CN106733687A - A kind of precise part sorting equipment - Google Patents
A kind of precise part sorting equipment Download PDFInfo
- Publication number
- CN106733687A CN106733687A CN201611200168.2A CN201611200168A CN106733687A CN 106733687 A CN106733687 A CN 106733687A CN 201611200168 A CN201611200168 A CN 201611200168A CN 106733687 A CN106733687 A CN 106733687A
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- CN
- China
- Prior art keywords
- conveyer belt
- precise part
- illuminator
- sorting equipment
- mechanical arm
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- Sorting Of Articles (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of precise part sorting equipment, including triggering system, vision positioning system, mechanical arm system, coding positioning system, illuminator, sampling camera, computer and conveyer belt.Vision positioning system is provided with the present invention, vision positioning system can carry out Primary Location to precise part, it is ensured that the accuracy of positioning；The present invention places sampling camera and carries out continuous sampling to not sorting successful part in transmission end of tape, and regulation is modified to conveyer belt together with coded system, enables that end system is errorless, is accurately operated, reduction fault rate.
Description
Technical field
The present invention relates to a kind of locating, sorting system, specially a kind of precise part sorting equipment belongs to locating, sorting and sets
Standby technical field.
Background technology
In recent years, with the fast development of industry, and enterprise is in order to meet the demand of market development, it is necessary to improve industrialization
The level of automation, and it is current, and for some, such as precise part, the sorting of the precise part such as video camera crystal optic is still adopted
The mode for manually sorting, using manual sorting's efficiency is low and high cost, some manufacturers also design some torpedos
Mechanical system, but positioning and accurate torpedo for precise part are also present, and positioning is inaccurate, crawl is inaccurate, also without anti-
Feedback regulation part is totally unfavorable for the operation of whole system.Therefore, a kind of accurate portion is proposed regarding to the issue above
Part automatic sorting device.
The content of the invention
A kind of precise part sorting equipment is provided the invention aims to solve the above problems.
The present invention is achieved through the following technical solutions above-mentioned purpose, a kind of precise part sorting equipment, including triggering system
System, vision positioning system, mechanical arm system, coding positioning system, illuminator, sampling camera, computer, conveyer belt；It is described
Triggering system be arranged at the pan feeding of conveyer belt, be made up of optical transmission element and optical receiver component, the optical emitting
Element and the optical receiver component are oppositely arranged in the both sides of conveyer belt, and vision positioning system is arranged on conveyer belt front end, machine
Tool arm system is arranged on the middle part of conveyer belt, and illuminator is arranged on the side of conveyer belt, coding positioning system and sampling camera
It is separately positioned on the end both sides of conveyer belt, described triggering system, vision positioning system, mechanical arm system, coding positioning system
System, illuminator, sampling camera are connected with computer.
Preferably, described vision positioning system is binocular camera.
Preferably, described mechanical arm system is made up of manipulator and camera lens.
Preferably, described illuminator includes surface illuminator and position lighting device.
Preferably, the quantity of described surface illuminator is at least two.
Preferably, described position lighting device is fixed on mechanical arm system.
Preferably, described sampling camera and coding positioning system constitute feedback regulation part.
The beneficial effects of the invention are as follows：Vision positioning system is provided with the present invention, vision positioning system can be to precision
Part carries out Primary Location, and camera lens is provided with mechanical arm system, can carry out and reposition to being sorted part, it is ensured that
The accuracy of positioning；The present invention places sampling camera and carries out continuous sampling to not sorting successful part in transmission end of tape, with
Coded system is modified regulation to conveyer belt together, enables that end system is errorless, is accurately operated, and reduces fault rate.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is triggering components of system as directed structural representation of the invention；
Fig. 3 is the FB(flow block) of present system；
In figure：1-triggering system 2-vision positioning system, 3-mechanical arm system, 4-coding positioning system, 5-illuminator
501-surface illuminator, 502-position lighting device 6-11-optics of sampling camera 7-computer, 8-conveyer belt hair
Penetrate 12-optical receiver component of element.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer to shown in Fig. 1-3, the present invention is achieved through the following technical solutions above-mentioned purpose, a kind of precise part sorting
Device, including triggering system 1, vision positioning system 2, mechanical arm system 3, coding positioning system 4, illuminator 5, sampling camera
6th, computer 7, conveyer belt 8；Described triggering system 1 is arranged at the pan feeding of conveyer belt 8, and vision positioning system 2 is arranged on biography
Send band 8 front ends, mechanical arm system 3 is arranged on the middle part of conveyer belt 8, illuminator 5 is arranged on the side of conveyer belt 8, and coding is fixed
Position system 4 and sampling camera 6 are separately positioned on the end both sides of conveyer belt 8, described triggering system 1, vision positioning system 2,
Mechanical arm system 3, coding positioning system 4, illuminator 5, sampling camera 6 are connected with computer 7.
