover switch (17) and a temperature control meter (18) are installed in the electric control cabinet (15); the bottom of the first frame (14) is provided with a universal wheel (20) and a booster pump (19).
4. The washing method for automatically identifying and classifying automobile parts according to claim 1, wherein: clamping device includes manipulator (9), elevating gear, pillar (8) and guide rail (13), manipulator (9) are installed on fixed plate (7) through elevating gear, fixed plate (7) slidable mounting is on guide rail (13), guide rail (13) are installed on the guide rail mounting panel, the guide rail mounting panel is fixed in subaerial through pillar (8).
5. The washing method for automatically identifying and classifying automobile parts according to claim 1, wherein: the high-pressure washing device comprises a second rack (25), a conveying assembly, a spray box assembly, a liquid storage tank (36) and an electric cabinet (39), wherein the bottom of the second rack (25) is provided with a ground pin (26), and the conveying assembly is wrapped in the second rack (25) through an outer seal (32); the conveying assembly comprises rotating shafts (27), bearings (28) with slider seats, chain wheels (29) and chains (30), the bearings (28) with slider seats and the chain wheels (29) are mounted on two sides of the two rotating shafts (27), the chains (30) are mounted between the two chain wheels (29), and carrier plates (31) are mounted on the two chains (30); the spraying box assembly is arranged in a cleaning chamber (33), the cleaning chamber (33) is arranged at the top of the second rack (25), and the spraying box assembly comprises an upper spraying box (34) and side spraying boxes (35) at two sides; the bottom of the liquid storage tank (36) is arranged on the second rack (25), the top of the liquid storage tank is provided with a bag filter (37), and the outer side of the liquid storage tank is provided with a sewage discharge pipe (38); the electrical cabinet (39) is mounted on the second frame (25).
6. The washing method for automatically identifying and classifying automobile parts according to claim 1, wherein: in step S2, when the Open CV software performs volume recognition, the original image is preprocessed first, and in order to increase the speed of image data processing, the color image is converted into a grayscale image first, then the converted grayscale image is denoised, the image information is reduced again, and then the image is edge-extracted to derive the corresponding format of the part.
7. The washing method for automatically identifying and classifying automobile parts according to claim 1, wherein: in step S3, in order to fully utilize the model information to identify the part, information extraction, integration and storage are performed on the model to form a model point cloud library.
8. The washing method for automatically identifying and classifying automobile parts according to claim 1, wherein: in step S6, when ultrasonic cleaning is carried out, when the proximity switch senses that parts exist in the cleaning tank, the transmission of the linear conveyor belt (5) is automatically stopped, then ultrasonic cleaning is carried out, and after the set time is up, the ultrasonic cleaning device gives an alarm to prove that the parts are cleaned, and meanwhile, the manipulator (9) grabs out the parts and puts the parts on the linear conveyor belt (5) for continuous transmission.
9. The washing method for automatically identifying and classifying automobile parts according to claim 1, wherein: in step S6, when high-pressure washing is carried out, the parts are directly conveyed to the conveying assembly through the arc-shaped conveying belt (6), the upper spraying box (34) and the side spraying boxes (35) on two sides carry out three-side washing, when the washing reaches the set time, the high-pressure washing device gives an alarm to prove that the parts are washed clean, and at the moment, the parts are conveyed to the arc-shaped conveying belt (6) through the conveying assembly to be continuously conveyed.
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| JP5678670B2 (en) * | 2011-01-06 | 2015-03-04 | セイコーエプソン株式会社 | Ultrasonic sensor, tactile sensor, and gripping device |
| CN105665371B (en) * | 2016-04-05 | 2018-01-12 | 谢长 | A kind of ultrasonic cleaning equipment and cleaning method |
| CN111366584B (en) * | 2020-04-09 | 2023-01-03 | 安徽科技学院 | Method and equipment for classifying damage of recyclable parts of scraped car based on visual identification |
| CN214132982U (en) * | 2020-11-25 | 2021-09-07 | 张家港市港威超声电子有限公司 | High-pressure spraying ultrasonic cleaning machine for automobile brake bracket |
| CN112775099A (en) * | 2021-01-27 | 2021-05-11 | 南京工业职业技术大学 | Spare part belt cleaning device is used in new energy automobile production |
| CN113042420A (en) * | 2021-04-16 | 2021-06-29 | 广州市绿志环保科技有限公司 | Full-automatic cleaning room for PC (polycarbonate) mold |
| CN113334368A (en) * | 2021-06-29 | 2021-09-03 | 西安理工大学 | Garbage classification device and classification method |
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