CN114682526A - Robot sorting system based on machine vision - Google Patents

Robot sorting system based on machine vision Download PDF

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Publication number
CN114682526A
CN114682526A CN202210259088.3A CN202210259088A CN114682526A CN 114682526 A CN114682526 A CN 114682526A CN 202210259088 A CN202210259088 A CN 202210259088A CN 114682526 A CN114682526 A CN 114682526A
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China
Prior art keywords
wall
conveying mechanism
sorting system
plate
machine
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CN202210259088.3A
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Chinese (zh)
Inventor
王善勤
梁金荣
刘东旭
贾红雯
刘青
金鑫
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Chuzhou Vocational and Technical College
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Chuzhou Vocational and Technical College
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Priority to CN202210259088.3A priority Critical patent/CN114682526A/en
Publication of CN114682526A publication Critical patent/CN114682526A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/34Sorting according to other particular properties
    • B07C5/342Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • B07C5/362Separating or distributor mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063Using robots

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The invention relates to the technical field of sorting robots, in particular to a robot sorting system based on machine vision, which comprises a first conveying mechanism and a second conveying mechanism, wherein two support plates are welded on the outer wall of one side of the first conveying mechanism, a lead screw is connected between the two support plates through a bearing, an upright post is connected on the outer wall of one side of the first conveying mechanism in a sliding mode, the upright post is connected with the lead screw through threads, a servo motor is connected on the outer wall of one side of each support plate through a bolt, and one end of an output shaft of the servo motor is connected with the lead screw through a spline. According to the invention, the camera is used for detecting objects, so that when two adjacent sorted objects are detected, the servo motor is controlled by the control box to drive the screw rod to rotate, and further the upright post and the objects move synchronously, so that the two objects can be sorted out, the use of a robot is reduced, and the conveying mechanism does not need to be stopped, so that the effect of low cost and high efficiency of the object sorting system is realized.

Description

Robot sorting system based on machine vision
Technical Field
The invention relates to the technical field of sorting robots, in particular to a robot sorting system based on machine vision.
Background
In modern processing lines, with the rapid development of industrial cameras and the continuous progress of automation technology, in some assembly line processing operations, two-dimensional visual information of objects is acquired by using industrial cameras, so that a robot automatically sorts the objects according to a recognized result.
The invention discloses a parallel robot sorting system and a sorting method based on vision, which are disclosed by the invention in Chinese patent number 201910618348, and the sorting method comprises the following steps: the conveying line system is used for conveying the workpieces to be collected into the working range of the camera system and collecting the workpieces packaged by the packaging boxes; the camera system is used for identifying and analyzing all the workpiece information in the conveying line and transmitting the result of each piece of analyzed workpiece information to the control system, and the control system is used for setting the grabbing conditions of the workpieces, analyzing all the workpieces which accord with the workpiece information in the grabbing conditions and analyzing the workpiece information with the set number in the grabbing conditions according to the sorting strategy; and the robot system is used for receiving the information of the workpieces with the corresponding number, which is analyzed by the control system according to the sorting strategy, grabbing the workpieces with the corresponding number according to the information of the workpieces, and placing the grabbed workpieces into a packing box in the conveying line system.
When two adjacent objects are sorted in the sorting system in the prior art, the individual robot is adopted for sorting, so that the manufacturing cost of the sorting system is high, the objects are easy to miss, the reliability of the operation of the sorting system is reduced, and therefore the robot sorting system based on machine vision needs to be researched and developed urgently.
Disclosure of Invention
The invention aims to provide a robot sorting system based on machine vision, which aims to solve the problems of high manufacturing cost and low reliability in the background technology.