Used as a kind of preferred scheme of the invention, described triggering system 1 is by optical transmission element 11 and optical receiver component
12 compositions.Optical transmission element 11 and optical receiver component 12 are oppositely arranged in the both sides of conveyer belt 8, and optical transmission element can
Transmitting light, the light can be received by optical receiver component, when the precise part placed on conveyer belt 8 is by optical emitting unit
During position where part, precise part blocks the light that optical transmission element sends, and blocks the transmission of light so that optics is received
Element cannot receive light, now trigger vision positioning system 2, mechanical arm system 3, sampling camera 6 and coding positioning system 4
Deng.The advantage of the triggering system is that it is possible to accurately sense the presence of the precise part on conveyer belt.Preferably, optical emitting
Element and optical receiver component are installed in conveyer belt both sides, can be along two side shiftings of conveyer belt.In this way, convenient triggering
The management of system, and save space.
Used as a kind of preferred scheme of the invention, described vision positioning system 2 is binocular camera.Using binocular camera to quilt
Flotation-dividing part carries out initial alignment, and positioning can be made more accurate, while clear, no-reflection, high depth information can also be obtained
Image.
Used as a kind of preferred scheme of the invention, described mechanical arm system 3 is made up of manipulator, camera lens.Mechanical arm system
Special construction more accurately can be repositioned to being sorted component locations, before initialize on the basis of enter one
Step improves the operability of whole system, accuracy and intelligent, and camera lens carries out continuous sequence and adopts to moving precise part
Collection, can more accurately obtain the precise position information and high accuracy depth information of precise part and be preserved, Ran Houtong
Cross manipulator carries out rapid sorting to precise part.
Used as a kind of preferred scheme of the invention, described illuminator 5 includes surface illuminator 501 and position lighting device
502.Surface illuminator 501 can be illuminated to the whole working face of conveyer belt, and position lighting device 502 is directed to precise part
Special light source, as camera lens is to precise part track and localization, be capable of achieving specified illumination functions, system is more optimized, reach
Best effects.
Used as a kind of preferred scheme of the invention, the quantity of described surface illuminator is at least two.
Used as a kind of preferred scheme of the invention, described position lighting device is fixed on mechanical arm system 3.
Used as a kind of preferred scheme of the invention, described sampling camera 6 and coding positioning system 4 constitutes feedback regulation portion
Point.The part can carry out continuous acquisition image to the precise part of failed sorting, by connecing coded system, carry out constantly
The speed of service of amendment regulation conveyer belt, makes vision positioning system and mechanical arm system preferably carry out height to precise part position
Identification positioning, so as to reduce the error of whole equipment, reaches the purpose of quick, accurate sorting.
During work, precise part is placed on a moving belt, during placement, it should be noted that precise part should not be laminated；Work as precision
When part moves to triggering system position, triggering system to computer, sends instructions signal transmission under computer, while triggering is opened
Dynamic vision positioning system, mechanical arm system, sampling camera, code control system and illuminator；Vision positioning system, collection is passed
Send the precise part for taking to be identified, match, position, and the characteristic information that will be obtained sends mechanical arm system to, allow machinery
Arm system starts to perform action, and the camera lens in mechanical arm system carries out secondary fixation and recognition to the precise part for sending and determines
Position tracking, sorting is started after obtaining and preserving depth information；Not sorting successful precise part can continuously be adopted by camera of sampling
Sample, and amendment is adjusted to conveyer belt together with code control system, the feedback of whole system is completed, and then essence can be reached
True ground precise part sorting work.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires to be limited rather than described above, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each implementation method is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Specification an as entirety, the technical scheme in each embodiment can also be formed into those skilled in the art through appropriately combined
May be appreciated other embodiment.
Claims (7)
1. a kind of precise part sorting equipment, it is characterised in that：Including triggering system（1）, alignment system（2）, mechanical arm system
（3）, coding positioning system（4）, illuminator（5）, sampling camera（6）, computer（7）, conveyer belt（8）；Described triggering system
System（1）It is arranged on conveyer belt（8）Pan feeding at, by optical transmission element（11）And optical receiver component（12）Composition, the light
Learn radiated element and the optical receiver component is oppositely arranged in the both sides of conveyer belt, alignment system（2）It is arranged on conveyer belt（8）
Front end, mechanical arm system（3）It is arranged on conveyer belt（8）Middle part, illuminator（5）It is arranged on conveyer belt（8）Side, coding
Alignment system（4）With sampling camera（6）It is separately positioned on conveyer belt（8）End both sides, described triggering system（1）, positioning
System（2）, mechanical arm system（3）, coding positioning system（4）, illuminator（5）, sampling camera（6）And computer（7）Phase
Even.
