CN209363063U - A kind of high-precision vision application sorting equipment - Google Patents
A kind of high-precision vision application sorting equipment Download PDFInfo
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- CN209363063U CN209363063U CN201822223008.0U CN201822223008U CN209363063U CN 209363063 U CN209363063 U CN 209363063U CN 201822223008 U CN201822223008 U CN 201822223008U CN 209363063 U CN209363063 U CN 209363063U
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- camera detection
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Abstract
The utility model discloses a kind of high-precision vision application sorting equipment, including workbench, set charging tray, temporarily sale at reduced prices, material frame, upper CCD camera detection device, lower CCD camera detection device and multi-joint manipulator；Workbench is equipped with aperture, sets charging tray, temporarily sells at reduced prices, around the aperture that material frame is respectively positioned on workbench；The lower section of aperture on the table is arranged in lower CCD camera detection device；The top for setting charging tray is arranged in upper CCD camera detection device；Multi-joint manipulator is installed on the workbench.The application uses the position precision of automatic checkout system testing product, image is acquired by the CCD camera lens combination high-definition camera of upper CCD camera detection device and lower CCD camera detection device, image comparison is completed through system image procossing, determine whether the product image position meets the requirements, multi-joint manipulator is transmitted a signal to again to be sorted, automated sorting product space is realized, production efficiency is improved.
Description
Technical field
The utility model relates to automatic detection system fields, more specifically to a kind of application point of high-precision vision
Pick device.
Background technique
Currently, whether meet specific requirement in production line for the position location of product, as product just towards
Lower or product notch plays an important role smoothly completing for subsequent processing to first-class requirement.But existing product is carried out
Positioning, and the process for being sorted to corresponding position is sorted by artificial eye, although simply, being not necessarily to corresponding
Equipment, but artificial detection result is not necessarily accurate, artificial detection is understood because visually observing for a long time and generating visual fatigue,
To influence testing result, and people is there are the uncertain factors such as changeable in mood, thus it is poor there is also sorting efficiency the problems such as.Especially
Some tiny parts, artificial detection are easier to make mistakes, and working efficiency can be more low.
Utility model content
The technical problem to be solved by the present invention is in view of the above drawbacks of the prior art, provide a kind of high-precision
Vision application sorting equipment.The application uses the position precision of automatic checkout system testing product, by upper CCD camera detection device
Image is acquired with the CCD camera lens combination high-definition camera of lower CCD camera detection device, completes image pair through system image procossing
Than determining whether the product image position meets the requirements, then transmit a signal to multi-joint manipulator and sorted, realizing automatic
Change sorting product space, improves production efficiency.
The technical scheme adopted by the utility model to solve the technical problem is as follows: providing a kind of high-precision vision application sorting
Device, including workbench, for place product to be sorted set charging tray, for place substandard product it is temporary sale at reduced prices, for putting
It sets the material frame of qualified products, set the upper CCD camera detection device of product space in charging tray, for identification of taking pictures for identification of taking pictures
The lower CCD camera detection device of label on product to be sorted and the multi-joint manipulator for transferring product；The work
Platform is equipped with aperture, described to set charging tray, temporarily sell at reduced prices, around the aperture that material frame is respectively positioned on workbench；The lower CCD camera inspection
Survey the lower section that aperture on the table is arranged in device；The top for setting charging tray is arranged in the upper CCD camera detection device；It is described more
Joint Manipulator is installed on the workbench.
High-precision vision application sorting equipment described in the utility model, wherein the multi-joint manipulator include board,
First level swing arm, the second horizontal swing arm, vertical operation axis, mechanical gripper；The board is fixed on the table；Described first
One end of horizontal swing arm, which horizontally rotates, to be mounted on board, and one end of the second horizontal swing arm, which horizontally rotates, is mounted on the first water
The one end of flat pendulum arm far from board；The vertical operation axis is mounted on second one end of horizontal swing arm far from first level swing arm,
And axis direction rotation and oscilaltion movement around vertical operation axis；The mechanical gripper is mounted on the bottom of vertical operation axis
Portion.
