CN114505256A - Sorting line and sorting method for removing sealing rings in waste steel materials based on machine vision - Google Patents
Sorting line and sorting method for removing sealing rings in waste steel materials based on machine vision Download PDFInfo
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- CN114505256A CN114505256A CN202210036335.3A CN202210036335A CN114505256A CN 114505256 A CN114505256 A CN 114505256A CN 202210036335 A CN202210036335 A CN 202210036335A CN 114505256 A CN114505256 A CN 114505256A
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- rubber sealing
- sealing ring
- sorting
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- 239000000463 material Substances 0.000 title claims abstract description 104
- 238000007789 sealing Methods 0.000 title claims abstract description 98
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 72
- 239000010959 steel Substances 0.000 title claims abstract description 72
- 239000002699 waste material Substances 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 20
- 241000239290 Araneae Species 0.000 claims abstract description 48
- 238000005520 cutting process Methods 0.000 claims description 38
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 36
- 229910052742 iron Inorganic materials 0.000 claims description 18
- 230000000007 visual effect Effects 0.000 claims description 16
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 14
- 238000005476 soldering Methods 0.000 claims description 13
- 238000009826 distribution Methods 0.000 claims description 12
- 238000006880 cross-coupling reaction Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims 1
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 239000012535 impurity Substances 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 8
- 239000000779 smoke Substances 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 239000007769 metal material Substances 0.000 description 6
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 229910052755 nonmetal Inorganic materials 0.000 description 4
- 238000003825 pressing Methods 0.000 description 3
- 238000009628 steelmaking Methods 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
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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
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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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
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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
-
- 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
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B09—DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
- B09B—DISPOSAL OF SOLID WASTE NOT OTHERWISE PROVIDED FOR
- B09B3/00—Destroying solid waste or transforming solid waste into something useful or harmless
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/007—Control means comprising cameras, vision or image processing systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/08—Means for treating work or cutting member to facilitate cutting
- B26D7/10—Means for treating work or cutting member to facilitate cutting by heating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F3/00—Severing by means other than cutting; Apparatus therefor
- B26F3/06—Severing by using heat
- B26F3/08—Severing by using heat with heated members
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Environmental & Geological Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention discloses a sorting line and a sorting method for removing sealing rings in waste steel materials based on machine vision, wherein the sorting line comprises a belt conveyor, a support platform arranged above the belt conveyor, a four-shaft spider hand arranged on the lower end surface of the support platform, and a pneumatic tip pliers arranged at the lower end of the four-shaft spider hand, a first digital camera for shooting images of materials at the feeding end of the belt conveyor is arranged on the lower end surface of the support platform close to the upper part of the feeding end of the belt conveyor, a side plate is arranged on one side, close to the belt conveyor, of the support, a second digital camera for shooting images of the materials on the belt conveyor below the four-shaft spider hand is arranged on the side plate, a waste bin is arranged on the other side of the belt conveyor, and the belt conveyor, the four-shaft spider hand, the pneumatic tip pliers, the first digital camera, a camera and a cutter are arranged on the lower end surface of the support platform, and a waste bin is arranged on the other side of the belt conveyor, The second digital cameras are respectively connected with the control system. The automatic sorting device realizes automatic sorting of the rubber sealing rings in the waste steel materials with impurities.
Description
Technical Field
The invention relates to the technical field of automatic sorting of waste materials, in particular to a sorting line and a sorting method for removing sealing rings in waste steel materials based on machine vision.
Background
Various scattered scrap steel materials are often generated in industrial production, and a packing machine is used for packing in a common method for steel making in a steel mill in order to conveniently recycle the scrap steel materials. The baling press is a device for forming scattered steel scrap into block-shaped materials by pressing and baling, and comprises a box body, a box cover arranged on the box body, and a thrust block arranged in the box body and used for pressing the steel scrap, wherein the thrust block generally comprises a side thrust block and a main thrust block. During operation, a box cover is opened, waste steel materials are added into the box body from the upper side, after the materials are full, a box cover oil cylinder which drives the box cover to move moves to close the box cover, then the waste steel materials are compressed for the first time through the action of a side push oil cylinder which drives a side push head to move and enter a working space of a pair of main push heads, the main push oil cylinder which drives the main push head to move moves to compress the waste steel materials for the second time, and therefore the waste steel metal blocks with certain density are manufactured through pressing.
