CN207424990U - A kind of device for automatically delivering sorting coin - Google Patents
A kind of device for automatically delivering sorting coin Download PDFInfo
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- CN207424990U CN207424990U CN201721506762.4U CN201721506762U CN207424990U CN 207424990 U CN207424990 U CN 207424990U CN 201721506762 U CN201721506762 U CN 201721506762U CN 207424990 U CN207424990 U CN 207424990U
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- coin
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- automatically delivering
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Abstract
The utility model is a kind of device for automatically delivering sorting coin, and the transmission track including coin tray and intermittent movement, the forepart of the transmission track is set to feeding station, detection station is set in the middle part of transmission track, and the rear portion of transmission track is set to sortation process；Coin sending trap is equipped with above feeding station, the Luo Bi mechanisms that control falls coin amount are equipped at the coin discharge of coin sending trap bottom；Be equipped with coin tiling mechanism coin individual layer being laid in coin tray between feeding station and detection station；Image Acquisition identification device is equipped with above detection station, described image capturing and recognition device includes CCD camera, light-source system and image processing system；The Rocker type manipulator sorted one by one to the coin on pallet is equipped with above sortation process.The utility model is conveyed using image procossing identification coin, parallel manipulator sorting, automation transmission system, is completed rapidly and accurately the sorting of coin, is checked and be packaged, and continuous productive process is industrialized beneficial to realizing.
Description
Technical field
The utility model is related to a kind of Coin sorting device, particularly a kind of device for automatically delivering sorting coin.
Background technology
The use of coin facilitates our life in very big degree；Bus, automatic camera machine etc. are mostly using hard
Coin.The automatic vending machine occurred earliest is exactly to be sold using coin, although automatic vending machine develops to today, due to interconnection
Net rapid economic development, e-commerce popularization can be with online payment, but still without departing from the use of coin.Coin it is big
Use will necessarily bring mass of coins to check to amount, arrangement problem, bank, retailer etc. often has substantial amounts of coin and hoards, and need
The substantial amounts of time is wanted to be classified and counted, this work is often time-consuming and laborious.
The content of the invention
The technical problems to be solved in the utility model is in view of the deficiencies of the prior art, to propose one kind fast and accurately certainly
The device of dynamic transmission sorting coin.
The technical problems to be solved in the utility model is achieved through the following technical solutions, and it is hard that one kind automatically delivers sorting
The device of coin, its main feature is that, the transmission track including coin tray and intermittent movement, the forepart of the transmission track is set to
Expect station, be set to detection station in the middle part of transmission track, the rear portion of transmission track is set to sortation process；It is set above feeding station
There is coin sending trap, the Luo Bi mechanisms that control falls coin amount are equipped at the coin discharge of coin sending trap bottom；In feeding station and inspection
It surveys between station equipped with the coin tiling mechanism being laid in coin individual layer in coin tray；Image is equipped with above detection station
Capturing and recognition device, described image capturing and recognition device include gathering the CCD camera of coin image in coin tray, being
CCD camera provides the light-source system and image processing system of light source；Rocker type manipulator is equipped with above sortation process, it is described
Rocker type manipulator sorts the coin on pallet according to the instruction of Manipulator Controller one by one, and Manipulator Controller then connects
Receive the coin label information of Image Acquisition identification device transmission.
The technical problems to be solved in the utility model can also realize further by the following technical programs, the transmission
Track includes the upper and lower two layers upper strata working track being arranged in parallel and lower tray passback track, working track and lower floor on upper strata
The both ends of pallet passback track are equipped with pallet lift mechanism, and the pallet lift mechanism is used to control pallet in upper strata working track
Conversion between lower tray passback track.
The technical problems to be solved in the utility model can also realize further by the following technical programs, the light source
System includes lens case, light-emitting component and mating adjustable voltage changing module, and the lens case is arranged to butt four sides taper, described
Light-emitting component is arranged on one side in lens case, and reflector layer is equipped on the madial wall of lens case.
