CN117446486A - Belt foreign matter grabbing device and control method - Google Patents

Belt foreign matter grabbing device and control method Download PDF

Info

Publication number
CN117446486A
CN117446486A CN202311786838.3A CN202311786838A CN117446486A CN 117446486 A CN117446486 A CN 117446486A CN 202311786838 A CN202311786838 A CN 202311786838A CN 117446486 A CN117446486 A CN 117446486A
Authority
CN
China
Prior art keywords
belt
foreign matter
camera
height
belt conveyor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202311786838.3A
Other languages
Chinese (zh)
Other versions
CN117446486B (en
Inventor
严海鹏
裴文良
李爱军
孙宁
马静雅
贾智新
郭映言
梅华钊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CITIC HIC Kaicheng Intelligence Equipment Co Ltd
Original Assignee
CITIC HIC Kaicheng Intelligence Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CITIC HIC Kaicheng Intelligence Equipment Co Ltd filed Critical CITIC HIC Kaicheng Intelligence Equipment Co Ltd
Priority to CN202311786838.3A priority Critical patent/CN117446486B/en
Publication of CN117446486A publication Critical patent/CN117446486A/en
Application granted granted Critical
Publication of CN117446486B publication Critical patent/CN117446486B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)

Abstract

The invention relates to a belt foreign matter grabbing device and a control method. The method comprises the following steps: s1, setting a mark point M1 on a belt surface, and calculating a relation coefficient K1 on an X axis by matching the actual movement distance of the mark point with the pixel movement distance of a camera photo; s2, calculating a relation coefficient K2 on a Y axis through the pixel width of the belt and the actual width of the belt; s3, enabling the camera to calculate a relation coefficient K1 on an X axis and a relation coefficient K2 on a Y axis of different heights on different heights; s4, calculating the actual position of the foreign matter on the belt through the relation coefficient K1 on the X axis, the relation coefficient K2 on the Y axis and the pixel position of the foreign matter in the camera image, and adjusting the height of the camera in real time through the foreign matter height information of the height detection device; s5, controlling the manipulator to grasp the foreign matters according to the obtained actual coordinate information of the foreign matters.