However, since some non-metallic materials, typically rubber seal rings, may be mixed into the steel scraps collected from the market, if the steel scraps containing the non-metallic materials are packed into metal blocks for steel making in a steel mill, the steel quality of the steel making in the steel mill may be reduced due to the high content of non-metallic impurities.
Disclosure of Invention
In order to solve the problems, the invention provides a sorting line and a sorting method for removing sealing rings in waste steel materials based on machine vision, and aims to realize automatic sorting of rubber sealing rings in waste steel materials with impurities. The specific technical scheme is as follows:
the utility model provides a letter sorting line based on sealing washer in machine vision rejects scrap steel material, includes band conveyer, sets up through the support platform of band conveyer top, setting are in four-axis spider hand on the terminal surface under the support platform, set up and be in the pneumatic tip vice of four-axis spider hand lower extreme is being close to band conveyer feed end top the terminal surface is provided with the first digital camera that is used for shooing the last feed end material image of band conveyer under the support platform one side that leans on band conveyer on the support is provided with the curb plate, be provided with on the curb plate and be used for shooing be located four-axis spider hand below the second digital camera of material image on the band conveyer, the opposite side of band conveyer is provided with the dump bin that is used for collecting rubber seal, band conveyer, four-axis spider hand, tip vice, pneumatic tip vice, The first digital camera and the second digital camera are respectively connected with the control system.
In the invention, a rubber seal ring visual identification module is arranged in the control system, and the control system is respectively connected with the first digital camera and the second digital camera through the rubber seal ring visual identification module.
Preferably, the control system is a PLC control system, and the rubber seal visual recognition module may be a rubber seal visual recognition program module or a rubber seal visual recognition chip.
In the invention, the belt conveyor is driven by a servo speed reducing motor and is connected with the control system through the servo speed reducing motor.
The four-axis spider hand comprises a shell seat arranged on the lower end face of a support platform, a four-axis mechanical arm connected to the central position of the lower end of the shell seat and extending downwards, and three groups of mechanical arm operating assemblies arranged at the peripheral position of the shell seat and arranged at intervals along the circumferential direction of the shell seat, wherein the four-axis mechanical arm comprises a first electric corner actuator, an upper cross coupling, a telescopic rod assembly, a lower cross coupling and an operating shaft; the outer circle of the operating shaft is connected with an operating panel, the operating shaft is rotatably connected with the operating panel, and each mechanical arm operating assembly comprises a second electric corner actuator arranged at the peripheral position of the shell seat, a crank arm arranged on an output shaft of the second electric corner actuator, and a connecting rod arranged between the crank arm and the operating panel through hinge connection.
The four-axis mechanical arm on the four-axis spider hand can realize four motions of swinging in two directions, telescopic movement along the direction of the telescopic rod assembly and self rotation around the telescopic rod assembly. The self-rotation around the telescopic rod assembly is realized by a first electric angle actuator, and the swinging in two directions and the telescopic movement along the telescopic rod assembly are realized by the cooperative operation of three groups of mechanical arm operating assemblies (driving elements are second electric angle actuators). The three second electric corner actuators can be provided with different corners, so that the pneumatic tip pliers on the operating shaft can be driven to move to corresponding positions; the first electric corner actuator is used for adjusting the corner position of the pneumatic tip vice so as to conveniently grab the rubber sealing ring.
As a preferable scheme of the pneumatic nipper vise in the present invention, the pneumatic nipper vise includes a vise mounting plate fixed to a lower end of the operating shaft, a vise body connected to the vise mounting plate, a pair of nipper bits rotatably connected to the vise body through a hinge shaft, and a pair of cylinders rotatably connected between the vise body and the nipper bits through a hinge shaft; the pair of cylinders are respectively connected with the control system.
As a further improvement of the present invention, a servo electric push rod is further fixed on the forceps body, a cutter for cutting off the rubber sealing ring is fixed at the lower end of a telescopic rod of the servo electric push rod, the cutter is located at a symmetrical position between the pair of sharp-nose forceps heads, the cutting edge of the cutter is arranged downward, the cutting edge of the cutter abuts against one surface of the pair of sharp-nose forceps heads, and the servo electric push rod is connected with the control system.
As a further improvement of the invention, a first pulling pressure sensor is connected between the vice mounting plate and the vice body; and a second pulling pressure sensor is arranged on the telescopic rod of the servo electric push rod, and the first pulling pressure sensor and the second pulling pressure sensor are respectively connected with the control system.