High-precision vision application sorting equipment described in the utility model, wherein being equipped in the board makes first level
The first motor of swing arm rotation, the output shaft of first motor are fixedly connected with one end of first level swing arm.
High-precision vision application sorting equipment described in the utility model, wherein being equipped in the second horizontal swing arm makes
Second motor of the second horizontal swing arm rotation, the one end of output shaft and first level swing arm far from board of the second motor is fixed to be connected
It connects.
High-precision vision application sorting equipment described in the utility model, wherein being equipped in the second horizontal swing arm makes
The rotating electric machine that vertical operation rotates about the axis and the lifting motor for making vertical operation axis oscilaltion；The lifting motor and rotation
The output shaft of rotating motor is fixedly connected with vertical operation axis.
High-precision vision application sorting equipment described in the utility model, wherein the high-precision vision application sorting equipment
It further include the controller for controlling multi-joint manipulator angle of operation and stroke；The controller is examined with upper CCD camera respectively
Device, lower CCD camera detection device and multi-joint manipulator is surveyed to be electrically connected.
High-precision vision application sorting equipment described in the utility model, wherein the material frame is held equipped with multiple products
Set slot.
High-precision vision application sorting equipment described in the utility model, wherein the upper CCD camera detection device installation
On the slide rail.
The high-precision vision application sorting equipment for implementing the utility model, has the advantages that
The application uses the position precision of automatic checkout system testing product, by upper CCD camera detection device and lower CCD phase
The CCD camera lens combination high-definition camera of machine detecting device acquires image, completes image comparison through system image procossing, determines the production
Whether product picture position meets the requirements, then transmits a signal to multi-joint manipulator and sorted, and realizes automated sorting product
Position improves production efficiency.
Detailed description of the invention
Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail, in attached drawing:
Fig. 1 is the structural schematic diagram of the utility model preferred embodiment high-precision vision application sorting equipment；
Fig. 2 is another angled arrangement schematic diagram of the utility model preferred embodiment high-precision vision application sorting equipment；
Fig. 3 is the structural schematic diagram for setting charging tray.
Wherein, 1, workbench；101, aperture；2, charging tray is set；3, temporarily sale at reduced prices；4, material frame；401, product accommodation groove；5, on
CCD camera detection device；6, lower CCD camera detection device；7, multi-joint manipulator；701, board；702, first level swing arm；
703, the second horizontal swing arm；704, vertical operation axis；705, mechanical gripper；8, sliding rail.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the utility model:
As shown in Figure 1-3, a kind of high-precision vision application sorting equipment, including workbench 1, for placing product to be sorted
Set charging tray 2, for place substandard product it is temporary sale at reduced prices 3, the material frame 4 for placing qualified products, for taking pictures, identification is set
The upper CCD camera detection device 5 of product space in charging tray, for the lower CCD camera for identifying the label on product to be sorted of taking pictures
Detection device 6 and multi-joint manipulator 7 for transferring product；The workbench be equipped with aperture 101, it is described set charging tray,
Temporarily sale at reduced prices, material frame are respectively positioned on around the aperture on workbench；Aperture on the table is arranged in the lower CCD camera detection device
Lower section；The top for setting charging tray is arranged in the upper CCD camera detection device；The multi-joint manipulator is mounted on workbench
On.
The application uses the position precision of automatic checkout system testing product, by upper CCD camera detection device and lower CCD phase
The CCD camera lens combination high-definition camera of machine detecting device acquires image, completes image comparison through system image procossing, determines the production
Whether product picture position meets the requirements, then transmits a signal to multi-joint manipulator and sorted, and realizes automated sorting product
Position improves production efficiency.