The technical scheme of the invention is as follows: a robot sorting system based on machine vision comprises a first conveying mechanism and a second conveying mechanism, wherein two support plates are welded on the outer wall of one side of the first conveying mechanism, a lead screw is connected between the two support plates through a bearing, an upright post is connected to the outer wall of one side of the first conveying mechanism in a sliding mode, the upright post is connected with the lead screw through threads, a servo motor is connected to the outer wall of one side of each support plate through a bolt, one end of an output shaft of the servo motor is connected with the lead screw through a spline, an air cylinder is connected to the outer wall of one side of the upright post through a bolt, a mounting plate is connected to the outer wall of the bottom of the air cylinder in a sliding mode, the output end of the air cylinder is connected with a first servo electric cylinder through a bolt, a sucker is connected to the output end of the first servo electric cylinder through a thread, and a first camera is connected to the outer wall of one side of the air cylinder through a bolt, the outer wall of the bottom of the first conveying mechanism is connected with a control box through a bolt, the servo motor, the first camera and the first servo electric cylinder are electrically connected with the control box through wires respectively, two side plates are arranged between the first conveying mechanism and the second conveying mechanism, and the two side plates are connected with conveying rollers which are evenly distributed through bearings.
Furthermore, one side outer wall of one of the extension boards is connected with a distance measuring sensor through a bolt, one side outer wall of the upright post is connected with a reflector through a bolt, and the distance measuring sensor is electrically connected with the control box through a wire.
Furthermore, the outer wall of one side of each side plate is connected with a first motor through a bolt, one end of an output shaft of the first motor is connected with one conveying roller through a spline, one end of the conveying roller penetrates through the side plates and is welded with a transmission gear, a transition gear is arranged between every two adjacent transmission gears and is connected with the side plates through bearings, and the transition gears are meshed with the transmission gears on the two sides.
Furthermore, the outer wall of the bottom of the second conveying mechanism is hinged with a second supporting leg through a shaft, and a connecting plate is hinged between the two supporting legs.
Furthermore, the outside sliding connection of connecting plate has the slider, the slider has the down tube with one of them landing leg two-way hinge has through the axle, the welding of the bottom outer wall of connecting plate has the locating plate, the inside of locating plate has the screw rod through threaded connection, the one end of screw rod passes through the bearing with the slider and is connected.
Further, two be provided with the mounting bracket between the curb plate, the inside of mounting bracket is connected with evenly distributed's vice gyro wheel through the bearing, adjacent two of looking the transmission is connected with the letter sorting conveyer belt between the vice gyro wheel, two be fixed with servo electric jar two between the curb plate, the output and the mounting bracket of servo electric jar two pass through threaded connection.
Further, the inside of mounting bracket is connected with the pivot through the bearing, the outside of pivot is connected with evenly distributed's friction pulley through the parallel key, the friction pulley is located the bottom of letter sorting conveyer belt.
Further, the outside welding of pivot has driven gear, there is motor two one side outer wall of mounting bracket through bolted connection, motor two's output shaft one end is connected with the driving gear through the parallel key, driving gear and driven gear meshing.
Further, the top of curb plate is provided with camera two, camera two is electric connection through the wire with the control box.
Furthermore, a first supporting leg is welded on the outer wall of the bottom of the first conveying mechanism, and an adjusting foot is connected to one end of the first supporting leg through threads.
The invention provides a robot sorting system based on machine vision through improvement, compared with the prior art, the invention has the following improvement and advantages:
(1) according to the invention, the camera is used for detecting objects, so that when two adjacent sorted objects are detected, the servo motor is controlled by the control box to drive the screw rod to rotate, and further the upright post and the objects move synchronously, so that the two objects can be sorted out, the use of a robot is reduced, and the conveying mechanism does not need to be stopped, so that the effect of low cost and high efficiency of the object sorting system is realized.
(2) The invention uses the camera to detect the objects, so that the sorting conveyor belt can sort out the missing objects again, and the objects are prevented from being missed, thereby realizing the effect of reliable operation of the object sorting system.
(3) The invention utilizes the motor II to drive the rotating shaft and the friction wheels to rotate, so that the sorting conveyor belts can synchronously rotate, the use of the motor is further saved, and the cost of the sorting system is reduced again.
(4) The invention can drive the sliding block to move by utilizing the rotation of the screw rod, so that the conveying mechanism II can be obliquely installed and can be butted with different conveying lines, thereby realizing the effect of wide application range of the sorting system.
