CN212150606U - Medicine bottle slope calibration and gesture adjustment mechanical structure device - Google Patents
Medicine bottle slope calibration and gesture adjustment mechanical structure device Download PDFInfo
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- CN212150606U CN212150606U CN202020588122.8U CN202020588122U CN212150606U CN 212150606 U CN212150606 U CN 212150606U CN 202020588122 U CN202020588122 U CN 202020588122U CN 212150606 U CN212150606 U CN 212150606U
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- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000003384 imaging method Methods 0.000 abstract description 4
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 239000011159 matrix material Substances 0.000 description 19
- 230000009466 transformation Effects 0.000 description 14
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 description 12
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Abstract
The utility model discloses a medicine bottle slope calibration and gesture adjustment mechanical structure device for the medicine bottle keeps inherent gesture smooth transmission forward according to predetermineeing on the direction, and does benefit to stable clear formation of image. The device comprises a bottom coarse adjustment mechanism, a vertical coarse adjustment mechanism, a top fine adjustment mechanism, a baffle limiting mechanism and the like. The bottom coarse adjustment mechanism is provided with a linear module which can manually or electrically adjust the distance of the slide rail; the vertical coarse adjustment mechanism consists of support supporting plates, is vertically coarse and consists of four support supporting plates capable of moving up and down, and realizes the height adjustment of the limiting baffle; the top fine-tuning mechanism is composed of micro-motion platforms of four micrometers distributed at the top, and can precisely adjust the baffle limiting mechanism to constrain the posture of the medicine bottle, so as to prevent the medicine bottle from drifting around, left and right, and up and down, and ensure the stable posture of the medicine bottle. The structure device can realize coarse adjustment with large scale and fine adjustment with small range, and ensure the imaging quality from the source, so that the medicine bottle can move stably and transmit.
Description
Technical Field
The utility model relates to an gesture calibration technical field, concretely relates to medicine bottle slope calibration and gesture adjustment mechanical structure device.
Background
The prior mechanical structure device and method for the inclination calibration and posture adjustment of the medicine bottle use a horizontal conveyor belt to transport workpieces; when the posture of the workpiece needs to be adjusted, the conveyor belt stops moving, clamps and fixes the workpiece up and down, and rotates in situ until the posture of the workpiece meets the requirement; the conveyor belt then continues to transport the workpiece. The disadvantages of the above-mentioned method are: the working efficiency is low and the response is slow. Therefore, how to provide a transmission device with high efficiency and fast response is a problem to be solved in the industry.
Chinese patent [ CN207890475U ] provides a transmission device with posture adjustment function, which includes: a support frame; an attitude adjusting mechanism located on the support frame; the posture adjusting mechanism comprises two conveyor belts, and the belt surfaces of the conveyor belts are vertically arranged; the two conveyor belts are oppositely arranged; the adjusting mechanism is used for adjusting the space position of the conveying belt and is arranged corresponding to the conveying belt; the adjusting mechanism is positioned on the supporting frame and is connected with the corresponding conveying belt; the adjustment mechanism includes a vertical displacement mechanism and a horizontal displacement mechanism. However, the device has low working efficiency and cannot accurately adjust the posture.
Chinese patent (CN 210132064U) discloses a three-degree-of-freedom posture adjusting device, which relates to the field of multi-degree-of-freedom turning tool adjustment and comprises a base and an adjusting connecting plate, wherein a ball head screw is fixedly connected to the base, a ball head locking pad is movably connected below the ball head screw, the adjusting connecting plate is connected with the ball head locking pad through a connecting screw, an upper locking plate is slidably connected to the outer side of the connecting screw, and a ball head locking screw matched with the adjusting connecting plate is in threaded connection with the upper locking plate; the base is respectively connected with horizontal angle adjusting screws matched with the adjusting connecting plate in a threaded mode in the front and at the back, the rolling angle adjusting screws are connected with the left side of the adjusting connecting plate in a threaded mode, and the pitching angle adjusting screws are connected with the front side of the adjusting connecting plate in a threaded mode. However, the device has a complicated structural design and cannot achieve the purpose of precise adjustment.
Regarding slope calibration and attitude adjustment mechanical structure device on the industrial application, still there are a lot of not enough, the utility model aims at creating a medicine bottle slope calibration and attitude adjustment mechanical structure device, solve that the positioning accuracy is low, the legal standard position of calculation, structure and the scheduling problem that complicates, realize the stable quick conveying of medicine bottle.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the embodiment of the utility model provides a medicine bottle slope calibration and gesture adjustment mechanical structure device.
In order to solve the technical problem, the embodiment of the utility model provides a medicine bottle slope calibration and gesture adjustment mechanical structure device, including bottom coarse adjustment mechanism, perpendicular coarse adjustment mechanism, top fine tuning mechanism, baffle stop gear.
Further, the bottom coarse adjustment mechanism mainly comprises a left linear module and a right linear module, wherein the linear modules comprise linear slide rails, the linear slide rails can be manually or electrically adjusted, the X-direction position of the supporting plate is adjusted in a large range, and the linear slide rails are installed on the supporting platform.
Further, perpendicular coarse adjustment mechanism adopts unipolar fine motion platform, and the height position of four adjustable support faggings adjusts the position of baffle on the Z direction on a large scale, and the bottom links to each other with the slide rail, and the top with top fine-tuning is connected.
Furthermore, the baffle limiting mechanism consists of a front baffle and a rear baffle and is used for clamping the medicine bottle after the posture is adjusted.
Further, top fine-tuning mainly comprises the fine motion platform of four microcallipers that distribute at the top, adjusts in X direction minimality, but accurate adjustment baffle position and gesture make two baffles parallel, control the distance between baffle and the medicine bottle to installation conveyer belt mechanism on the baffle, conveyer belt and medicine bottle transmission friction are used for retraining the medicine bottle gesture, in order to prevent around the medicine bottle, control, drift from top to bottom, guarantee that the medicine bottle is under the gesture is steady, clear stable image can be gathered to the industrial camera.
The utility model has the advantages that: the utility model provides a medicine bottle slope calibration and gesture adjustment mechanical structure device, can realize the coarse adjustment of large-scale and the fine adjustment of minim range on mechanical layer, has realized stabilizing controllable to the medicine bottle gesture, guarantees the imaging quality from the source for the transmission of medicine bottle steady motion. The problem that the algorithm cannot be positioned due to inclination of the medicine bottle, unclear imaging and the like in the conveying process is solved. The method has the characteristics of simple structural design, accurate and quick algorithm positioning, high working efficiency and low cost.
Drawings
Fig. 1 is a schematic structural diagram of the mechanical structure device for calibrating the inclination and adjusting the posture of the medicine bottle of the present invention.
Fig. 2 is the utility model discloses a coordinate point principle sketch map around medicine bottle slope calibration and gesture adjustment mechanical structure device carried out affine transformation.
Fig. 3 is a schematic diagram of the shape profile of the lower half part of the medicine bottle in the medicine bottle inclination calibration and posture adjustment mechanical structure device of the present invention when the inclination phenomenon occurs.
Fig. 4 is a schematic structural diagram of the outline of the expected gesture after calibration of the lower half part of the medicine bottle in the medicine bottle inclination calibration and gesture adjustment mechanical structural device of the present invention.
Fig. 5 is a schematic flow chart illustrating the control principle of the mechanical structure device for calibrating the inclination of the medicine bottle and adjusting the posture of the medicine bottle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, the utility model discloses a medicine bottle slope calibration and gesture adjustment mechanical structure device, including bottom coarse adjustment mechanism, perpendicular coarse adjustment mechanism, top fine tuning structure, baffle stop gear etc..
Furthermore, the bottom coarse adjustment mechanism mainly comprises a left linear module and a right linear module, wherein the linear modules comprise linear slide rails (105), the linear slide rails can be manually or electrically adjusted, the X-direction position of a supporting plate (104) is adjusted in a large range, and the linear slide rails are installed on a supporting platform.
Furthermore, perpendicular coarse adjustment mechanism adopts unipolar fine motion platform, and the height position of four adjustable support faggings (104), adjusts the position of baffle on the Z direction on a large scale, and the bottom is connected with the slide rail, and the top with top fine adjustment mechanism connects.
Furthermore, the baffle limiting mechanism consists of a front baffle plate and a rear baffle plate (103) and is used for clamping the medicine bottle after the posture is adjusted.
Furthermore, the top fine adjustment mechanism mainly comprises micro-motion platforms of four micrometers (101) distributed on the top, can be adjusted in a small range in the X direction, and can precisely adjust the positions and postures of the baffles, so that the two baffles are parallel, and the distance between the baffles and the medicine is controlled to restrict the posture of the medicine bottle. And a conveying belt mechanism (102) is arranged on the baffle plate, and the baffle plate and the medicine form sliding friction to prevent the medicine bottles from drifting forwards and backwards, leftwards and rightwards and upwards and downwards. And prevent to cause the secondary friction damage to the body of the bottle, guaranteed that the medicine bottle is under the gesture is steady, clear stable image can be gathered to the industrial camera.
As shown in fig. 2, coordinates of the point S (j, k) are subjected to rotation transformation to obtain coordinates of the point T (m, n), and an expression of matrix transformation is as follows:
written in the form of an equation, the expression of m, n:
and rotating the dotted line to the position of the solid line according to the calculation result to complete rotation transformation.
As shown in fig. 3, even if the mechanical structure is adopted to limit the posture of the medicine bottle during the transportation of the medicine bottle, although the limitation can be realized on the large scale, the bottom of the medicine bottle is ensured not to exceed the imaging visual field, but the phenomenon of slightly inclining the bottom of the medicine bottle is more or less on the small scale. So that the outer contour of the image of the bottom of the medicine bottle collected by the camera is inclined.
As shown in fig. 4, the tilted vial of fig. 3 is passed through a vial tilt calibration fine tuning algorithm to obtain a lower half vial image of the correct pose.
As shown in fig. 5, the control principle of the present invention is a fine tuning algorithm for calibrating the inclination of a medicine bottle, which adopts the affine transformation principle, and comprises the following steps:
step 1, collecting a lower half part medicine bottle color image;
step 2, carrying out graying processing on the color image and extracting the outline of the medicine bottle; dividing the image by using the gray average value as a division threshold of the image, realizing the extraction of the medicine bottle target in the image and obtaining a target contour:
step 3, obtaining a region of a given graphic characteristic, obtaining contour characteristic points, adopting a least square fitting linear equation, and calculating an inclination angle of the linear equation;
step 4, establishing an initialization matrix, constructing a translation matrix, constructing a scaling matrix and constructing a rotation matrix;
step 5, adding the characteristic point factors of the rotation matrix, the translation matrix and the scaling matrix into the initialization matrix, and assembling an affine transformation matrix;
and 6, carrying out affine transformation on the overall performance of the image to obtain an expected posture image.
Further, the method for calibrating the inclination of the medicine bottle and adjusting the posture is characterized in that the step 4 of constructing affine transformation comprises the following steps: acquiring contour feature points and angles to create an affine transformation matrix, and creating a hollow two-dimensional transformation matrix; adding the rotation angle, scaling and translation matrixes to an empty two-dimensional transformation matrix; calculating a rigid affine transformation matrix according to the contour feature points and the angles, wherein the general formula of the affine matrix is as follows:
wherein, the image plane is set as 1, the coordinate has only one scale factor, so zimage＝1，a331, obtaining a value including a11，a12，a13，a21，a22，a23，a31，a32Based on these 8 parameters, an affine matrix is obtained. Moreover, in order to obtain the one-to-one correspondence after affine, 8 unknowns should have 8 equations, so that 4 different point correspondences are needed to solve. Writing equation (1) into the form of an equation by matrix multiplication, it can be known that:
from the trigonometric similarity of the projections, z can be obtainedwSee equation (3):
substituting formula 2 into formula 3 yields:
the four corresponding point pairs are substituted into equation (4), and written in the form of matrix a · x ═ 0, and can be obtained:
according to formula 5, 8 unknowns of the equation can be solved to obtain an affine transformation matrix.
Further, the medicine bottle inclination calibration and posture adjustment method adopts an affine transformation-based inclination calibration algorithm, and the inclination compatible angle β, i.e., the inclination compatible range, is as follows: 300< β < 300.