The technical problems to be solved in the utility model can also realize further by the following technical programs, the coin
Tiling device includes tiling plate, and vertically arranged connecting rod, the connecting rod lower end and tiling plate are equipped with above tiling plate
It is hinged at center, the resetting-mechanism that tiling plate is made to keep vertical position is equipped between tiling plate and connecting rod, in connecting rod
End sets the transmission mechanism for driving tiling plate front-rear reciprocation movement.
The technical problems to be solved in the utility model can also realize further by the following technical programs, the reset
Mechanism is memory metal sheet or resetting spring.
The technical problems to be solved in the utility model can also realize further by the following technical programs, it is described fall coin
Mechanism includes being arranged on the fixed baffle at coin sending trap coin discharge, and butterfly is equipped with below fixed baffle, is being rotated
At least one coin droping hole, the distance phase of the pivot of the coin droping hole to butterfly are provided on baffle and fixed baffle
Together.
The technical problems to be solved in the utility model can also be realized further by the following technical programs, in transmission rail
Coin packing apparatus is equipped with behind road, the coin packing apparatus includes pedestal, and lower coin cylinder and liftable is equipped on pedestal
Upper coin cylinder, the upper coin cylinder and lower coin cylinder are semicylinder, are equipped at the center of upper coin cylinder and lower coin cylinder with waiting to be packaged firmly
The corresponding chamber of coin diameter, the upper coin cylinder and lower coin cylinder are oppositely arranged up and down, are equipped on upper coin cylinder and its inner wall is carried out
The heating unit of heating.
The technical problems to be solved in the utility model can also be realized further by the following technical programs, on pedestal
Equipped with vertically arranged slideway, upper coin cylinder is mounted on by sliding block on slideway, and upper coin cylinder is under the drive of driving motor in slideway
It is upper lifting with realize with the closure of lower coin cylinder, separate.
Compared with prior art, the utility model on the track for automatically deliver coin by setting Luo Bi mechanisms, coin
Tiling mechanism, Image Acquisition identification device and Rocker type manipulator realize the granting of coin, sort and check, and then utilize coin
Packing apparatus carries out package processing to the coin sorted.The utility model utilizes image procossing identification coin, parallel manipulator
Sorting, automation transmission system conveying, are completed rapidly and accurately the sorting of coin, check and be packaged, stream is industrialized beneficial to realizing
Water operation.
Description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 represents the structure diagram of Fig. 1 decline coin mechanism；
Fig. 3 represents the structure diagram of coin tiling mechanism in Fig. 1；
Fig. 4 represents the structure diagram of lens case in Fig. 1；
Fig. 5 is the structure diagram of coin packing apparatus；
Fig. 6 is the utility model operational flow diagram.
Specific embodiment
The specific technical solution of the utility model is further described, in order to which those skilled in the art is further understood that
The utility model, without forming the limitation to its right.
Embodiment 1, with reference to Fig. 1-6, a kind of device for automatically delivering sorting coin, including coin tray 5 and intermittent fortune
Dynamic transmission track, the forepart of the transmission track are set to feeding station, and detection station is set in the middle part of transmission track, transmit rail
The rear portion in road is set to sortation process.
Coin sending trap 1 is equipped with above feeding station, the coin sending trap is set to funnel-form, 1 bottom of coin sending trap
Portion is equipped with coin discharge directed downwardly, and the Luo Bi mechanisms that control falls coin amount are equipped at coin discharge, and the Luo Bi mechanisms include being arranged on
Fixed baffle 10 at coin sending trap coin discharge is equipped with butterfly 11, in 11 He of butterfly below fixed baffle 10
It is provided at least one coin droping hole on fixed baffle 10, the coin droping hole 13 on the fixed baffle arrives 11 pivot of butterfly
Distance and the coin droping hole 12 on butterfly to pivot distance it is identical, butterfly 11 turns under the drive of steering engine 9
Dynamic certain angle, when the coin droping hole on butterfly is overlapped with the coin droping hole on fixed baffle, swivel plate stops operating, coin
It is dropped down onto out of coin droping hole on pallet, after set period of time, steering engine drives butterfly to rotate again, makes butterfly and fixation
The coin droping hole of baffle staggers, and coin stops falling.