Drawings
The invention is further explained below with reference to the figures and examples:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a first conveying mechanism of the invention;
FIG. 3 is a schematic structural view of a second conveying mechanism of the present invention;
FIG. 4 is an enlarged view of the invention at A;
FIG. 5 is a schematic view of the mount structure of the present invention;
FIG. 6 is an enlarged view of the invention at B;
FIG. 7 is a schematic view of the friction wheel construction of the present invention;
fig. 8 is a control schematic of the present invention.
Description of the reference numerals:
the automatic sorting machine comprises a conveying mechanism I, a conveying mechanism II, a cylinder 4, a mounting plate 5, a camera I6, a supporting plate 7, a servo motor 8, a distance measuring sensor 9, a reflector 10, a screw rod 11, a control box 12, a supporting leg I13, an adjusting foot 14, a servo cylinder I15, a sucker 16, a side plate 17, a supporting leg II 18, a connecting plate 19, a slider 20, a diagonal rod 21, a screw rod 22, a positioning plate 23, a conveying roller 24, a transmission gear 25, a transition gear 26, a motor I27, a mounting frame 28, an auxiliary roller 29, a sorting conveying belt 30, a rotating shaft 31, a friction wheel 32, a driven gear 33, a driving gear 34, a motor II 35, a servo cylinder II 36 and a camera II 37.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 8, and the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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.
A robot sorting system based on machine vision comprises a first conveying mechanism 1 and a second conveying mechanism 3, wherein the first conveying mechanism 1 and the second conveying mechanism 3 are conveyor belt conveying mechanisms in the prior art, so that objects are conveyed, two support plates 7 are welded on the outer wall of one side of the first conveying mechanism 1, a lead screw 11 is connected between the two support plates 7 through a bearing, an upright post 2 is connected to the outer wall of one side of the conveying mechanism in a sliding mode, the upright post 2 is connected with the lead screw 11 through threads, a servo motor 8 is connected to the outer wall of one side of each support plate 7 through a bolt, the servo motor 8 is 573HBM20-1000 in model, one end of an output shaft of the servo motor 8 is connected with the lead screw 11 through a spline, the servo motor 8 is used for driving the lead screw 11 to rotate, an air cylinder 4 is connected to the outer wall of one side of the upright post 2 through a bolt, the air cylinder 4 is MA60X600 in model, and a mounting plate 5 is connected to the outer wall of the bottom of the air cylinder 4 in a sliding mode, the output end of the cylinder 4 is connected with the mounting plate 5 through a bolt, the bottom outer wall of the mounting plate 5 is connected with a first servo electric cylinder 15 through a bolt, the model of the first servo electric cylinder 15 is YNT-03, the output end of the first servo electric cylinder 15 is connected with a sucker 16 through a thread, the sucker 16 is connected with an air pressure system which is switched on and off, so that the sucker 16 can adsorb an object to be sorted, the outer wall of one side of the cylinder 4 is connected with a first camera 6 through a bolt, the first camera 6 is a CCD camera in the prior art, the bottom outer wall of the first conveying mechanism 1 is connected with a control box 12 through a bolt, the control box 12 plays a role in controlling the operation of the whole system, the servo motor 8, the first camera 6 and the first servo electric cylinder 15 are respectively and electrically connected with the control box 12 through leads, the rotating speeds of conveying belts on the first conveying mechanism 1 and the second conveying mechanism 3 are fixed parameters and are recorded in the control box 12, be provided with two curb plates 17 between conveying mechanism 1 and the conveying mechanism two 3, conveying mechanism 1 and conveying mechanism two 3 are connected through the bolt with two curb plates 17, be connected with evenly distributed's conveying roller 24 through the bearing between two curb plates 17, conveying roller 24 plays and moves the effect of linking up on conveying mechanism two 3 from conveying mechanism 1, detect the object through camera 6, when making detect two adjacent objects of being sorted and exist, it rotates to drive lead screw 11 through control box 12 control servo motor 8, and then make stand 2 and object carry out synchronous motion, thereby make two objects homoenergetic sorted out, the use of robot has been reduced, and make conveying mechanism 1 need not to shut down, the top of curb plate 17 is provided with camera two 37, camera two 37 is electric connection through the wire with control box 12.