Description

Belt foreign matter grabbing device and control method
Technical Field
The invention relates to the technical field of coal mine equipment, in particular to a belt foreign matter grabbing device and a control method.
Background
Foreign matters in the belt conveying process can seriously influence the normal operation of a belt conveying system, even lead to the damage of the system, and are the most main hidden troubles of the stable operation of the belt. Therefore, the belt conveying system needs to be provided with related devices and special sorting personnel to ensure the stable operation of the belt conveying system, but the conventional equipment and personnel cannot thoroughly sort the foreign matters, so that the efficiency is low and the danger is high. Therefore, a belt surface foreign matter grabbing system needs to be developed to meet the application requirements of a belt conveying system. Because the light is insufficient in the pit and is easily influenced by dust, in order to ensure the grabbing precision of the manipulator, the high-speed camera is required to be imaged clearly, and a camera lens is as close to a belt surface of the belt conveyor as possible, but when ultrahigh foreign matters pass through the belt surface of the belt conveyor, collision can be caused to an industrial camera, so that the technical problem to be solved is urgent.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a belt foreign matter grabbing device, which comprises a manipulator positioned above a belt conveyor, wherein the manipulator is used for grabbing foreign matters on a belt; the shaft encoder is used for measuring the conveying distance of the belt conveyor; the camera is positioned above the belt conveyor and used for identifying foreign matters on the belt, and can move vertically; a foreign matter height detecting device for identifying the height of the foreign matter on the belt; the foreign matter height detection device, the camera and the manipulator are sequentially arranged along the conveying direction of the belt conveyor.
Wherein the foreign matter height detection device includes:
an arc-shaped plate with downward protrusions is arranged along the width direction of the belt conveyor, and the arc-shaped plate can move vertically;
the air pressure in the container is changed along with the lifting of the arc-shaped plate;
and the air pressure sensor is used for measuring the air pressure in the container.
The foreign matter height detection device further comprises vertical guide rails arranged on two sides of the belt conveyor;
the two ends of the arc-shaped plate are respectively connected with the two guide rails in a sliding way;
the container is erected above the arc-shaped plate, a piston is arranged in the container, a piston rod is arranged at the bottom of the piston, and the bottom end of the piston rod is connected with the top surface of the arc-shaped plate.
Wherein a second foreign matter detection device is arranged between the foreign matter height detection device and the camera;
the second foreign matter detection device is a horizontal infrared ray detector arranged along the width direction of the belt.
An auxiliary belt conveyor with an auxiliary belt is arranged between an upper belt and a lower belt of the belt conveyor, and the upper belt surface of the auxiliary belt is adjacent to the bottom of the upper belt surface of the belt conveyor;
the belt conveyor and the auxiliary belt conveyor move in the same speed and the same direction;
the auxiliary belt conveyor is located right below the foreign matter height detection device.
The control method of the device comprises the following steps:
s1, setting a mark point M1 on a belt surface, starting a belt conveyor to enable the mark point M1 to pass through a camera field of view and shoot two images P1 and P2 with marks, simultaneously recording values BMQ1 and BMQ2 of shaft encoders during shooting of the two images, recording M1 pixel coordinates in the image P1 as mP1M1X and mP1M1Y, and recording M1 pixel coordinates in the image P2 as mP2M1X and mP2M1Y; calculating a relation coefficient k1= (BMQ 2-BMQ 1)/(mP 2M1X-mP1M 1X) on the X-axis;
s2, identifying the width of a belt pixel in the image as mW, measuring the actual width of the belt as dW, and calculating a relation coefficient K2=dw/mW on a Y axis;
s3, enabling the camera to repeat the step S1 and the step S2 at different heights and calculating a relation coefficient K1 on an X axis and a relation coefficient K2 on a Y axis at different heights;
s4, starting the belt conveyor and moving the camera downwards to the lowest height, adjusting the height of the camera according to the foreign matter information delay of the foreign matter height detection device, returning the camera to the lowest height after the foreign matter passes through the camera, continuously photographing and identifying the pixel position mA0X, mA Y of the foreign matter in the image by the camera, and calculating the actual coordinate A0X, A Y of the foreign matter on the belt at the photographing time according to the following formula;
wherein a0x=ma0x×k1, a0y=ma0y×k2;
wherein, K1 and K2 are respectively the relation coefficient on the X axis and the relation coefficient on the Y axis corresponding to the actual height of the camera at the moment of photographing;
s5, controlling the manipulator to grasp the foreign matters according to the obtained actual coordinate information of the foreign matters.
In step S4, the foreign matter information includes foreign matter height information and foreign matter length information.
Before the camera is adjusted in height, if the second foreign matter detection device does not detect the foreign matter height information exceeding the threshold value, the camera is not adjusted in height.