As a further improvement of the invention, an electric soldering iron is arranged at the front end of the telescopic rod of the servo electric push rod, the second pull pressure sensor is connected between the telescopic rod of the servo electric push rod and the electric soldering iron, and the cutter is arranged on a soldering iron head at the front end of the electric soldering iron.
The telescopic rod assembly is an anti-follow-up type telescopic rod assembly and comprises a pair of upper telescopic rods and a pair of lower telescopic rods, and the pair of upper telescopic rods and the pair of lower telescopic rods can move relatively along the axial direction but cannot rotate relatively.
In the invention, the feeding end of the belt conveyor is also provided with a material distribution device so as to uniformly disperse the waste steel materials on the belt conveyor.
A sorting method of a sorting line for removing sealing rings in waste steel materials based on machine vision is characterized by comprising the following steps:
(1) material distribution: the control system starts the belt conveyor to prepare for material conveying, and simultaneously starts the material distribution device to continuously disperse and lay the waste steel materials to the feeding end of the belt conveyor, and the waste steel materials continuously move forwards from the feeding end to the discharging end of the belt conveyor;
(2) image recognition: when the material distributing device distributes the material, a first digital camera arranged on the lower end face of the support platform acquires an image of the waste steel material distributed at the feed end position of the belt conveyor; the control system acquires whether the waste steel material image has the rubber sealing ring or not through the rubber sealing ring visual identification module; if the rubber sealing ring is found, the distribution of the scrap steel and the conveying of the belt conveyor are continuously carried out, and if the rubber sealing ring is found, the belt conveyor stops running and the distribution device stops running when the rubber sealing ring moves to the position below the spider handle of the four-shaft;
(3) sorting: when the scrap steel material stays at the position below the four-shaft spider hand due to the rubber sealing ring, the control system accurately knows the specific position of the rubber sealing ring through the second digital camera and the rubber sealing ring visual identification module, then drives the four-shaft spider hand to act, and a pneumatic nipper vice at the lower end of the four-shaft spider hand clamps the rubber sealing ring to take the rubber sealing ring away from the belt conveyor and then sends the rubber sealing ring into a scrap box at one side of the belt conveyor; after sorting is finished, the belt conveyor and the distributing device are restarted;
(4) and (3) continuous sorting: repeating the steps (2) to (3) to realize continuous sorting of the rubber sealing rings;
the further improvement scheme is as follows: in the sorting process in the step (3), when the pneumatic sharp mouth vice on the four-axis spider hand clamps the rubber sealing ring to lift upwards, if the upward pulling force value measured by the control system through the first pulling pressure sensor exceeds a preset value, the control system judges that the rubber sealing ring is possibly clamped or hung in the waste steel material and cannot be pulled out smoothly, then the control system stops the lifting action of the four-axis spider hand and drives the servo electric push rod to act, so that the cutter at the front end of the telescopic rod of the servo electric push rod is pushed forwards to cut the rubber sealing ring, the lifting action of the four-axis spider hand is restarted, and the cut rubber sealing ring is pulled out of the waste steel material.
Preferably, when the rubber sealing ring is possibly clamped in the waste steel material, the control system removes the clamped condition of the rubber sealing ring by stirring the surrounding waste steel material through a pneumatic tip vice on a four-shaft spider hand.
Preferably, in order to make the cutting of the cutter smoother, when the cutting operation of the rubber seal ring is performed, and when the numerical value of the cutter propelling force measured by the control system through the second pull pressure sensor exceeds a preset value, the control system starts the electric iron to heat the cutter, so that the cutter performs heat cutting on the rubber seal ring.
Preferably, in order to more accurately judge whether the ring-shaped material clamped by the pneumatic pincer pliers is a rubber sealing ring, the cutter can be used for trial cutting of the ring-shaped material after the ring-shaped material is clamped by the pneumatic pincer pliers, and whether the ring-shaped material is the rubber sealing ring is judged according to the magnitude of the propelling force during trial cutting of the cutter, namely when the propelling force is smaller than a preset value during trial cutting of the cutter, the control system judges that the ring-shaped material clamped by the pneumatic pincer pliers is the rubber sealing ring.