Further, there is distance measuring sensor 9 one side outer wall of one of them extension board 7 through bolted connection, distance measuring sensor 9's model is SD1440, distance measuring sensor 9 is prior art's laser rangefinder module, there is reflector panel 10 one side outer wall of stand 2 through bolted connection, distance measuring sensor 9 is electric connection through the wire with control box 12, utilize distance measuring sensor 9 to detect reflector panel 10, make stand 2 can feed back control box 12 with the distance of one of them extension board 7, make control box 12 rotate according to a signal control servo electric cylinder 15, make stand 2 can move appointed distance.
Further, there is a first motor 27 on the outer wall of one side of the side plate 17 through a bolt, the first motor 27 is CH-28 in model number, one end of an output shaft of the first motor 27 is connected with one of the conveying rollers 24 through a spline, the first motor 27 is utilized to drive the conveying rollers 24 to rotate, one end of the conveying rollers 24 penetrates through the side plate 17 and is welded with a transmission gear 25, a transition gear 26 is arranged between two adjacent transmission gears 25, the transition gear 26 is connected with the side plate 17 through a bearing, the transition gear 26 is meshed with the transmission gears 25 on both sides, so that the conveying rollers 24 drive the transmission gears 25 to rotate, further, the transmission gears 25 drive the plurality of conveying rollers 24 to rotate through meshing transmission of the transition gear 26, and the conveying rollers 24 convey objects.
Further, the bottom outer wall of the second conveying mechanism 3 is hinged with a second supporting leg 18 through a shaft, a connecting plate 19 is hinged between the two viewed supporting legs 18 through a shaft, the connecting plate 19 can be hinged with the second supporting leg 18, a sliding block 20 is connected to the outside of the connecting plate 19 in a sliding mode, the sliding block 20 is hinged with a diagonal rod 21 through a shaft with the second supporting leg 18, a positioning plate 23 is welded to the bottom outer wall of the connecting plate 19, a screw rod 22 is connected to the inside of the positioning plate 23 through threads, one end of the screw rod 22 is connected with the sliding block 20 through a bearing, the sliding block 20 can be driven to move through rotation of the screw rod 22, the diagonal rod 21 is pulled by the sliding block 20, the second conveying mechanism 3 can be obliquely installed, and the second conveying mechanism 3 is in butt joint with different conveying lines.
Further, a mounting frame 28 is arranged between the two side plates 17, the inside of the mounting frame 28 is connected with auxiliary rollers 29 which are uniformly distributed through bearings, a sorting conveyor belt 30 is connected between the two adjacent auxiliary rollers 29 in a transmission manner, the sorting conveyor belt 30 is parallel to the conveying rollers 24, the sorting conveyor belt 30 can shuttle between gaps between the two adjacent conveying rollers 24, a servo electric cylinder II 36 is fixed between the two side plates 17, the output end of the servo electric cylinder II 36 is connected with the mounting frame 28 through threads, the servo electric cylinder II 36 drives the mounting frame 28 to move, so that the sorting conveyor belt 30 can lift objects on the conveying rollers 24, the inside of the mounting frame 28 is connected with a rotating shaft 31 through a bearing, the outside of the rotating shaft 31 is connected with friction wheels 32 which are uniformly distributed through flat keys, the friction wheels 32 are located at the bottom of the sorting conveyor belt 30, and the sorting conveyor belt 30 is driven to rotate by the rotation of the friction wheels 32, the outside welding of pivot 31 has driven gear 33, there is two 35 of motor one side outer wall of mounting bracket 28 through bolted connection, the output shaft one end of two 35 of motor is connected with driving gear 34 through the parallel key, driving gear 34 and driven gear 33 mesh, utilize two 35 of motor, when driving gear 34 and rotating, driving gear 34 drives driven gear 33 and rotates, make driven gear 33 drive pivot 31 and friction pulley 32 rotate, and then make the friction action of friction pulley 32 drive letter sorting conveyer belt 30 and rotate, make the object sorted out through letter sorting conveyer belt 30.