Be equipped with coin tiling mechanism coin individual layer being laid in coin tray between feeding station and detection station
2, the coin tiling device includes tiling plate 16, and vertically arranged connecting rod 14, the connection are equipped with above tiling plate 16
For 14 lower end of bar with being hinged at 16 center of tiling plate, being equipped between tiling plate 16 and connecting rod 14 makes tiling plate keep vertical position
The resetting-mechanism 15 put, the resetting-mechanism 15 are memory metal sheet or resetting spring, and drive tiling is set in connecting rod upper end
The transmission mechanism of plate front-rear reciprocation movement.The connecting rod of one articulated connection above tiling plate is set, is stacked in solve to work as
When coin together is to tiling plate larger resistance, a upward thrust can be generated, the company of being hinged between connecting rod peace bed board
This thrust can be eliminated by connecing, and avoid causing rigid damage, further, set resetting-mechanism between tiling plate, can
So that tiling plate automatically restores to horizontal original position after being lifted up, moreover it is possible to certain resistance is given when being lifted up for tiling plate,
Only just tiling plate can be made to appear on the stage when coin causes certain thrust, the validity and high efficiency of coin tiling can be improved.
Image Acquisition identification device 3 is equipped with above detection station, described image capturing and recognition device includes gathering
The CCD camera of coin image in coin tray, the light-source system and image processing system that light source is provided for CCD camera；Institute
Stating light-source system includes lens case 17, light-emitting component 18 and mating adjustable voltage changing module, and the lens case 17 is set to butt four
Face cone shape, the light-emitting component 18 are arranged on one side in lens case, and reflector layer is equipped on the madial wall of lens case.The CCD
Camera selects undistorted camera, and photo-sensitive cell is CMOS photo-sensitive cells, and the fish-eye lamp of 3.3V, 1W can be used in light-emitting component
Pearl, while the adjustable voltage changing module of 0.7V to 12V is equipped with, for adjusting lamp bead luminous intensity.Reflective mechanism is used inside lens case,
It is 50 ° -70 ° of angle between lens case side wall and horizontal plane, the base section of illuminating source major part light reflection to counter plate
Domain, since lens case is butt four sides taper, entire lens case reflective surface is four sides, more can uniformly reflect reflected light
To bottom plate, while the not high reflector layer of one layer of reflectance is pasted on lens case madial wall, camera lens cover inner surface is made to form diffusing reflection,
The color identification problem that the reflection of coin surface is brought can be avoided, the uniformity of environment-identification is improved, is more advantageous to coin image
Identification.
Described image capturing and recognition device, which obtains image, will first install corresponding webcam driver, be taken the photograph using Matlab calling
As head, API Function controls camera to be taken pictures and stores picture；
Described image capturing and recognition device processing image comprises the following steps,
（1）Obtain the center of all coins
First by the RGB image got by calling imfilter function pair images into row degradation, and Gaussian noise is added,
Noise in degraded image, and the image degenerated is changed into bianry image, then two are carried out using bwulterode functions
It is worth the limit corrosion of image, until each object becomes a pixel, next uses vertical and horizontal searching method,
May be that the point in the coin center of circle is found out and tests to draw the location information of coin to each point, central point seat is found
Cursor position；
（2）Color identifies
Color identification based on RGB number ratios come distinguishing colours species, by half a buck from unitary coin and dime
In distinguish, complete the identification of half a buck according to this, and make a mark；
（3）Dimensions recognition
After color identification determines half a buck, then differentiate dime and unitary coin, first set threshold values, then sentence
Whether disconnected coin radius is more than to set threshold values to identify unitary coin and dime, and what it is more than threshold values is unitary coin, no
It is then dime, and makes mark respectively；
（4）More than coin label information is sent to rocker-arm controller.