Preferably, a smoke identification module can be arranged in the control system, and a hot cutting trial cutting method is adopted to accurately judge whether the ring-shaped material clamped by the pneumatic nipper vice is a rubber sealing ring. The specific judgment method is as follows: the control system starts an electric soldering iron heating mode in advance to enable the cutter to become a hot cutter, after the pneumatic sharp-nose vice clamps the ring-shaped materials, the hot cutter at the front end of the servo electric push rod is driven to conduct trial cutting on the ring-shaped materials in a hot cutting mode, the control system obtains cutting images through the second digital camera, whether smoke is generated during the hot cutting is judged through the smoke identification module, when smoke is generated, the control system judges that the ring-shaped materials clamped by the pneumatic sharp-nose vice are rubber sealing rings, and otherwise, the ring-shaped materials are judged to be non-rubber sealing rings.
Further, when the ring-shaped material is a non-rubber sealing ring, the control system further judges the material type of the ring-shaped material according to the pushing force of the cutter during hot cutting, and particularly, when the ring-shaped material can be cut off during hot cutting, the control system judges that the ring-shaped material is a non-metal material and rejects the non-metal material into a waste bin.
In the invention, the waste steel materials sorted by the belt conveyor are conveyed to a station of a packer.
The invention has the beneficial effects that:
firstly, the sorting line and the sorting method for removing the sealing rings in the waste steel materials based on the machine vision acquire the image information of the materials on the belt conveyor through the digital camera, identify the rubber sealing rings in the images through the vision identification module in the control system, and grab the identified rubber sealing rings through the four-axis spider hand and the pneumatic sharp-nose vice, thereby realizing the automatic sorting of the rubber sealing rings in the scattered waste steel materials.
Secondly, according to the sorting line and the sorting method for removing the sealing rings in the waste steel materials based on the machine vision, the control system can timely judge whether the grabbed rubber sealing rings are hung or clamped in the waste steel materials or not by arranging the first pull pressure sensor, and then the grabbed rubber sealing rings are cut off by the cutter on the pneumatic sharp-nose pliers, so that the rubber sealing rings are effectively prevented from being hung or clamped, and the sorting operation is smoother.
Thirdly, according to the sorting line and the sorting method for removing the sealing rings in the waste steel materials based on the machine vision, the hot cutting trial cutting operation of the cutter is realized by arranging the first pull pressure sensor and the electric iron, so that whether the captured ring-shaped materials are really non-metal materials such as rubber sealing rings can be further accurately judged, the captured ring-shaped materials complement a vision recognition method, and the sorting accuracy can be further improved.
Drawings
FIG. 1 is a schematic structural diagram of a sorting line for removing sealing rings in waste steel materials based on machine vision;
FIG. 2 is a schematic structural view of the four-axis spider hand of FIG. 1 (for the sake of clarity, the four-axis spider hand is shown in an inverted position relative to FIG. 1);
fig. 3 is a schematic view showing a structure in which the operating shaft of the four-shaft spider hand of fig. 1 is connected to a pneumatic nipper vise.
In the figure: 1. the automatic clamp comprises a belt conveyor, 2, a support, 3, a support platform, 4, a four-axis spider hand, 5, a pneumatic sharp-nose vice, 6, a first digital camera, 7, a side plate, 8, a second digital camera, 9, a waste bin, 10, a shell seat, 11, a four-axis mechanical arm, 12, a mechanical arm operating component, 13, a first electric corner actuator (output shaft), 14, an upper cross coupling, 15, a telescopic rod component, 16, a lower cross coupling, 17, an operating shaft, 18, an operating panel, 19, a second electric corner actuator, 20, a crank arm, 21, a hinge shaft, 22, a connecting rod, 23, a vice mounting plate, 24, a clamp body, 25, a sharp-nose clamp head, 26, an air cylinder, 27, a servo electric push rod, 28, a cutter, 29, a first pull pressure sensor, 30, a second pull pressure sensor, 31 and an electric iron.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1:
as shown in fig. 1 to 3, an embodiment of a sorting line for removing sealing rings in steel scrap based on machine vision according to the present invention includes a belt conveyor 1, a support platform 3 disposed above the belt conveyor 1 through a support 2, a four-axis spider hand 4 disposed on a lower end surface of the support platform 3, and a pneumatic pincer pliers 5 disposed at a lower end of the four-axis spider hand 4, wherein a first digital camera 6 for capturing images of a material at a feeding end of the belt conveyor 1 is disposed on a lower end surface of the support platform 3 near a feeding end of the belt conveyor 1, a side plate 7 is disposed on one side of the support 2 near the belt conveyor 1, a second digital camera 8 for capturing images of a material on the belt conveyor 1 below the four-axis spider hand 4 is disposed on the side plate 7, a waste bin 9 for collecting rubber sealing rings is disposed on the other side of the belt conveyor 1, the belt conveyor 1, the four-axis spider hand 4, the pneumatic nipper vice 5, the first digital camera 6 and the second digital camera 8 are respectively connected with the control system.