Furthermore, a first supporting leg 13 is welded on the outer wall of the bottom of the first conveying mechanism 1, an adjusting foot 14 is connected to the end of the first supporting leg 13 through threads, the height of the first conveying mechanism 1 can be adjusted through the adjusting foot 14, and the bottom end of a second supporting leg 18 of the second conveying mechanism 3 is also connected with the adjusting foot 14 through threads.
The working principle is as follows: when the first conveying mechanism 1 and the second conveying mechanism 3 are installed, the heights of the first conveying mechanism 1 and the second conveying mechanism 3 are adjusted through the adjusting pin 14, the screw rod 22 is rotated to enable the screw rod 22 to drive the sliding block 20 to slide, the second conveying mechanism 3 is inclined, one end of the second conveying mechanism 3 is matched with the height of the conveying roller 24, the servo motor 8 is controlled to work through the control box 12, the servo motor 8 drives the screw rod 11 to rotate, the screw rod 11 drives the upright post 2 to carry out one end through threads, the upright post 2 is adjusted to a position, close to the left side, of the conveyor, when an object is conveyed through the first conveying mechanism 1, the first camera 6 detects the object, when two objects needing to be sorted are detected to be closely attached to each other, the control box 12 controls the first servo cylinder 15 to work, and the sucker 16 at the output end of the first servo cylinder 15 adsorbs the first object, at the moment, the control box 12 controls the servo motor 8 to drive the screw rod 11 to rotate, so that the upright post 2 moves synchronously along with an object on the conveying mechanism, the control box 12 controls the cylinder 4 to work, the cylinder 4 drives the mounting plate 5 to move, the object is sorted to the outside of the conveying mechanism through the deflation of the suction disc 16, then another object is adsorbed through the suction disc 16, and two adjacent objects can be sorted, when the object is separated from the first conveying mechanism 1 and enters the conveying rollers 24, the rotation of the first motor 27 drives one conveying roller 24 to rotate, the conveying rollers 24 drive the transmission gear 25 to rotate, the transmission gear 25 drives the plurality of conveying rollers 24 to rotate through the meshing transmission of the transition gear 26, the conveying rollers 24 convey the object, and the object is detected again through the second camera 37, when discovering for the object of being sorted, work through two 36 servo electric jar of control box 12 control, make two 36 servo electric jar drive mounting bracket 28 and carry out the upward movement, and then make the letter sorting drive belt rise and be higher than conveying roller 24 from between two adjacent conveying roller 24, make two 35 motors drive driving gear 34 and rotate, driving gear 34 drives driven gear 33 and rotates, make driven gear 33 drive pivot 31 and friction pulley 32 rotate, and then make the friction of friction pulley 32 drive letter sorting conveyer belt 30 and rotate, make the object sorted out through letter sorting conveyer belt 30.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a robot letter sorting system based on machine vision which characterized in that: the automatic feeding device comprises a first conveying mechanism (1) and a second conveying mechanism (3), wherein two support plates (7) are welded on the outer wall of one side of the first conveying mechanism (1), a lead screw (11) is connected between the two support plates (7) through a bearing, a stand column (2) is connected to the outer wall of one side of the first conveying mechanism in a sliding mode, the stand column (2) is connected with the lead screw (11) through threads, a servo motor (8) is connected to the outer wall of one side of each support plate (7) through a bolt, one end of an output shaft of the servo motor (8) is connected with the lead screw (11) through a spline, an air cylinder (4) is connected to the outer wall of one side of the stand column (2) through a bolt, a mounting plate (5) is connected to the outer wall of the bottom of the air cylinder (4) in a sliding mode, the output end of the air cylinder (4) is connected with the mounting plate (5) through a bolt, and the outer wall of the bottom of the mounting plate (5) is connected with a first servo electric cylinder (15) through a bolt, the output of servo electric cylinder (15) has sucking disc (16) through threaded connection, there is camera (6) one side outer wall of cylinder (4) through bolted connection, there is control box (12) bottom outer wall of conveying mechanism (1) through bolted connection, servo motor (8), camera (6), servo electric cylinder (15) are electric connection through wire and control box (12) respectively, be provided with two curb plates (17), two between conveying mechanism (1) and conveying mechanism two (3) be connected with evenly distributed's conveying roller (24) through the bearing between curb plate (17).