The beneficial effects of the invention are as follows: the invention can maintain the lower height of the camera, obtain a clearer picture of the belt surface, automatically detect the height of the foreign matters through the foreign matters height detection device, realize the automatic lifting of the height of the high-speed camera to achieve the effect of avoiding higher foreign matters, and simultaneously combine with an automatic calibration algorithm to realize the automatic calibration work of the camera and avoid repeated calibration.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a schematic illustration of the location of various components of the present invention;
fig. 2 is a perspective view of the present invention.
Description of the reference numerals
1. The device comprises a belt conveyor, 11, a bearing plate, 12, a driving roller, 13, a belt, 2, a secondary belt conveyor, 21, a secondary bearing plate, 22, a secondary driving roller, 23, a secondary belt, 3, an arc-shaped plate, 31, a piston rod, 32, a container, 4, a second foreign matter detection device, 5, a guide rail, 51, a transverse plate, 52, a transverse rod, 6, an arc-shaped plate, 7, a camera, 8 and a manipulator.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1 and 2, in which the robot 8 and the camera 7 in fig. 2 are only shown with a pie chart instead of the pie chart, the belt 13 and the sub-belt 23 are partially shown to more clearly show the structure of the belt conveyor 1, and a belt foreign matter gripping device provided for an embodiment includes:
the manipulator is positioned above the belt conveyor 1, the manipulator 8 is used for grabbing foreign matters on the belt 13, and how the manipulator catches the foreign matters and searches downwards to grab the foreign matters belongs to the prior art;
the shaft encoder is used for measuring the conveying distance of the belt conveyor 1 and is arranged at the bottom of the lower belt surface of the belt conveyor 1;
a camera above the belt conveyor 1, the camera being used for identifying foreign matters on the belt 13, the camera 7 being capable of moving vertically, the camera being mountable on a gantry (not shown) which spans the belt conveyor, an air cylinder (not shown) being provided on the gantry with a telescopic rod facing downwards and the bottom end thereof being provided with the camera 7;
a foreign matter height detecting means for identifying the height of the foreign matter on the belt 13;
the foreign matter height detection device, the camera and the manipulator are sequentially arranged along the conveying direction of the belt conveyor 1.
Further, the foreign matter height detection device includes:
an arc-shaped plate 6 with downward bulges is arranged along the width direction of the belt conveyor 1, the arc-shaped plate 6 can move vertically, and particularly, vertical guide rails 5 are arranged at two sides of the belt conveyor 1;
the top surface of the arc-shaped plate 6 is fixedly provided with a cross rod 52, two ends of the cross rod 52 are respectively connected with the two guide rails 5 in a sliding way, the arc-shaped plate 6 is jacked up and lifted by higher foreign matters, and the foreign matters pass through the rear arc-shaped plate 6 and descend along the guide rails 5 under the action of gravity;
the container 32 is erected above the arc-shaped plate 6, the container 32 can be a cylinder, a piston is arranged in the cylinder, a piston rod 31 is arranged at the bottom of the piston, the bottom end of the piston rod 31 is fixedly connected with a cross rod 52 on the top surface of the arc-shaped plate 6, so that the air pressure in the container 32 is changed along with the lifting of the arc-shaped plate 6, and the air pressure in the container 32 is measured by an air pressure sensor.
Further, a second foreign matter detection device 4 is provided between the foreign matter height detection device and the camera;
the second foreign matter detection device 4 is a horizontal infrared ray detector provided along the belt width direction, which is a prior art.
A secondary belt conveyor 2 with a secondary belt 23 is arranged between the upper belt surface and the lower belt surface of the belt 13 of the belt conveyor 1, and the upper belt surface of the secondary belt 23 is adjacent to the bottom of the upper belt surface of the belt 13 of the belt conveyor 1;
the belt conveyor 1 and the auxiliary belt conveyor 2 move in the same speed and the same direction;
the secondary belt conveyor 2 is located directly below the foreign matter height detection device.
The device also comprises a PLC motion control system and a server which is communicated with the PLC motion control system, wherein the shaft encoder, the pressure sensor, the second foreign matter detection device 4 and the camera 7 are all connected with the server, and the server is used for storing corresponding data;
the belt conveyor 1 is the same as the prior art, a supporting plate 11 is arranged between the upper belt surface and the lower belt surface of a belt 13 of the belt conveyor 1 and used for bearing a coal mine, the auxiliary belt conveyor 2 is the same, the auxiliary supporting plate 21 is arranged, and a sunken groove is formed in the supporting plate 11 and used for placing the auxiliary belt conveyor 2. The belt conveyor 1 and the sub-belt conveyor 2 are driven by a corresponding driving roller 12 and sub-driving roller 22, respectively.
The PLC motion control system is communicated with the air cylinder for controlling the camera 7 and the manipulator 8, and receives control information of the server to further control the manipulator 8 to move and the camera 7 to lift.
The control method of the belt foreign matter grabbing device comprises the following steps:
scaling:
s1, setting a marking point M1 on a belt surface of a belt and setting a coordinate system as shown in FIG. 1, wherein the marking point M1 can be a reflective mark, starting the belt conveyor to enable the marking point M1 to pass through a field of view of a camera 7 and shoot two images P1 and P2 with marks, simultaneously recording values BMQ1 and BMQ2 of an axis encoder when the two images are shot, recording M1 pixel coordinates in the image P1 as mP1M1X and mP1M1Y, and recording M1 pixel coordinates in the image P2 as mP2M1X and mP2M1Y; calculating a relation coefficient k1= (BMQ 2-BMQ 1)/(mP 2M1X-mP1M 1X) on the X-axis;
s2, identifying the width of a belt pixel in the image as mW, measuring the actual width of the belt as dW, and calculating a relation coefficient K2=dw/mW on a Y axis;
s3, enabling the camera to repeat the step S1 and the step S2 at different heights and calculating relation coefficients K1 and K2 at different heights;
so far, the calculation of the relation coefficient K1 on the X axis and the relation coefficient K2 on the Y axis of the camera 7 at any height in the vertical movement range is completed, and the information is stored in the server;
and (3) running:
s4, starting the belt conveyor 1 and the auxiliary belt conveyor 2, moving the camera 7 downwards to the lowest height, identifying by using a foreign matter model, performing reasoning calculation on a foreign matter picture shot by the camera, combining calibration information of the belt conveyor with encoder information, sending the position of the foreign matter to a PLC control system, and controlling a manipulator by the PLC control system through a servo driver to achieve foreign matter grabbing.
In this process, the foreign matter height detection device and the second foreign matter detection device 4 delay adjusting the height of the camera 7 according to the detected height information of the foreign matters at the same time;
wherein the time of the delay is less than the time for the foreign matter to move from the foreign matter height detection device to below the camera 7;
specifically, when the operation is started, the camera 7 and the arc plate 6 are both located at the lowest height, and the height of the arc plate 6 is lower than the height of the camera 7 at the moment, and the position of the bottom end of the arc plate 6 is realized by preventing the cross rod 52 from falling through the cross plate 51;
when the foreign matter passes through the arc-shaped plate 6, if the foreign matter lifts up the arc-shaped plate 6, the air pressure in the container 32 is increased, and the air pressure is measured by the air pressure sensor, wherein the pressure of the air pressure sensor is vertically related to the lifting height of the arc-shaped plate 6, so that the height and the length of the foreign matter can be judged according to the pressure of the air pressure sensor, and the time for the foreign matter to move to the camera 7 can be obtained according to the moving speed of the belt 13 obtained by the shaft encoder;
when the foreign matter passes through the arc-shaped plate 6, the arc-shaped plate 6 has a certain downward pressure on the foreign matter, so that the belt 13 is worn out in order to avoid the increase of the friction force between the upper belt surface of the belt 13 and the supporting plate 11, the auxiliary belt conveyor 2 and the belt conveyor 1 are arranged to work simultaneously, the upper belt surface of the belt 13 is attached to the upper belt surface of the auxiliary belt 23 when the foreign matter passes through the arc-shaped plate 6, the thickness of the belt elastic layer can be increased by two layers of belts, and the wear of the belt 13 can be converted to the auxiliary belt 23, so that the maintenance and replacement cost of the shorter auxiliary belt 23 is lower compared with that of the longer belt 13.
The foreign matter may fall down due to the force of the foreign matter passing through the arc plate 6, so that the height of the foreign matter is changed, and therefore the foreign matter needs to pass through the second foreign matter detection device 4 after passing through the foreign matter height detection device, and the height of the infrared ray is the lowest height of the camera 7, namely the height threshold value of the second foreign matter detection device 4;
that is, if the height of the foreign object collides with the camera, the arc 6 is raised in advance, so that the air pressure sensor records the height information and the length information of the foreign object, then, if the second foreign object detection device 4 also detects the information that the infrared ray is blocked, the raising information of the camera 7 is confirmed, if the information that the infrared ray is not detected for the predetermined time, the height of the foreign object is not more than the height threshold of the second foreign object detection device 4, the raising information of the camera 7 is ignored, the original height of the camera 7 is maintained, wherein the predetermined time is the time when the foreign object moves from the foreign object height detection device to the second foreign object detection device 4, and after the foreign object passes under the camera 7, the camera 7 falls back to the original height.
In the coal mine transportation process, the camera continuously shoots and recognizes pixel positions mA0X, mA Y of the foreign matters in the images, and calculates actual coordinates A0X, A0Y of the foreign matters on the belt at the shooting moment according to the following formula;
wherein a0x=ma0x×k1, a0y=ma0y×k2;
if the height of the camera 7 changes, the relationship coefficient K1 on the X axis and the relationship coefficient K2 on the Y axis corresponding to the height of the camera 7 are brought into a calculation formula.
S5, controlling the manipulator to grasp the foreign matters according to the obtained actual coordinate information of the foreign matters.
In the above operation method, other alternative technical schemes in the prior art may be adopted for judging the position of the foreign object on the belt conveyor 1 when the cameras are at different heights.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Claims (8)