As further preferred scheme, the multi-joint manipulator includes board 701, first level swing arm 702, the second water
Flat pendulum arm 703, vertical operation axis 704, mechanical gripper 705；The board is fixed on the table；The first level swing arm
One end, which horizontally rotates, to be mounted on board, and one end of the second horizontal swing arm horizontally rotates that be mounted on first level swing arm separate
One end of board；The vertical operation axis is mounted on second one end of horizontal swing arm far from first level swing arm, and makees around vertical
The axis direction rotation and oscilaltion of industry axis are mobile；The mechanical gripper is mounted on the bottom of vertical operation axis.Preferably, machine
Tool handgrip can use vacuum chuck, and strong adsorption force, running speed is fast, and noise is small.
The first motor for rotating first level swing arm is equipped with as further preferred scheme, in the board (in figure not
Show), the output shaft of first motor is fixedly connected with one end of first level swing arm.
The second motor for making the second horizontal swing arm rotation is equipped with as further preferred scheme, in the second horizontal swing arm
The output shaft of (not shown), the second motor is fixedly connected with first level swing arm far from one end of board.
As further preferred scheme, the electric rotating for rotating about the axis vertical operation is equipped in the second horizontal swing arm
Machine (not shown) and the lifting motor (not shown) for making vertical operation axis oscilaltion；The lifting motor and rotating electric machine
Output shaft be fixedly connected with vertical operation axis.
As further preferred scheme, which further includes for controlling multi-joint manipulator
The controller (not shown) of angle of operation and stroke；The controller respectively with upper CCD camera detection device, lower CCD camera
Detection device and multi-joint manipulator are electrically connected.
As further preferred scheme, the material frame is equipped with multiple product accommodation grooves 401, for positioning the production sorted
Product prevent product from shifting.
As further preferred scheme, the upper CCD camera detection device is mounted on sliding rail 8.The sliding rail can be existing
There is the horizontal slide rail of technology, can make upper CCD camera detection device adaptation is different size of to set charging tray by the way that sliding rail is arranged, thus
Improve the efficiency of testing product position.
The course of work of the application high-precision vision application sorting equipment is as follows:
Irregular be distributed in of product to be sorted is set on charging tray, positioned at the upper CCD camera detection device set above charging tray
It takes pictures, the product space being randomly distributed on charging tray will be set and recorded in the form taken pictures, and by the location information on photo
Controller is fed back, controller is moved to according to the mechanical gripper of the product space information control multi-joint manipulator on photo and sets
The top of charging tray, and vertical operation axis is moved downward, grab corresponding product；Then multi-joint manipulator is by the product of crawl
It is moved to the top of workbench aperture, the lower CCD camera detection device below aperture is taken pictures, the label on record product,
The label is detected if taking pictures, regards as qualified products, at this point, product is moved in material frame by multi-joint manipulator；
The label is not detected if taking pictures, regards as substandard product, is temporarily put at this point, product is moved to by multi-joint manipulator
In disk.Wherein the label on product can first stick for the notch on product or on product that two dimensional code etc. is a variety of to be had
The mark of identification function, as judge product space whether He Ge standard.
It will be apparent to those skilled in the art that can technical solution and design as described above, make various other phases
The change and deformation answered, and all these changes and deformation all should belong to the protection model of the utility model claims
Within enclosing.
Claims (8)
1. a kind of high-precision vision application sorting equipment, which is characterized in that including workbench, for placing setting for product to be sorted
Charging tray, the material frame for placing qualified products, is set in charging tray for identification of taking pictures and is produced at the temporary sale at reduced prices for placing substandard product
Upper CCD camera detection device that grade is set, for take pictures identify the lower CCD camera detection device of the label on product to be sorted with
And the multi-joint manipulator for transferring product；The workbench is equipped with aperture, described to set charging tray, temporarily sale at reduced prices, the equal position of material frame
Around the aperture on workbench；The lower section of aperture on the table is arranged in the lower CCD camera detection device；On described
The top for setting charging tray is arranged in CCD camera detection device；The multi-joint manipulator is installed on the workbench.
2. high-precision vision application sorting equipment as described in claim 1, which is characterized in that the multi-joint manipulator includes
Board, first level swing arm, the second horizontal swing arm, vertical operation axis, mechanical gripper；The board is fixed on the table；Institute
The one end for stating first level swing arm, which horizontally rotates, to be mounted on board, and one end of the second horizontal swing arm, which horizontally rotates, to be mounted on
The one end of first level swing arm far from board；The vertical operation axis is mounted on the second horizontal swing arm far from first level swing arm
One end, and axis direction rotation and oscilaltion movement around vertical operation axis；The mechanical gripper is mounted on vertical operation axis
Bottom.
3. high-precision vision application sorting equipment as claimed in claim 2, which is characterized in that being equipped in the board makes first
The first motor of horizontal swing arm rotation, the output shaft of first motor are fixedly connected with one end of first level swing arm.
4. high-precision vision application sorting equipment as claimed in claim 2, which is characterized in that set in the second horizontal swing arm
There is the second motor for making the second horizontal swing arm rotation, the one end of output shaft and first level swing arm far from board of the second motor is solid
Fixed connection.
5. high-precision vision application sorting equipment as claimed in claim 2, which is characterized in that set in the second horizontal swing arm
There is the rotating electric machine for rotating about the axis vertical operation and makes the lifting motor of vertical operation axis oscilaltion；The lifting motor
It is fixedly connected with vertical operation axis with the output shaft of rotating electric machine.
6. high-precision vision application sorting equipment as described in claim 1, which is characterized in that high-precision vision application sorting
Device further includes the controller for controlling multi-joint manipulator angle of operation and stroke；The controller respectively with upper CCD phase
Machine detecting device, lower CCD camera detection device and multi-joint manipulator are electrically connected.
7. high-precision vision application sorting equipment as described in claim 1, which is characterized in that the material frame is equipped with multiple productions
Product accommodation groove.
8. high-precision vision application sorting equipment as described in claim 1, which is characterized in that the upper CCD camera detection dress
Set installation on the slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822223008.0U CN209363063U (en) | 2018-12-27 | 2018-12-27 | A kind of high-precision vision application sorting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822223008.0U CN209363063U (en) | 2018-12-27 | 2018-12-27 | A kind of high-precision vision application sorting equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209363063U true CN209363063U (en) | 2019-09-10 |
Family
ID=67827589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822223008.0U Active CN209363063U (en) | 2018-12-27 | 2018-12-27 | A kind of high-precision vision application sorting equipment |
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| CN (1) | CN209363063U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110694928A (en) * | 2019-10-31 | 2020-01-17 | 东莞领杰金属精密制造科技有限公司 | Anti-mixing detection equipment and detection method thereof |
| CN113579683A (en) * | 2021-08-23 | 2021-11-02 | 安徽艾瑞思信息科技有限公司 | Device for high-precision picking of assembly line parts based on Falcon camera |
| CN113751367A (en) * | 2021-08-30 | 2021-12-07 | 深圳市丰源升科技有限公司 | Link automation equipment adopting CCD visual positioning control |
| WO2023045037A1 (en) * | 2021-09-27 | 2023-03-30 | 深圳技术大学 | Automatic sorting system and method |
-
2018
- 2018-12-27 CN CN201822223008.0U patent/CN209363063U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110694928A (en) * | 2019-10-31 | 2020-01-17 | 东莞领杰金属精密制造科技有限公司 | Anti-mixing detection equipment and detection method thereof |
| CN113579683A (en) * | 2021-08-23 | 2021-11-02 | 安徽艾瑞思信息科技有限公司 | Device for high-precision picking of assembly line parts based on Falcon camera |
| CN113751367A (en) * | 2021-08-30 | 2021-12-07 | 深圳市丰源升科技有限公司 | Link automation equipment adopting CCD visual positioning control |
| WO2023045037A1 (en) * | 2021-09-27 | 2023-03-30 | 深圳技术大学 | Automatic sorting system and method |
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