2. The machine-vision based robotic sorting system of claim 1, wherein: one of the supporting plates (7) is connected with a distance measuring sensor (9) through a bolt, the outer wall of one side of the upright post (2) is connected with a reflector (10) through a bolt, and the distance measuring sensor (9) is electrically connected with the control box (12) through a wire.
3. The machine-vision based robotic sorting system of claim 1, wherein: the conveying mechanism is characterized in that the outer wall of one side of the side plate (17) is connected with a first motor (27) through a bolt, one end of an output shaft of the first motor (27) is connected with one conveying roller (24) through a spline, one end of the conveying roller (24) penetrates through the side plate (17) and is welded with a transmission gear (25), two adjacent transmission gears (25) are provided with a transition gear (26), the transition gear (26) is connected with the side plate (17) through a bearing, and the transition gear (26) is meshed with the transmission gears (25) on two sides.
4. The machine-vision based robotic sorting system of claim 1, wherein: the outer wall of the bottom of the second conveying mechanism (3) is hinged with a second supporting leg (18) through a shaft, and a connecting plate (19) is hinged between the two supporting legs (18) in a viewing mode through a shaft.
5. The machine-vision based robotic sorting system of claim 4, wherein: the outer sliding connection of connecting plate (19) has slider (20), slider (20) and one of them landing leg two (18) have down tube (21) through the axle hinge, the welding of the bottom outer wall of connecting plate (19) has locating plate (23), there is screw rod (22) inside locating plate (23) through threaded connection, the one end of screw rod (22) passes through the bearing with slider (20) and is connected.
6. The machine-vision based robotic sorting system of claim 1, wherein: two be provided with between curb plate (17) mounting bracket (28), the inside of mounting bracket (28) is connected with evenly distributed's vice gyro wheel (29) through the bearing, adjacent two of looking the transmission is connected with letter sorting conveyer belt (30) between vice gyro wheel (29), two be fixed with servo electric jar two (36) between curb plate (17), the output and mounting bracket (28) of servo electric jar two (36) pass through threaded connection.
7. The machine-vision based robotic sorting system of claim 6, wherein: the inside of mounting bracket (28) is connected with pivot (31) through the bearing, the outside of pivot (31) is connected with evenly distributed's friction pulley (32) through flat key, friction pulley (32) are located the bottom of letter sorting conveyer belt (30).
8. The machine-vision based robotic sorting system of claim 7, wherein: the outer welding of pivot (31) has driven gear (33), there is motor two (35) one side outer wall of mounting bracket (28) through bolted connection, the output shaft one end of motor two (35) is connected with driving gear (34) through the parallel key, driving gear (34) and driven gear (33) meshing.
9. The machine-vision based robotic sorting system of claim 1, wherein: the top of curb plate (17) is provided with camera two (37), camera two (37) are electric connection through the wire with control box (12).
10. The machine-vision based robotic sorting system of claim 1, wherein: the outer wall of the bottom of the first conveying mechanism (1) is welded with a first supporting leg (13), and the end of the first supporting leg (13) is connected with an adjusting foot (14) through threads.
CN202210259088.3A 2022-03-16 2022-03-16 Robot sorting system based on machine vision Pending CN114682526A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115026003A (en) * 2022-08-09 2022-09-09 深圳市鼎合丰科技有限公司 Appearance sorting device and method for electronic component production line
CN116159759A (en) * 2023-04-26 2023-05-26 河北化工医药职业技术学院 Express sorting platform

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