1. A belt foreign matter gripping device, comprising:
the manipulator is positioned above the belt conveyor and is used for grabbing foreign matters on the belt;
the shaft encoder is used for measuring the conveying distance of the belt conveyor;
the camera is positioned above the belt conveyor and used for identifying foreign matters on the belt, and can move vertically;
a foreign matter height detecting device for identifying the height of the foreign matter on the belt;
the foreign matter height detection device, the camera and the manipulator are sequentially arranged along the conveying direction of the belt conveyor.
2. The belt foreign matter gripping apparatus according to claim 1, wherein the foreign matter height detecting means includes:
an arc-shaped plate with downward protrusions is arranged along the width direction of the belt conveyor, and the arc-shaped plate can move vertically;
the air pressure in the container is changed along with the lifting of the arc-shaped plate;
and the air pressure sensor is used for measuring the air pressure in the container.
3. The belt foreign matter gripping apparatus of claim 2, wherein the foreign matter height detecting means further includes vertical guide rails provided at both sides of the belt conveyor;
the two ends of the arc-shaped plate are respectively connected with the two guide rails in a sliding way;
the container is erected above the arc-shaped plate, a piston is arranged in the container, a piston rod is arranged at the bottom of the piston, and the bottom end of the piston rod is connected with the top surface of the arc-shaped plate.
4. A belt foreign matter gripping apparatus according to claim 3, wherein a second foreign matter detecting means is provided between the foreign matter height detecting means and the camera;
the second foreign matter detection device is a horizontal infrared ray detector arranged along the width direction of the belt.
5. The belt foreign matter gripping apparatus according to claim 4, wherein a sub-belt conveyor having a sub-belt is provided between an upper belt and a lower belt of the belt conveyor, an upper belt surface of the sub-belt being adjacent to a bottom of an upper belt surface of a belt of the belt conveyor;
the belt conveyor and the auxiliary belt conveyor move in the same speed and the same direction;
the auxiliary belt conveyor is located right below the foreign matter height detection device.
6. The control method of a belt foreign matter gripping apparatus according to claim 4 or 5, comprising the steps of:
s1, setting a mark point M1 on a belt surface, starting a belt conveyor to enable the mark point M1 to pass through a camera field of view and shoot two images P1 and P2 with marks, simultaneously recording values BMQ1 and BMQ2 of shaft encoders during shooting of the two images, recording M1 pixel coordinates in the image P1 as mP1M1X and mP1M1Y, and recording M1 pixel coordinates in the image P2 as mP2M1X and mP2M1Y; calculating a relation coefficient k1= (BMQ 2-BMQ 1)/(mP 2M1X-mP1M 1X) on the X-axis;
s2, identifying the width of a belt pixel in the image as mW, measuring the actual width of the belt as dW, and calculating a relation coefficient K2=dw/mW on a Y axis;
s3, enabling the camera to repeat the step S1 and the step S2 at different heights and calculating a relation coefficient K1 on an X axis and a relation coefficient K2 on a Y axis at different heights;
s4, starting the belt conveyor and moving the camera downwards to the lowest height, adjusting the height of the camera according to the foreign matter information delay of the foreign matter height detection device, returning the camera to the lowest height after the foreign matter passes through the camera, continuously photographing and identifying the pixel position mA0X, mA Y of the foreign matter in the image by the camera, and calculating the actual coordinate A0X, A Y of the foreign matter on the belt at the photographing time according to the following formula;
wherein a0x=ma0x×k1, a0y=ma0y×k2;
wherein, K1 and K2 are respectively an X-axis relation coefficient and a Y-axis relation coefficient corresponding to the actual height of the camera at the moment of photographing;
s5, controlling the manipulator to grasp the foreign matters according to the obtained actual coordinate information of the foreign matters.
7. The method according to claim 6, wherein the foreign matter information includes foreign matter height information and foreign matter length information in step S4.
8. The method according to claim 7, wherein in step S4, before the camera height is adjusted, if the second foreign matter detecting means does not detect the foreign matter height information exceeding the threshold value, the camera height adjustment is not performed.
CN202311786838.3A 2023-12-25 2023-12-25 Belt foreign matter grabbing device and control method Active CN117446486B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311786838.3A CN117446486B (en) 2023-12-25 2023-12-25 Belt foreign matter grabbing device and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311786838.3A CN117446486B (en) 2023-12-25 2023-12-25 Belt foreign matter grabbing device and control method