In this embodiment, a rubber seal visual recognition module is disposed in the control system, and the control system is connected to the first digital camera 6 and the second digital camera 8 through the rubber seal visual recognition module, respectively.
Preferably, the control system is a PLC control system, and the rubber seal visual recognition module may be a rubber seal visual recognition program module or a rubber seal visual recognition chip.
In this embodiment, the belt conveyor 1 is a belt conveyor 1 driven by a servo speed reduction motor, and the belt conveyor 1 is connected with the control system through the servo speed reduction motor.
In this embodiment, the four-axis spider-hand 4 includes a housing seat 10 disposed on the lower end surface of the support platform 3, a four-axis mechanical arm 11 connected to the central position of the lower end of the housing seat 10 and extending downward, three sets of mechanical arm operating assemblies 12 disposed on the outer periphery of the housing seat 10 and arranged at intervals along the circumferential direction of the housing seat 10, the four-axis mechanical arm 11 comprises a first electric angle actuator 13, an upper cross coupling 14, a telescopic rod component 15, a lower cross coupling 16 and an operating shaft 17, the first electric corner actuator is arranged in the shell seat 10, an output shaft 13 of the first electric corner actuator downwards passes through the shell seat 10 and then is connected with the upper end of the telescopic rod component 15 through the upper cross coupling 14, the lower end of the telescopic rod assembly 15 is connected with the operating shaft 17 through the lower cross coupling 16; an operation panel 18 is connected to an outer circle of the operation shaft 17, the operation shaft 17 is rotatably connected to the operation panel 18, and each of the robot arm operation assemblies 12 includes a second electric rotation angle actuator 19 disposed at an outer peripheral position of the housing base 10, a crank arm 20 disposed at an output shaft of the second electric rotation angle actuator 18, and a connecting rod 22 connected to and disposed between the crank arm 20 and the operation panel 18 through a hinge shaft 21.
The four-axis mechanical arm 11 on the four-axis spider hand 4 can realize four motions of swinging in two directions, telescopic movement along the direction of the telescopic rod assembly 15 and self rotation around the telescopic rod assembly 15. Wherein the self-rotation around the telescopic rod assembly 15 is realized by the first electric angle actuator 13, and the swinging in two directions and the telescopic movement along the telescopic rod assembly 15 are realized by the cooperative operation of the three sets of mechanical arm operating assemblies 12 (the driving element is the second electric angle actuator 19). The three second electric corner actuators 19 can be set to different corners, so as to drive the pneumatic nipper pliers 5 on the operating shaft 17 to move to corresponding positions; the first electric angle actuator 13 is used for adjusting the angle position of the pneumatic tip pliers 5 so as to facilitate the grabbing of the rubber sealing ring.
As a preferable mode of the pneumatic tip vise 5 in the present embodiment, the pneumatic tip vise 5 includes a vise mounting plate 23 fixed to a lower end of the operating shaft 17, a vise body 24 connected to the vise mounting plate 23, a pair of tip vise heads 25 rotatably connected to the vise body 24 by a hinge shaft 21, and a pair of air cylinders 26 rotatably connected between the vise body 24 and the tip vise heads 25 by the hinge shaft 21; the pair of cylinders 26 are connected to the control system, respectively.
As a further improvement of this embodiment, a servo electric push rod 27 is further fixed on the caliper body 24, a cutter 28 for cutting off the rubber sealing ring is fixed at the lower end of a telescopic rod of the servo electric push rod 27, the cutter 28 is located at a symmetrical position between the pair of nipper heads 25, the cutting edge of the cutter 28 is arranged downward, the cutting edge of the cutter 28 abuts against one surface of the pair of nipper heads 25, and the servo electric push rod 27 is connected to the control system.
As a further improvement of this embodiment, a first pull pressure sensor 29 is further connected between the vise mounting plate 23 and the vise body 24; a second tension and pressure sensor 30 is arranged on the telescopic rod of the servo electric push rod 27, and the first tension and pressure sensor 29 and the second tension and pressure sensor 30 are respectively connected with the control system.