Above-mentioned step（2）The specific practice of middle vertical and horizontal searching method is, with each point for the center of circle, in fixation
It is taken a little in the radius of size, if point reaches available point number and arrangement mode in inspection circle, it is the center of circle to put, value 1, if
Point is not the center of circle, then value is 0, while center of circle detection is completed, is put with this and clicks through row distance with surrounding all pixels before
Calculate, when their maximum range value be less than some threshold value when value 0, once find have the point that value is 0, then this point give up
It goes, thus filters out the point of repetition or mistake, finally draw the location information of coin, find the coordinate position of central point.
Above-mentioned step（3）The specific practice of middle color identification is the point taken in the range of certain radius, by the RGB of taking-up
Value sum-average arithmetic draws average value, while the ratio of average value and RGB various pieces is carried out color judgement, finally to color value
It is identified, identifies half a buck.
Above sortation process be equipped with Rocker type manipulator 4, the Rocker type manipulator according to Manipulator Controller finger
Order the coin on pallet is sorted one by one, Manipulator Controller to receive Image Acquisition identification device transmission coin mark
Remember information.The Rocker type manipulator selects three Rocker type manipulators, and Manipulator Controller is then controlled using STM32 microcontrollers
System, can be communicated by carrying serial ports with image processing system.
The transmission track includes the upper and lower two layers upper strata working track 6 being arranged in parallel and lower tray passback track 7,
The both ends of upper strata working track 6 and lower tray passback track 7 are equipped with pallet lift mechanism 8, and the pallet lift mechanism 8 is used for
Control conversion of the pallet between upper strata working track and lower tray passback track.Pallet 5 is mounted on by driving block and passed
Send on track, then do intermittent movement on transmission track under the action of auto feed system, successively by feeding station,
Detection station and sortation process.In order to preferably utilize space, pallet passback track 8 is arranged on to the lower section of working track 6, together
When connecting rod type lifting platform, conversion of the control pallet between backhaul and return track are added at the both ends of the two.
Coin packing apparatus is equipped with after transmission track, the coin packing apparatus includes pedestal 19, pacifies on pedestal 19
Equipped with lower coin cylinder 20 and liftable upper coin cylinder 23, the upper coin cylinder 23 and lower coin cylinder 20 are semicylinder, in upper coin cylinder and
Chamber 21 corresponding with coin diameter to be packaged, the upper coin cylinder 23 and lower coin cylinder phase about 20 are equipped at the center of lower coin cylinder
To setting, the heating unit heated to its inner wall is equipped on upper coin cylinder 23；Vertically arranged slideway is equipped on pedestal 1
22, upper coin cylinder 23 is mounted on by sliding block 24 on slideway 22, and upper coin cylinder 23 lifts under the drive of driving motor on slideway 23
With realize with the closure of lower coin cylinder, separate.It is first that the heating unit of upper coin cylinder is pre- when needing to be packaged the coin sorted
Then packaging film is placed in lower coin cylinder, then the coin stacked is pressed on film by heat, coin is slided along chamber ingress
Enter and film is completed into semi-cylindrical, put a packaging film again above coin, then upper coin cylinder is in the band of driving motor
Dynamic lower push is closed with lower coin cylinder, and two films seal under the action of heating unit, then move up coin cylinder, coin has been packaged
Into.
Each module time sequences of whole system are controlled by master controller, to complete the transmission of coin, granting, put down
The automation continuous productive process of Coin sorting is realized in paving, identification and sorting a series of actions.