Publications (2)

Publication Number Publication Date
CN117446486A true CN117446486A (en) 2024-01-26
CN117446486B CN117446486B (en) 2024-02-27

Family

ID=89591440

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311786838.3A Active CN117446486B (en) 2023-12-25 2023-12-25 Belt foreign matter grabbing device and control method

Country Status (1)

Country Link
CN (1) CN117446486B (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000042499A (en) * 1998-08-03 2000-02-15 Sumitomo Metal Ind Ltd Foreign matter removing apparatus
CN108180875A (en) * 2017-11-30 2018-06-19 魏发宝 Bearing height detection device
CN109759367A (en) * 2019-03-11 2019-05-17 安徽特芯电子科技有限公司 A kind of cigarette packet Superficial Foreign Body intelligence remove device
CN113658135A (en) * 2021-08-17 2021-11-16 中国矿业大学 Fuzzy PID (proportion integration differentiation) -based self-adaptive dimming belt foreign matter detection method and system
WO2022049676A1 (en) * 2020-09-02 2022-03-10 株式会社Fuji Foreign matter removal device
CN216004057U (en) * 2021-09-14 2022-03-11 青岛特殊钢铁有限公司 Foreign matter pickup device of belt conveyor
CN116081233A (en) * 2022-12-01 2023-05-09 中信重工开诚智能装备有限公司 Foreign matter removing device for transportation track, control method and application

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000042499A (en) * 1998-08-03 2000-02-15 Sumitomo Metal Ind Ltd Foreign matter removing apparatus
CN108180875A (en) * 2017-11-30 2018-06-19 魏发宝 Bearing height detection device
CN109759367A (en) * 2019-03-11 2019-05-17 安徽特芯电子科技有限公司 A kind of cigarette packet Superficial Foreign Body intelligence remove device
WO2022049676A1 (en) * 2020-09-02 2022-03-10 株式会社Fuji Foreign matter removal device
CN113658135A (en) * 2021-08-17 2021-11-16 中国矿业大学 Fuzzy PID (proportion integration differentiation) -based self-adaptive dimming belt foreign matter detection method and system
CN216004057U (en) * 2021-09-14 2022-03-11 青岛特殊钢铁有限公司 Foreign matter pickup device of belt conveyor
CN116081233A (en) * 2022-12-01 2023-05-09 中信重工开诚智能装备有限公司 Foreign matter removing device for transportation track, control method and application

Also Published As

Publication number Publication date
CN117446486B (en) 2024-02-27

Similar Documents

Publication Publication Date Title
CN206276628U (en) A kind of express mail automatic sorting device of view-based access control model
TWI382950B (en) Transfer system
JP3849514B2 (en) Article position recognition device
CN111781212A (en) Plank defect visual inspection device
CN212526507U (en) Efficient full-automatic laser marking device
CN114130695B (en) Detection equipment for detecting surface of chip
CN112810322A (en) Laser marking device
CN117446486B (en) Belt foreign matter grabbing device and control method
CN111664981A (en) Pantograph maintenance contact force measurement system and method
JP3482938B2 (en) Article position recognition device
CN108557721A (en) A kind of inspection platform
CN109772719B (en) Integrated circuit transfer mechanism and transfer method
CN114888441B (en) Oxide removal apparatus
CN116639415A (en) Visual detection system and detection method for operation state of vertical transfer robot
CN212379308U (en) Plank defect visual inspection device
CN106391515B (en) Ceramic tile on-line sorting device
CN214322214U (en) Laser marking device
CN115258980A (en) Device and method for replacing lining plate inside mining skip
CN209583046U (en) A kind of empty pallet pile trimmer equipped with segmented automatic adjustment fork mechanism
CN107055104A (en) Adjustable sheet piler
CN220289442U (en) Packaging printed matter detection device based on deep learning
CN117110296B (en) Vehicle oil tank material embryo defect detection device
CN217007031U (en) Computer equipment for industrial image detection
CN206705269U (en) Adjustable sheet piler
CN216582551U (en) Transmission line discernment test platform of angle steel is exclusively used in

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant