CN214052604U - Pearl shape sorting robot - Google Patents
Pearl shape sorting robot Download PDFInfo
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- CN214052604U CN214052604U CN202021993824.0U CN202021993824U CN214052604U CN 214052604 U CN214052604 U CN 214052604U CN 202021993824 U CN202021993824 U CN 202021993824U CN 214052604 U CN214052604 U CN 214052604U
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Abstract
The utility model discloses a pearl shape letter sorting machine people, including automatic unloading module, machine vision image acquisition module, letter sorting module and control module, machine vision image acquisition module and letter sorting module all are connected with control module. After the automatic unloading of automatic unloading module, machine vision image acquisition module gathers pearl image transmission to the computer in, the computer is handled the image, realizes measuring the shape parameter and the barycenter location of pearl, gives the letter sorting module with information transfer, and letter sorting module drive arm sorts the pearl of different shape grades to different letter sorting boxes in. This pearl shape letter sorting robot has reduced artifical work, has improved letter sorting efficiency, realizes the intelligent letter sorting to the pearl.
Description
Technical Field
The utility model belongs to the technical field of letter sorting machine people, a pearl shape letter sorting machine people is related to.
Background
The pearl has magnificent color, elegant quality and beautiful connotation, and is a special product in agriculture in China. Through decades of development, the annual output of Chinese pearls reaches 73 percent of the total output of world pearls, but the output value is not matched with the huge output and is not 10 percent of the total output value of the world at present, and the phenomenon of high yield and low value is formed. The serious imbalance between quantity and price has adverse effect on the development of the whole industry. In order to ensure the quality of the pearls and improve the pearl yield value, the pearls can be sorted. At present, the pearl sorting still mainly adopts manual sorting, and although the manual sorting of the pearls has the advantages of high flexibility, omnibearing judgment and the like, the pearl sorting method has the following defects: the labor intensity is high, the time and the labor are consumed, and the efficiency is not high; fatigue of workers can affect judgment correctness, and detection omission and false detection are caused; the grading quality is easy to be uneven due to subjective factors; fourthly, the dazzling pearls are visually observed by the detection personnel for a long time, and the injury to eyes is large. Manual sorting limits the improvement of pearl output value to a certain extent.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a pearl shape letter sorting robot has solved the artifical letter sorting that exists among the prior art and has wasted time and energy, and is inefficient, and the bright pearl of long-time range estimation of letter sorting personnel is to the big problem of eye injury.
The utility model adopts the technical scheme that the pearl-shaped sorting robot comprises an automatic blanking module, a machine vision image acquisition module, a sorting module and a control module, wherein the automatic blanking module, the machine vision image acquisition module and the sorting module are all connected with the control module;
the automatic blanking module comprises a support, a feed box with an upper opening and a lower opening is connected to the support, a baffle is inserted at the bottom of the feed box, one end of the baffle is connected with one end of an electromagnet, the other end of the electromagnet is connected with the support, and the support is also connected with an inclined plane plate;
the machine vision image acquisition module comprises a camera support, a camera is connected to the camera support in a sliding mode, a fixed-focus lens is arranged on the camera, a lamp box is arranged below the camera, an LED light patch is arranged in the lamp box, and one side of the lamp box is connected with an inclined plane plate;
the sorting module comprises a base and a sorting box, the base is connected with one end of a mechanical arm, a stepping motor and an angle sensor are arranged in the mechanical arm, the other end of the mechanical arm is connected with one end of a steering engine, the other end of the steering engine is connected with a sucker, the sucker is connected with an air pump through a sucker, a solenoid valve connected with the air pump is further arranged in the base, and the sorting box is arranged on one side of the inclined plane plate and is different from the lamp box.
The utility model discloses a characteristics still lie in:
the support includes bottom plate and the riser of perpendicular connection, is connected with the L template on the riser, and the workbin all is connected with the riser with the inclined plane board, and the electro-magnet other end is connected with the L template.
The cross section of the lamp box is quadrilateral, one side of the lamp box is connected with the inclined plane plate, and the other three sides are provided with bosses for preventing pearls from rolling down, and the bosses are 5cm high.
The arm includes the waist of being connected with the base rotation, and the waist passes through waist joint and connects big arm, and big arm passes through big joint and connects the forearm, and the forearm passes through the facet joint and connects the steering wheel.
Stepping motors and angle sensors are arranged in the waist joint, the big joint and the small joint, output shafts of the stepping motors are respectively connected with the big arm, the small arm and the steering engine, and stepping motors used for driving the waist joint to rotate are further arranged in the base.
The utility model has the advantages that: the pearl shape sorting robot adopts a machine vision image acquisition system, automatically identifies the shape and the position of a pearl through computer image identification, transmits a signal to a mechanical arm control system through a computer, and sorts the pearl by driving a mechanical arm, so that pearls with different shapes and grades are sorted into different sorting boxes, the manual labor is reduced, and the sorting efficiency is improved.
Drawings
Fig. 1 is a schematic structural view of a pearl-shaped sorting robot of the present invention;
fig. 2 is the original pearl drawing collected by the pearl-shaped sorting robot of the present invention.
In the figure, 1, a camera support, 2, a camera, 3, a fixed-focus lens, 4, a steering engine, 5, a sucker, 6, a bin, 7, a baffle, 8, an inclined plane plate, 9, an electromagnet, 10, a support, 11, a suction pipe, 12, an air pump, 13, a computer, 14, a light box, 15, pearls, 16, a boss, 17, a small arm, 18, a large joint, 19, a large arm, 20, a waist, 21, a base and 22 are sorting boxes.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The utility model relates to a pearl-shaped sorting robot, as shown in figure 1, which comprises an automatic blanking module, a machine vision image acquisition module, a sorting module and a control module, wherein the machine vision image acquisition module and the sorting module are both connected with the control module, and the control module is specifically a computer 13;
the automatic blanking module comprises a support 10, the support 10 comprises a bottom plate and a vertical plate which are vertically connected, one side of the vertical plate is connected with an L-shaped plate, the vertical plate is connected with a bin 6 with an upper opening and a lower opening, the opening size of the lower end of the bin 6 allows 3-4 pearls to fall down simultaneously, the bottom of the bin 6 is inserted with a baffle 7, one end of the baffle 7 is connected with one end of a magnetic core of an electromagnet 9, the other end of the electromagnet 9 is connected with the L-shaped plate, the electromagnet 9 is connected with a power supply, a power switch is connected with a computer 13, the electromagnet 9 is electrified and reciprocates, the vertical plate is also connected with an inclined plane plate 8, the inclined plane plate 8 passes through the lower end of the bin 6, and pearls 15 fall onto a lamp box 14 arranged at the lower end of the bin 6 from the opening of the lower end of the bin 6 through the inclined plane plate 8;
the machine vision image acquisition module comprises a T-shaped camera support 1 arranged on one side of a lamp box, the camera support 1 comprises a cross bar and a vertical bar, the cross bar is in sliding connection with the vertical bar, a camera 2 is in sliding connection with the camera support 1, a fixed-focus lens 3 is arranged on the camera 2, the lamp box 14 is positioned below the camera 2, an LED light patch is arranged in the lamp box 14, the cross section of the lamp box 14 is quadrilateral, one side of the lamp box 14 is connected with an inclined plane plate 8, bosses 16 used for preventing pearls from falling off are arranged on other three sides, the bosses 16 are 5cm high, and the camera 2 is connected with;
the sorting module comprises a base 21 and a sorting box 22, the base 21 is connected with one end of a mechanical arm, a stepping motor and an angle sensor are arranged in the mechanical arm, the other end of the mechanical arm is connected with one end of a steering engine 4, the other end of the steering engine 4 is connected with a sucker 5, the sucker 5 is driven by the steering engine 4 to complete a specified task, the sucker 5 is connected with an air pump 12 through a suction pipe 11, the air pump 12 is connected with an electromagnetic valve arranged in the base 21, the electromagnetic valve is connected with a mechanical arm controller, the sorting box 22 is arranged on one side of a lamp box 14 different from an inclined plane plate 8, the mechanical arm comprises a waist part 20 rotatably connected with the base 21, the waist part 20 is connected with a large arm 19 through a waist joint, the large arm 19 is connected with a small arm 17 through a large joint 18, the small arm 17 is connected with the steering engine 4 through a small joint, the, a stepping motor for controlling the rotation of the waist joint is further arranged in the base 21, the stepping motor and the angle sensor are both connected with a mechanical arm controller arranged in the base, and the mechanical arm controller is connected with a computer.