Further, there is the clearance between conveyer belt on the baffle and the medicine bottle, and this clearance D's size scope is: 0.5mm < D <2.0 mm.
The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. A medicine bottle inclination calibration and posture adjustment mechanical structure device is characterized by comprising a bottom coarse adjustment mechanism, a vertical coarse adjustment mechanism, a top fine adjustment mechanism and a baffle limiting mechanism; the bottom coarse adjustment mechanism is provided with a linear module, and the distance of the sliding rail can be adjusted manually or electrically; the vertical coarse adjustment mechanism consists of four supporting plates capable of moving up and down; the top fine adjustment mechanism can precisely adjust the baffle limiting mechanism to enable the two baffles to be parallel; the baffle limiting mechanism is used for ensuring that the medicine bottle can acquire clear and stable images under the stable posture of the medicine bottle.
2. The mechanical structural device for medicine bottle inclination calibration and posture adjustment according to claim 1, wherein the bottom coarse adjustment mechanism is mainly composed of a left linear module and a right linear module, the linear modules comprise linear slide rails, the linear slide rails can be adjusted manually or electrically, the X-direction position of the support plate can be adjusted in a wide range, and the linear modules are mounted on the support platform.
3. The mechanical structural device for medicine bottle inclination calibration and posture adjustment according to claim 2, wherein said vertical coarse adjustment mechanism employs a single-axis fine adjustment platform to adjust the height of four supporting plates, to adjust the position of the blocking plate in the Z direction in a wide range, and the bottom is connected to the slide rail, while the top is connected to said top fine adjustment mechanism.
4. The mechanical structure device for medicine bottle inclination calibration and posture adjustment according to claim 3, wherein the top fine adjustment mechanism is mainly composed of micro-motion platforms of four micrometers distributed on the top, and can be adjusted in a small range in the X direction, so that the positions and postures of the baffles can be precisely adjusted, the two baffles are parallel, and the distance between the baffles and the medicine is controlled to restrict the posture of the medicine bottle; and install conveyer belt mechanism on the baffle, the friction of baffle and medicine to prevent that the medicine bottle from drifting around, about, from top to bottom, guarantee that the medicine bottle is under the gesture is steady, clear stable image can be gathered to the industrial camera.
5. The vial tilt calibration and attitude adjustment mechanism of claim 4, wherein the vial and the stop mechanism have an error range θ.
6. The vial tilt calibration and attitude adjustment mechanism of claim 4, wherein the conveyor on the baffle plate has a gap with the vial, the gap D being in the range of: 0.5mm < D <2.0 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020588122.8U CN212150606U (en) | 2020-04-17 | 2020-04-17 | Medicine bottle slope calibration and gesture adjustment mechanical structure device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020588122.8U CN212150606U (en) | 2020-04-17 | 2020-04-17 | Medicine bottle slope calibration and gesture adjustment mechanical structure device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113044785A (en) * | 2021-03-25 | 2021-06-29 | 上海英华实业有限公司 | System for positioning, filling and conveying medicine bottles by utilizing magnetic suspension |
| CN116105764A (en) * | 2023-04-03 | 2023-05-12 | 新乡市高发勘测规划有限公司 | Building engineering planning measuring device |
| CN116729954A (en) * | 2023-08-14 | 2023-09-12 | 山东方明药业集团股份有限公司 | Medicine bottle inclination calibration and posture adjustment mechanical structure device and control method thereof |
-
2020
- 2020-04-17 CN CN202020588122.8U patent/CN212150606U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113044785A (en) * | 2021-03-25 | 2021-06-29 | 上海英华实业有限公司 | System for positioning, filling and conveying medicine bottles by utilizing magnetic suspension |
| CN116105764A (en) * | 2023-04-03 | 2023-05-12 | 新乡市高发勘测规划有限公司 | Building engineering planning measuring device |
| CN116729954A (en) * | 2023-08-14 | 2023-09-12 | 山东方明药业集团股份有限公司 | Medicine bottle inclination calibration and posture adjustment mechanical structure device and control method thereof |
| CN116729954B (en) * | 2023-08-14 | 2023-10-20 | 山东方明药业集团股份有限公司 | Medicine bottle inclination calibration and posture adjustment mechanical structure device and control method thereof |
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