CN207641883U - A kind of part stream waterline automatic sorting boxing apparatus of view-based access control model - Google Patents
A kind of part stream waterline automatic sorting boxing apparatus of view-based access control model Download PDFInfo
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- CN207641883U CN207641883U CN201721504769.2U CN201721504769U CN207641883U CN 207641883 U CN207641883 U CN 207641883U CN 201721504769 U CN201721504769 U CN 201721504769U CN 207641883 U CN207641883 U CN 207641883U
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Abstract
The utility model discloses a kind of part stream waterline automatic sorting boxing apparatus of view-based access control model, belongs to robot vision identification field of locating technology.The equipment is divided into off-line teaching and online recognition and sorting using process, and off-line teaching is by manually placing within the scope of parts to viewing field of camera, and camera acquisition image simultaneously extracts feature, and manual control mechanical arm draws parts, and the purpose is to typing components informations；Online recognition is with sorting by being acquired in real time to parts image information on transmission line, and feature is extracted by industrial personal computer, it is compared with the feature extracted offline, realize the identification of current types of spare parts, and the mechanical arm controlled motion instruction of the parts corresponding robot when off-line teaching is sent to robot controller, control machinery arm to parts draw and work of casing.The parts that can recognize that arbitrary conveyer belt using the equipment, it is simple for the addition and calibration of new model parts, improve the practicality and autgmentability.
Description
Technical field
The utility model belongs to robot vision identification field of locating technology, especially a kind of part stream of view-based access control model
Waterline automatic sorting boxing apparatus.
Background technology
Application with robot and computer vision technique and development and the continuous improvement of factory automation level,
Robot is widely used to produce reality.Robot autonomous ability how is improved, more complicated environment is adapted to and improves its application
Flexibility becomes the inevitable requirement of robot on automatic production line.
Utility model content
To solve the prior art, there are what product in factory lines operation process cannot be packaged by model automatic sorting to lack
It falls into, the utility model provides a kind of part stream waterline automatic sorting boxing apparatus of view-based access control model.
To achieve the above object, the utility model uses following technical proposals：
A kind of part stream waterline automatic sorting boxing apparatus of view-based access control model, it includes conveyer belt, industrial personal computer, robot
And hopper, conveyer belt top are equipped with area array cameras and LED light source, are located at viewing field of camera range close to switch on conveyer belt
It is interior, parts process is detected the presence of close to switch, and control LED light source and light to trigger the current part diagram of area array cameras acquisition
As information, industrial personal computer extracts feature from image information to be compared with the whole model parts features extracted when off-line teaching
It is right, identify its model, and the mechanical arm controlled motion instruction of the parts corresponding robot when off-line teaching is sent to machine
The controller of device people, controller control machinery arm are drawn current parts by sucker and are placed into corresponding hopper.
Further, off-line teaching is completed by human assistance, and all model parts carry out manual numbering on conveyer belt, no
Different hoppers are corresponded to model, parts are manually placed within the scope of viewing field of camera one by one, and manual control LED light source is lighted to touch
Array camera of leavening dough acquires parts image information, and industrial personal computer extracts feature from image information and is stored in database for online recognition
With the sucker in artificial teaching mechanical arm and end joint is drawn parts and is placed into corresponding hopper, while controller will show
Religion posture is sent to industrial personal computer.
Further, the new model of parts is identified and is sorted using off-line teaching.
Advantageous effect：
1. the utility model is acquired components information on conveyer belt with LED light source mode using area array cameras, easily
In installation, when increasing new product, simple off-line teaching only need to be carried out, can realize that parts online recognition is beaten with automatic sucking
Packet；
2. the utility model extracts feature using industrial personal computer from parts image information, types of spare parts identification is carried out,
Have the characteristics that method is simple, recognition speed is fast, easily promote, can effectively meet factory needing.
Description of the drawings
Fig. 1 is the schematic diagram of one embodiment of the utility model.
Specific implementation mode
The utility model is further illustrated with reference to the accompanying drawings and examples.
Present embodiment discloses a kind of part stream waterline automatic sorting boxing apparatus of view-based access control model, as shown in Figure 1, it
Including arbitrarily put on conveyer belt 2 parts 1, conveyer belt 2, close to switch 3, area array cameras 4, annular LED light source 5, be used for
The industrial personal computer 6 of image procossing, the controller 7 of robot, six shaft mechanical arms 8, sucker 9 and the hopper for packing different model
10,2 top of conveyer belt is equipped with area array cameras 4 and LED light source 5, is located at viewing field of camera range close to switch 3 on conveyer belt 2
It is interior.