The utility model relates to a pearl shape letter sorting robot, its theory of operation as follows: the method comprises the steps of conducting reciprocating motion after an electromagnet is electrified, enabling pearls to fall onto a light box from the lower end of a material box through an inclined plane plate, adjusting a fixed focus lens on a camera through arrangement, adjusting the position of the camera to shoot the pearls falling onto the light box, transmitting the pictures to a computer, processing pearl images through the computer, achieving segmentation of the adhered pearls through a watershed algorithm, extracting contour characteristics of the pearls through a Canny operator edge detection method, constructing a pearl shape parameter mathematical model according to national standards of pearl grading, achieving identification and calculation of shape parameters of the pearls in different states of dispersion, adhesion and the like, conducting hand-eye calibration on a mechanical arm through a mass center method, determining the position of the mass center pearl, then sending out a driving mechanical arm to sort the pearls in different shapes and grades, starting a stepping motor to drive a waist joint between a large arm and a waist to rotate, Big joint and facet joint swing, like this, under the action of three joint, the sucking disc on the steering wheel can follow the swing of arm and the shift position, and the arm controller sends the actuation of instruction control sucking disc to the solenoid valve, and then makes the sucking disc can absorb the pearl on the lamp house to sort in the box.
The utility model relates to a pearl shape letter sorting robot, its advantage lies in: the pearl shape sorting robot adopts a machine vision image acquisition system, automatically identifies the shape and the position of a pearl through computer image identification, transmits a signal to a mechanical arm control system through a computer, and sorts the pearl by driving a mechanical arm, so that pearls with different shapes and grades are sorted into different sorting boxes, the manual labor is reduced, and the sorting efficiency is improved.
Claims (5)
1. A pearl-shaped sorting robot is characterized by comprising an automatic blanking module, a machine vision image acquisition module, a sorting module and a control module, wherein the automatic blanking module, the machine vision image acquisition module and the sorting module are all connected with the control module;
the automatic blanking module comprises a support (10), the support (10) is connected with a feed box (6) with an upper opening and a lower opening, the bottom of the feed box (6) is spliced with a baffle (7), one end of the baffle (7) is connected with one end of an electromagnet (9), the other end of the electromagnet (9) is connected with the support (10), and the support (10) is also connected with an inclined plane plate (8);
the machine vision image acquisition module comprises a camera support (1), a camera (2) is connected onto the camera support (1) in a sliding mode, a fixed-focus lens (3) is arranged on the camera (2), a lamp box (14) is arranged below the camera (2), an LED (light emitting diode) light patch is arranged in the lamp box (14), and one side of the lamp box (14) is connected with the inclined plane plate (8);
the sorting module comprises a base (21) and a sorting box (22), one end of a mechanical arm is connected with the base (21), a stepping motor and an angle sensor are arranged in the mechanical arm, one end of a steering engine (4) is connected with the other end of the mechanical arm, a sucker (5) is connected with the other end of the steering engine (4), the sucker (5) is connected with an air pump (12) through a sucker (11), an electromagnetic valve connected with the air pump (12) is further arranged in the base (21), and the sorting box (22) is arranged on one side of a lamp box (14) different from an inclined plane plate (8).
2. The pearl-shaped sorting robot according to claim 1, wherein the bracket (10) comprises a bottom plate and a vertical plate which are vertically connected, an L-shaped plate is connected to the vertical plate, the bin (6) and the inclined plate (8) are both connected to the vertical plate, and the other end of the electromagnet (9) is connected to the L-shaped plate.
3. The pearl-shaped sorting robot according to claim 1, wherein the cross section of the light box (14) is quadrilateral, one side of the light box (14) is connected with the inclined panel (8), and the other three sides are provided with bosses (16) for preventing pearls from rolling off, and the bosses (16) are 5cm high.
4. Pearl shape letter sorting robot according to claim 1, characterized in that, the arm includes waist (20) with base (21) rotation connection, waist (20) through waist joint connection big arm (19), big arm (19) through big joint (18) connection forearm (17), forearm (17) through little joint connection steering wheel (4).
5. The pearl-shaped sorting robot according to claim 4, wherein stepping motors and angle sensors are arranged in the waist joint, the large joint (18) and the small joint, output shafts of the stepping motors are respectively connected with the large arm (19), the small arm (17) and the steering engine (4), and the stepping motor for driving the waist joint to rotate is further arranged in the base (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021993824.0U CN214052604U (en) | 2020-09-14 | 2020-09-14 | Pearl shape sorting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021993824.0U CN214052604U (en) | 2020-09-14 | 2020-09-14 | Pearl shape sorting robot |
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| Publication Number | Publication Date |
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| CN214052604U true CN214052604U (en) | 2021-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021993824.0U Active CN214052604U (en) | 2020-09-14 | 2020-09-14 | Pearl shape sorting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112337810A (en) * | 2020-09-14 | 2021-02-09 | 西安工程大学 | Visual guidance pearl sorting robot and sorting method thereof |
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2020
- 2020-09-14 CN CN202021993824.0U patent/CN214052604U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112337810A (en) * | 2020-09-14 | 2021-02-09 | 西安工程大学 | Visual guidance pearl sorting robot and sorting method thereof |
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