As a further improvement of this embodiment, an electric soldering iron 31 is disposed at the front end of the telescopic rod of the servo electric push rod 27, the second pull pressure sensor 29 is connected between the telescopic rod of the servo electric push rod 27 and the electric soldering iron 31, and the cutter 28 is disposed on the soldering iron head at the front end of the electric soldering iron 31.
In this embodiment, the telescopic rod assembly 15 is a follow-up rotation preventing type telescopic rod assembly, and includes a pair of upper telescopic rods and a pair of lower telescopic rods, and the pair of upper telescopic rods and the pair of lower telescopic rods can move relatively in the axial direction but cannot rotate relatively.
In this embodiment, a material distribution device (not shown in the figure) is further disposed at the feeding end of the belt conveyor 1, so as to uniformly distribute the steel scrap onto the belt conveyor 1.
Example 2:
the sorting method of the sorting line for removing the sealing rings in the waste steel materials based on the machine vision in the embodiment 1 is characterized by comprising the following steps:
(1) material distribution: the control system starts the belt conveyor 1 to prepare for material conveying, and simultaneously starts the material distribution device to continuously disperse and lay the steel scrap to the feeding end of the belt conveyor 1, and the steel scrap continuously moves forwards from the feeding end of the belt conveyor 1 to the discharging end;
(2) image recognition: when the material distributing device distributes the material, a first digital camera 6 arranged on the lower end face of the support platform 3 acquires an image of the waste steel material distributed at the feeding end position of the belt conveyor 1; the control system acquires whether the rubber sealing ring exists in the scrap steel image or not through the rubber sealing ring visual identification module; if the rubber sealing ring is found, distributing the scrap steel and conveying the belt conveyor 1 continuously, and if the rubber sealing ring is found, stopping the belt conveyor 1 and the distributing device when the rubber sealing ring moves to a position below the four-shaft spider handle 4;
(3) sorting: when the scrap steel material stays at the position below the four-shaft spider hand 4 due to the rubber sealing ring, the control system accurately knows the specific position of the rubber sealing ring through the second digital camera 8 and the rubber sealing ring visual identification module, then drives the four-shaft spider hand 4 to act, and the pneumatic pincer pliers 5 at the lower end of the four-shaft spider hand 4 clamps the rubber sealing ring to take the rubber sealing ring away from the belt conveyor 1 and then sends the rubber sealing ring into a scrap box 9 at one side of the belt conveyor 1; after sorting is finished, the belt conveyor 1 and the distributing device are restarted;
(4) and (3) continuous sorting: repeating the steps (2) to (3) to realize continuous sorting of the rubber sealing rings;
the further improvement scheme is as follows: in the sorting process in the step (3), when the pneumatic nipper pliers 5 on the four-axis spider hand 4 clamp the rubber sealing ring to lift upwards, if the upward pulling force value measured by the control system through the first pulling pressure sensor 29 exceeds a preset value, the control system judges that the rubber sealing ring is possibly clamped or hung in the waste steel material and cannot be smoothly pulled out, then the control system suspends the lifting action of the four-axis spider hand 4 and drives the servo electric push rod 27 to act, so that the cutter 28 at the front end of the telescopic rod of the servo electric push rod 27 is pushed forwards to cut the rubber sealing ring, then the lifting action of the four-axis spider hand 4 is restarted, and the cut rubber sealing ring is pulled out of the waste steel material.
Preferably, when the rubber seal ring is possibly stuck in the waste steel, the control system stirs the surrounding waste steel through the pneumatic tip pliers 5 on the four-shaft spider hand 4 to release the stuck condition of the rubber seal ring.
Preferably, in order to make the cutting of the cutter smoother, when the thrust value of the cutter 28 measured by the control system through the second pull pressure sensor 30 exceeds a preset value during the cutting operation of the rubber seal ring, the control system starts the electric iron 31 to heat the cutter 28, so as to achieve the thermal cutting of the cutter 28 on the rubber seal ring.
Preferably, in order to more accurately judge whether the ring-shaped material clamped by the pneumatic pincer pliers 5 is a rubber sealing ring, after the ring-shaped material is clamped by the pneumatic pincer pliers 5, the cutter is used for trial cutting of the ring-shaped material, and whether the ring-shaped material is the rubber sealing ring is judged according to the magnitude of the propelling force during trial cutting of the cutter, namely when the propelling force is smaller than a preset value during trial cutting of the cutter, the control system judges that the ring-shaped material clamped by the pneumatic pincer pliers 5 is the rubber sealing ring.
Preferably, a smoke identification module can be arranged in the control system, and a hot cutting trial cutting method is adopted to accurately judge whether the ring-shaped material clamped by the pneumatic nipper vice 5 is a rubber sealing ring. The specific judgment method is as follows: the control system starts a heating mode of the electric iron 31 in advance to enable the cutter 28 to become a hot cutter, after the pneumatic pincer pliers 5 clamps the ring-shaped material, the hot cutter at the front end of the servo electric push rod 27 is driven to conduct trial cutting on the ring-shaped material in a hot cutting mode, the control system obtains a cutting image through the second digital camera 8, whether smoke is generated during the hot cutting is judged through the smoke identification module, when smoke is generated, the control system judges that the ring-shaped material clamped by the pneumatic pincer pliers 5 is a rubber sealing ring, and otherwise, the ring-shaped material is judged to be a non-rubber sealing ring.
Further, when the ring-shaped material is a non-rubber sealing ring, the control system further judges the type of the ring-shaped material through the propelling force of the cutter 28 during hot cutting, and particularly, when the ring-shaped material can be cut off during hot cutting, the control system judges that the ring-shaped material is a non-metal material and rejects the ring-shaped material into the waste bin 9.
In this embodiment, the steel scrap after sorting by the belt conveyor 1 is conveyed to the station of the packer.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a letter sorting line based on sealing washer in machine vision rejects scrap steel material, a serial communication port, include band conveyer, set up through the support platform of band conveyer top, set up four-axis spider hand, setting on the terminal surface are in under the support platform pneumatic sharp mouth vice of four-axis spider hand lower extreme are being close to band conveyer feed end top the terminal surface is provided with the first digital camera that is used for shooing the last feed end material image of band conveyer under the support platform one side by the band conveyer on the support is provided with the curb plate, be provided with on the curb plate and be used for shooing be located four-axis spider hand below the second digital camera of material image on the band conveyer, the opposite side of band conveyer is provided with the dump bin that is used for collecting rubber seal, band conveyer, The four-axis spider hand, the pneumatic nipper vice, the first digital camera and the second digital camera are respectively connected with the control system.
2. The sorting line for removing the sealing rings in the scrap steel based on the machine vision as claimed in claim 1, wherein a rubber sealing ring vision recognition module is arranged in the control system, and the control system is respectively connected with the first digital camera and the second digital camera through the rubber sealing ring vision recognition module.
3. The sorting line for removing the sealing rings in the steel scraps based on the machine vision as claimed in claim 1, wherein the belt conveyor is a belt conveyor driven by a servo speed reduction motor, and the belt conveyor is connected with the control system through the servo speed reduction motor.
4. The sorting line for removing the sealing rings in the steel scraps based on the machine vision according to the claim 1, it is characterized in that the four-axis spider hand comprises a shell seat arranged on the lower end surface of the support platform, four-axis mechanical arms connected to the central position of the lower end of the shell seat and extending downwards, and three groups of mechanical arm operating components arranged on the periphery of the shell seat and arranged at intervals along the circumferential direction of the shell seat, the four-axis mechanical arm comprises a first electric corner actuator, an upper cross coupling, a telescopic rod component, a lower cross coupling and an operating shaft, the first electric corner actuator is arranged in the shell seat, an output shaft of the first electric corner actuator downwards penetrates through the shell seat and then is connected with the upper end of the telescopic rod component through the upper cross coupling, the lower end of the telescopic rod component is connected with the operating shaft through the lower Oldham coupling; the outer circle of the operating shaft is connected with an operating panel, the operating shaft is rotatably connected with the operating panel, and each mechanical arm operating assembly comprises a second electric corner actuator arranged at the peripheral position of the shell seat, a crank arm arranged on an output shaft of the second electric corner actuator, and a connecting rod arranged between the crank arm and the operating panel through hinge connection.
5. The sorting line for removing the seal rings in the scrap steel based on the machine vision as claimed in claim 4, wherein the pneumatic nipper pliers comprises a vice mounting plate fixed to the lower end of the operating shaft, a vice body connected to the vice mounting plate, a pair of nipper pliers heads rotatably connected to the vice body through a hinge shaft, and a pair of air cylinders rotatably connected between the vice body and the nipper pliers heads through a hinge shaft; the pair of cylinders are respectively connected with the control system.
6. The sorting line for removing the sealing rings in the steel scraps based on the machine vision as claimed in claim 5, wherein a servo electric push rod is further fixed on the pincer body, a cutter for cutting off the rubber sealing rings is fixed at the lower end of a telescopic rod of the servo electric push rod, the cutter is located at a symmetrical position between the pair of sharp-nose pincer heads, the cutting edge of the cutter is arranged downwards and abuts against one surface of the pair of sharp-nose pincer heads, and the servo electric push rod is connected with the control system.
7. The sorting line for removing the sealing rings in the scrap steel based on the machine vision as claimed in claim 6, wherein a first pull pressure sensor is further connected between the vice mounting plate and the vice body; and a second pull pressure sensor is arranged on a telescopic rod of the servo electric push rod, and the first pull pressure sensor and the second pull pressure sensor are respectively connected with the control system.
8. The sorting line for removing the sealing rings in the waste steel materials based on the machine vision as claimed in claim 7, wherein an electric soldering iron is arranged at the front end of the telescopic rod of the servo electric push rod, the second pulling pressure sensor is connected between the telescopic rod of the servo electric push rod and the electric soldering iron, and the cutter is arranged on a soldering iron head at the front end of the electric soldering iron.
9. The sorting method for the sorting line for removing the sealing rings in the steel scraps based on the machine vision as claimed in any one of claims 1 to 8 is characterized by comprising the following steps:
(1) material distribution: the control system starts the belt conveyor to prepare for material conveying, and simultaneously starts the material distribution device to continuously disperse and lay the waste steel materials to the feeding end of the belt conveyor, and the waste steel materials continuously move forwards from the feeding end to the discharging end of the belt conveyor;
(2) image recognition: when the material distributing device distributes the material, a first digital camera arranged on the lower end face of the support platform acquires an image of the waste steel material distributed at the feed end position of the belt conveyor; the control system acquires whether the rubber sealing ring exists in the scrap steel image or not through the rubber sealing ring visual identification module; if the rubber sealing ring is found, the distribution of the scrap steel and the conveying of the belt conveyor are continuously carried out, and if the rubber sealing ring is found, the belt conveyor stops running and the distribution device stops running when the rubber sealing ring moves to the position below the spider handle of the four-shaft;
(3) sorting: when the scrap steel material stays at the position below the four-shaft spider hand due to the rubber sealing ring, the control system accurately knows the specific position of the rubber sealing ring through the second digital camera and the rubber sealing ring visual identification module, then drives the four-shaft spider hand to act, and a pneumatic nipper vice at the lower end of the four-shaft spider hand clamps the rubber sealing ring to take the rubber sealing ring away from the belt conveyor and then sends the rubber sealing ring into a scrap box at one side of the belt conveyor; after sorting is finished, the belt conveyor and the distributing device are restarted;
(4) and (3) continuous sorting: and (4) repeating the steps (2) to (3) to realize the continuous sorting of the rubber sealing rings.
10. The method as claimed in claim 9, wherein in the step (3), when the pneumatic pincer pliers on the spider handle grip the rubber seal ring and lift it upward, if the upward pulling force measured by the control system through the first pulling pressure sensor exceeds a predetermined value, the control system determines that the rubber seal ring may be stuck or caught in the waste steel material and cannot be smoothly pulled out, and then the control system suspends the lifting action of the spider handle and drives the servo electric push rod to move, so that the cutter at the front end of the telescopic rod of the servo electric push rod moves forward to cut the rubber seal ring, and restarts the lifting action of the spider handle to pull the cut rubber seal ring out of the waste steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210036335.3A CN114505256A (en) | 2022-01-13 | 2022-01-13 | Sorting line and sorting method for removing sealing rings in waste steel materials based on machine vision |
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| CN202210036335.3A CN114505256A (en) | 2022-01-13 | 2022-01-13 | Sorting line and sorting method for removing sealing rings in waste steel materials based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284385A (en) * | 2022-09-28 | 2022-11-04 | 南通特芯电力科技有限公司 | MPP power pipe melts hole device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284385A (en) * | 2022-09-28 | 2022-11-04 | 南通特芯电力科技有限公司 | MPP power pipe melts hole device |
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