As shown in Figure 1, its concrete operations flow is：First when conveyer belt 2 adds new model parts 1, need artificial
Parts 1 are placed within the scope of viewing field of camera, manual control LED light source 5 is lighted acquires parts 1 to trigger area array cameras 4
Then image carries out processing extraction feature to the image of acquisition through industrial personal computer 6, and is stored in database and is positioned for online recognition,
Then off-line teaching is carried out to robot and draws parts 1 to specified hopper 10, while teaching posture is sent to work by controller 7
Control machine 6.After having added new model parts 1 offline, during working online, needs to install close to switch 3 in conveyer belt 2, use
Detect whether that parts 1 pass through, after detecting parts 1 close to switch 3 control LED light source 5 is lighted to trigger face gust
Camera 4 acquire image, then through industrial personal computer 6 to the image zooming-out feature of acquisition, then with all model parts in database
It is compared, determines 1 model of current parts, and by six shaft mechanical arms 8 of the 1 corresponding robot of parts when off-line teaching
Controlled motion instruction is sent to robot controller 7, and the sucker 9 in six shaft mechanical arm of control, 8 end joint is drawn parts 1 and put
Set specified hopper 10.
Limitation to scope of protection of the utility model, those skilled in the art should understand that, in the skill of the utility model
On the basis of art scheme, the various modifications or variations that can be made by those skilled in the art with little creative work still exists
Within the scope of protection of the utility model.
Claims (1)
1. a kind of part stream waterline automatic sorting boxing apparatus of view-based access control model, it is characterised in that：It include conveyer belt (2),
Industrial personal computer (6), robot and hopper (10), conveyer belt (2) top are equipped with area array cameras (4) and LED light source (5), pass
Being located within the scope of viewing field of camera close to switch (3) on band (2) is sent, parts (1) process is detected the presence of close to switch (3), and
Control LED light source (5) is lighted acquires current parts (1) image information to trigger area array cameras (4), and industrial personal computer (6) is from image
Feature is extracted in information to be compared with whole model parts (1) features extracted when off-line teaching, identifies its model, and will
Mechanical arm (8) controlled motion instruction of the corresponding robot of parts (1) is sent to the controller of robot when off-line teaching
(7), controller (7) control machinery arm (8) is drawn current parts (1) by sucker (9) and is placed into corresponding hopper (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721504769.2U CN207641883U (en) | 2017-11-13 | 2017-11-13 | A kind of part stream waterline automatic sorting boxing apparatus of view-based access control model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721504769.2U CN207641883U (en) | 2017-11-13 | 2017-11-13 | A kind of part stream waterline automatic sorting boxing apparatus of view-based access control model |
Publications (1)
| Publication Number | Publication Date |
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| CN207641883U true CN207641883U (en) | 2018-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721504769.2U Active CN207641883U (en) | 2017-11-13 | 2017-11-13 | A kind of part stream waterline automatic sorting boxing apparatus of view-based access control model |
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| CN (1) | CN207641883U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109034146A (en) * | 2018-08-13 | 2018-12-18 | 广州瑞松北斗汽车装备有限公司 | Automobile manufacture production line derives from workpiece visual identity method |
| CN109191659A (en) * | 2018-08-13 | 2019-01-11 | 山东栋梁科技设备有限公司 | A kind of device and method of Coin sorting and packaging |
| CN110170459A (en) * | 2019-01-28 | 2019-08-27 | 苏州德迈科电气有限公司 | The robot method for sorting of view-based access control model detection |
| CN110420888A (en) * | 2019-08-09 | 2019-11-08 | 福建（泉州）哈工大工程技术研究院 | A kind of the cooperation robot materials-sorting system and its application method of view-based access control model |
| CN110976338A (en) * | 2019-11-11 | 2020-04-10 | 浙江大学 | Test paper sorting system and method based on machine vision |
| CN111951248A (en) * | 2020-08-12 | 2020-11-17 | 上海仁度生物科技有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
| CN113458009A (en) * | 2021-07-02 | 2021-10-01 | 北京思灵机器人科技有限责任公司 | Sorting device, sorting system and sorting method for disordered wires |
-
2017
- 2017-11-13 CN CN201721504769.2U patent/CN207641883U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109034146A (en) * | 2018-08-13 | 2018-12-18 | 广州瑞松北斗汽车装备有限公司 | Automobile manufacture production line derives from workpiece visual identity method |
| CN109191659A (en) * | 2018-08-13 | 2019-01-11 | 山东栋梁科技设备有限公司 | A kind of device and method of Coin sorting and packaging |
| CN110170459A (en) * | 2019-01-28 | 2019-08-27 | 苏州德迈科电气有限公司 | The robot method for sorting of view-based access control model detection |
| CN110420888A (en) * | 2019-08-09 | 2019-11-08 | 福建（泉州）哈工大工程技术研究院 | A kind of the cooperation robot materials-sorting system and its application method of view-based access control model |
| CN110976338A (en) * | 2019-11-11 | 2020-04-10 | 浙江大学 | Test paper sorting system and method based on machine vision |
| CN111951248A (en) * | 2020-08-12 | 2020-11-17 | 上海仁度生物科技有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
| CN111951248B (en) * | 2020-08-12 | 2023-11-28 | 上海仁度生物科技股份有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
| CN113458009A (en) * | 2021-07-02 | 2021-10-01 | 北京思灵机器人科技有限责任公司 | Sorting device, sorting system and sorting method for disordered wires |
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