CN204935680U - A kind of parallel robot grasping system for Chinese herbal medicine sorting - Google Patents
A kind of parallel robot grasping system for Chinese herbal medicine sorting Download PDFInfo
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- CN204935680U CN204935680U CN201520741421.XU CN201520741421U CN204935680U CN 204935680 U CN204935680 U CN 204935680U CN 201520741421 U CN201520741421 U CN 201520741421U CN 204935680 U CN204935680 U CN 204935680U
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Abstract
A kind of parallel robot grasping system for Chinese herbal medicine sorting of the utility model, belongs to robotics, comprises parallel manipulator human body and waits on it and be respectively arranged with machine vision device, profiling sucker; Machine vision device is connected with central processing unit by data wire; Profiling sucker is connected with central processing unit by data wire, profiling sucker is provided with sucker chuck; Abnormity conveyer belt is positioned at the below of profiling sucker; Parallel manipulator human body comprises linear stepping motor and actuating arm, and the clutch end of linear stepping motor is connected with actuating arm, and actuating arm is connected with profiling sucker.Parallel robot has combined with machine vision device and to have sorted the identification of medicinal material grade.Profiling sucker Grasping skill high itself and medicinal material are fitted Du Genggao, air leak little saving compressed air cost.Parallel robot high-speed motion medicinal material does not drop, and sucking disc clamp new images on first watch identification module reference picture only changed by sorting inhomogeneity medicinal material, improves system availability.
Description
Technical field
The utility model belongs to robotics, particularly relates to a kind of parallel robot grasping system for Chinese herbal medicine sorting.
Background technology
Chinese herbal medicine is the unique pharmaceutical that prevention with Chinese medicine disease therapy uses, and is also the important symbol that the traditional Chinese medical science is different from other medical science.Chinese medicine is primarily of autonomic drug (root, stem, leaf, really), animal drugs (internal organ, skin, bone, organ etc.) and mineral drug composition.Because autonomic drug accounts for the great majority of Chinese medicine, so Chinese medicine also claims Chinese herbal medicine.
Traditional Chinese herbal medicine generally passes through the semi-automatic sorting of manual sorting or pure theory of mechanics, and current manual sorting, can sort out some non-medicinal ingredients such as weeds, but it is low to there is production efficiency, the workman that simultaneously exercises by stage works long hours, and causes visual fatigue, the problems such as labour intensity is large; Although existing machinery sorting is separated and can reduces labor intensity, but it is low to there is efficiency, and sorting accuracy rate is not high yet, containing foreign material in easy medicinal material, need to take the modes such as secondary sorting to continue process to the medicinal material after grading, need to arrange separating mechanism according to foreign material situation, add investment, simultaneously owing to have passed through a procedure, to a certain extent productivity ratio is also affected to some extent more.
Therefore, need badly in the middle of prior art and a kind of novel technical scheme will solve this problem.
Utility model content
Technical problem to be solved in the utility model is: the labour intensity existed for existing sorting mode is large, production efficiency is low, investment is large, the problems such as dumb are configured during change medicinal material kind, a kind of parallel robot grasping system for Chinese herbal medicine sorting is provided, is combined by parallel robot and machine vision device, thus realize easily, efficiently, accurately Chinese medicine is sorted.
For a parallel robot grasping system for Chinese herbal medicine sorting, it is characterized in that: comprise parallel manipulator human body, machine vision device, profiling sucker and special-shaped conveyer belt,
Described parallel manipulator human body is respectively arranged with machine vision device, profiling sucker; Described machine vision device is connected with central processing unit by data wire; Described profiling sucker is connected with central processing unit by data wire, wherein profiling sucker is provided with sucker chuck; Described special-shaped conveyer belt is positioned at the below of profiling sucker;
Described parallel manipulator human body comprises linear stepping motor and actuating arm, and wherein the clutch end of linear stepping motor is connected with actuating arm, and wherein actuating arm is connected with profiling sucker.
Described machine vision device comprises image capture module, picture recognition module.
Described special-shaped conveyer belt is provided with demarcation strip.
By above-mentioned design, the utility model can bring following beneficial effect: a kind of parallel robot grasping system for Chinese herbal medicine sorting, abandon traditional non intelligent mechanical separation mechanism, by original vibration feeding, Belt Conveying, disk machine hierarchical approaches, changes parallel robot into and decreases intermediate link, improve the speed of service of system, the intellectualizing system that the parallel robot that the utility model adopts combines with machine vision device.The identification to medicinal material grade has been carried out by machine vision device, on the basis identifying medicinal material grade, parallel robot completes sorting rapidly, be separated relative to traditional machinery, can separate the foreign material close with medicinal material shape quality easily, parallel robot inertia is little, and rigidity is high, relative to people, the speed of this system sorting Chinese herbal medicine improves greatly.The employing of profiling sucker, substantially increases the Grasping skill of parallel manipulator robot end, during parallel robot high-speed motion, and the problem that medicinal material there will not be midway to drop; The laminating Du Genggao of profiling sucker and medicinal material simultaneously, air leak amount is little, and suction is large, and reduce compressed-air actuated consumption, thus provide cost savings, profiling sucker structure, easily captures medicinal material, simultaneously minimum to the injury of medicinal material.When needs sort different types of Chinese medicine, only need change sucker chuck, upgrade the reference picture of picture recognition module, new sorting work can be started, improve the utilization rate of machine.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is further described:
Fig. 1 is the structural representation of a kind of parallel robot grasping system for Chinese herbal medicine sorting of the utility model.
In figure: 1-parallel manipulator human body, 2-machine vision device, 3-profiling sucker, 4-abnormity conveyer belt, linear stepping motor-11, actuating arm-12.
Detailed description of the invention
As shown in Figure 1, a kind of structural representation of the parallel robot grasping system for Chinese herbal medicine sorting, this system mainly comprises parallel manipulator human body 1, machine vision device 2, profiling sucker 3 and special-shaped conveyer belt 4,
Described parallel manipulator human body 1 is respectively arranged with machine vision device 2, profiling sucker 3; Described machine vision device 2 is connected with central processing unit by data wire; Described profiling sucker 3 is connected with central processing unit by data wire, wherein profiling sucker 3 is provided with sucker chuck; Described special-shaped conveyer belt 4 is positioned at the below of profiling sucker 3;
Described parallel manipulator human body 1 comprises linear stepping motor 11 and actuating arm 12, and wherein the clutch end of linear stepping motor 11 is connected with actuating arm 12, and wherein actuating arm 12 is connected with profiling sucker 3.
Described machine vision device 2 comprises image capture module, picture recognition module.
Described special-shaped conveyer belt 4 is provided with demarcation strip.
The technological process of a kind of parallel robot grasping system for Chinese herbal medicine sorting of the utility model is that special-shaped conveyer belt 4 rotates with constant speed, medicinal material is spaced out, make its evenly distributed demarcation strip central authorities on a moving belt, when medicinal material is below machine vision device 2, machine vision device 2 is taken pictures to medicinal material rapidly by image capture module, and number, the image of medicinal material and the reference picture of its storage inside contrast by picture recognition module simultaneously, thus determine the credit rating of medicinal material, and information is passed to central processing unit, central processing unit sends to profiling sucker 3 and captures order simultaneously, profiling sucker 3 receives described crawl order, grasping manipulation is performed by actuating arm 12 under the driving of linear stepping motor 11.When medicinal material under the drive of special-shaped conveyer belt 4 through profiling sucker 3 time, medicinal material picks up by profiling sucker 3.In system works, the continuous running of special-shaped conveyer belt 4, sighting device 2 motion capture image, the linear stepping motor 11 of parallel manipulator human body 1 drives actuating arm 12 high-speed picking-up to put down, and ensure that production line runs a relatively high speed.Machine vision device 2 is eye recognition relatively, and have recognition efficiency high, long-term work is without advantages such as fatigues.The surface of profiling sucker 3 energy perfect laminating medicinal material, relative to general industrial sucker, adds absorption affinity, gives full play to the advantage of parallel robot high speed in identical compressed air consumption situation.When needs sort different types of Chinese medicine, only need the sucker chuck providing for simple replacement of robot, upgrade the reference picture stored in machine vision device 2, change can be completed, start new sorting work, the utilization rate that improve this system improves the utilization rate of equipment, reduces cost.
Claims (3)
1., for a parallel robot grasping system for Chinese herbal medicine sorting, it is characterized in that: comprise parallel manipulator human body (1), machine vision device (2), profiling sucker (3) and special-shaped conveyer belt (4),
Described parallel manipulator human body (1) is respectively arranged with machine vision device (2), profiling sucker (3); Described machine vision device (2) is connected with central processing unit by data wire; Described profiling sucker (3) is connected with central processing unit by data wire, wherein profiling sucker (3) is provided with sucker chuck; Described special-shaped conveyer belt (4) is positioned at the below of profiling sucker (3);
Described parallel manipulator human body (1) comprises linear stepping motor (11) and actuating arm (12), wherein the clutch end of linear stepping motor (11) is connected with actuating arm (12), and wherein actuating arm (12) is connected with profiling sucker (3).
2. a kind of parallel robot grasping system for Chinese herbal medicine sorting according to claim 1, is characterized in that: described machine vision device (2) comprises image capture module, picture recognition module.
3. a kind of parallel robot grasping system for Chinese herbal medicine sorting according to claim 1, is characterized in that: described special-shaped conveyer belt (4) is provided with demarcation strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520741421.XU CN204935680U (en) | 2015-09-23 | 2015-09-23 | A kind of parallel robot grasping system for Chinese herbal medicine sorting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520741421.XU CN204935680U (en) | 2015-09-23 | 2015-09-23 | A kind of parallel robot grasping system for Chinese herbal medicine sorting |
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| CN204935680U true CN204935680U (en) | 2016-01-06 |
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| CN201520741421.XU Active CN204935680U (en) | 2015-09-23 | 2015-09-23 | A kind of parallel robot grasping system for Chinese herbal medicine sorting |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105699393A (en) * | 2016-03-22 | 2016-06-22 | 横店集团东磁股份有限公司 | System suitable for magnetic tile appearance defect detection and method for realizing system |
| CN108673534A (en) * | 2018-04-20 | 2018-10-19 | 江苏大学 | A kind of software manipulator for realizing intelligent sorting using artificial synapse network system |
| CN109333518A (en) * | 2018-12-29 | 2019-02-15 | 桂林电子科技大学 | A kind of parallel robot of quick crawl lampshade |
-
2015
- 2015-09-23 CN CN201520741421.XU patent/CN204935680U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105699393A (en) * | 2016-03-22 | 2016-06-22 | 横店集团东磁股份有限公司 | System suitable for magnetic tile appearance defect detection and method for realizing system |
| CN105699393B (en) * | 2016-03-22 | 2018-09-25 | 横店集团东磁股份有限公司 | One kind being suitable for magnetic shoe open defect detecting system and its implementation |
| CN108673534A (en) * | 2018-04-20 | 2018-10-19 | 江苏大学 | A kind of software manipulator for realizing intelligent sorting using artificial synapse network system |
| CN109333518A (en) * | 2018-12-29 | 2019-02-15 | 桂林电子科技大学 | A kind of parallel robot of quick crawl lampshade |
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