2. a kind of precise part sorting equipment according to claim 1, it is characterised in that：Described alignment system（2）For
Binocular camera.
3. a kind of precise part sorting equipment according to claim 1, it is characterised in that：Described mechanical arm system（3）
It is made up of manipulator and camera lens.
4. a kind of precise part sorting equipment according to claim 1, it is characterised in that：Described illuminator（5）Bag
Containing surface illuminator and position lighting device.
5. a kind of precise part sorting equipment according to claim 4, it is characterised in that：The number of described surface illuminator
Measure is at least two.
6. a kind of precise part sorting equipment according to claim 4 or 5, it is characterised in that：Described position illumination dress
Put and be fixed on mechanical arm system（3）On.
7. a kind of precise part sorting equipment according to claim 1, it is characterised in that：Described sampling camera（6）With
Coding positioning system（4）Constitute feedback regulation part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611200168.2A CN106733687A (en) | 2016-12-22 | 2016-12-22 | A kind of precise part sorting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611200168.2A CN106733687A (en) | 2016-12-22 | 2016-12-22 | A kind of precise part sorting equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106733687A true CN106733687A (en) | 2017-05-31 |
Family
ID=58899570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611200168.2A Pending CN106733687A (en) | 2016-12-22 | 2016-12-22 | A kind of precise part sorting equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN106733687A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108190418A (en) * | 2017-12-29 | 2018-06-22 | 苏州德创测控科技有限公司 | Material loading platform and workpiece feeding method |
| CN109013405A (en) * | 2018-08-02 | 2018-12-18 | 常州大学 | It is a kind of independently detected with cast(ing) surface and substandard products sorting function robot system |
| CN115041427A (en) * | 2022-06-13 | 2022-09-13 | 华清(扬州)织物有限公司 | Lawn processing and sorting device based on visual positioning system |
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| CN101176872A (en) * | 2007-11-30 | 2008-05-14 | 华南理工大学 | Materials real-time detection and foreign body eliminating system based on machine vision |
| CN103691678A (en) * | 2013-12-10 | 2014-04-02 | 殷盛江 | Robot for selecting outer diameter sizes of bearings |
| CN103706568A (en) * | 2013-11-26 | 2014-04-09 | 中国船舶重工集团公司第七一六研究所 | System and method for machine vision-based robot sorting |
| CN103736672A (en) * | 2013-12-31 | 2014-04-23 | 江苏大学 | Lens online classifying and sorting device |
| CN105057227A (en) * | 2015-08-18 | 2015-11-18 | 丹阳市雷腾智能科技有限公司 | Automatic lens measuring and sorting system |
| CN105817430A (en) * | 2016-03-29 | 2016-08-03 | 常熟理工学院 | Product detection method based on machine vision |
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2016
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101176872A (en) * | 2007-11-30 | 2008-05-14 | 华南理工大学 | Materials real-time detection and foreign body eliminating system based on machine vision |
| CN103706568A (en) * | 2013-11-26 | 2014-04-09 | 中国船舶重工集团公司第七一六研究所 | System and method for machine vision-based robot sorting |
| CN103691678A (en) * | 2013-12-10 | 2014-04-02 | 殷盛江 | Robot for selecting outer diameter sizes of bearings |
| CN103736672A (en) * | 2013-12-31 | 2014-04-23 | 江苏大学 | Lens online classifying and sorting device |
| CN105057227A (en) * | 2015-08-18 | 2015-11-18 | 丹阳市雷腾智能科技有限公司 | Automatic lens measuring and sorting system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108190418A (en) * | 2017-12-29 | 2018-06-22 | 苏州德创测控科技有限公司 | Material loading platform and workpiece feeding method |
| CN109013405A (en) * | 2018-08-02 | 2018-12-18 | 常州大学 | It is a kind of independently detected with cast(ing) surface and substandard products sorting function robot system |
| CN115041427A (en) * | 2022-06-13 | 2022-09-13 | 华清(扬州)织物有限公司 | Lawn processing and sorting device based on visual positioning system |
| CN115041427B (en) * | 2022-06-13 | 2023-08-25 | 华清(扬州)织物有限公司 | Lawn processing sorting unit based on vision positioning system |
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Application publication date: 20170531 |