Claims (8)
1. a kind of device for automatically delivering sorting coin, it is characterised in that：Transmission rail including coin tray and intermittent movement
Road, the forepart of the transmission track are set to feeding station, detection station are set in the middle part of transmission track, and the rear portion of transmission track is set
For sortation process；
Coin sending trap is equipped with above feeding station, control is equipped at the coin discharge of coin sending trap bottom falls coin amount and fall coin
Mechanism；
Be equipped with coin tiling mechanism coin individual layer being laid in coin tray between feeding station and detection station；
Image Acquisition identification device is equipped with above detection station, described image capturing and recognition device includes gathering coin support
The CCD camera of coin image on disk, the light-source system and image processing system that light source is provided for CCD camera；
Rocker type manipulator is equipped with above sortation process, the Rocker type manipulator is according to the instruction of Manipulator Controller to support
Coin on disk is sorted one by one, and Manipulator Controller then receives the coin label information of Image Acquisition identification device transmission.
2. a kind of device for automatically delivering sorting coin according to claim 1, it is characterised in that：The transmission track bag
The upper and lower two layers upper strata working track being arranged in parallel and lower tray passback track are included, working track and lower tray are returned on upper strata
The both ends for passing track are equipped with pallet lift mechanism, and the pallet lift mechanism is used to control pallet in upper strata working track and lower floor
Conversion between pallet passback track.
3. a kind of device for automatically delivering sorting coin according to claim 1, it is characterised in that：The light-source system bag
Lens case, light-emitting component and mating adjustable voltage changing module are included, the lens case is arranged to butt four sides taper, the luminous member
Part is arranged on one side in lens case, and reflector layer is equipped on the madial wall of lens case.
4. a kind of device for automatically delivering sorting coin according to claim 1, it is characterised in that：The coin tiling dress
Put including the plate that tiles, be equipped with vertically arranged connecting rod above tiling plate, the connecting rod lower end at tiling plate center
It is hinged, the resetting-mechanism that tiling plate is made to keep vertical position is equipped between tiling plate and connecting rod, is set in connecting rod upper end
Drive the transmission mechanism of tiling plate front-rear reciprocation movement.
5. a kind of device for automatically delivering sorting coin according to claim 4, it is characterised in that：The resetting-mechanism is
Memory metal sheet or resetting spring.
6. a kind of device for automatically delivering sorting coin according to claim 1, it is characterised in that：Luo Bi mechanisms bag
Include the fixed baffle being arranged at coin sending trap coin discharge, butterfly be equipped with below fixed baffle, in butterfly and
At least one coin droping hole is provided on fixed baffle, the distance of the pivot of the coin droping hole to butterfly is identical.
7. a kind of device for automatically delivering sorting coin according to claim 1, it is characterised in that：It is set after transmission track
Have a coin packing apparatus, the coin packing apparatus includes pedestal, be equipped on pedestal lower coin cylinder and it is liftable on coin cylinder,
The upper coin cylinder and lower coin cylinder are semicylinder, are equipped with and coin diameter phase to be packaged at the center of upper coin cylinder and lower coin cylinder
Corresponding chamber, the upper coin cylinder and lower coin cylinder are oppositely arranged up and down, are equipped on upper coin cylinder and are added to what its inner wall was heated
Thermal.
8. a kind of device for automatically delivering sorting coin according to claim 7, it is characterised in that：It is equipped on pedestal perpendicular
To the slideway of setting, upper coin cylinder is mounted on by sliding block on slideway, and upper coin cylinder lifts under the drive of driving motor on slideway
With realize with the closure of lower coin cylinder, separate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721506762.4U CN207424990U (en) | 2017-11-13 | 2017-11-13 | A kind of device for automatically delivering sorting coin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721506762.4U CN207424990U (en) | 2017-11-13 | 2017-11-13 | A kind of device for automatically delivering sorting coin |
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| Publication Number | Publication Date |
|---|---|
| CN207424990U true CN207424990U (en) | 2018-05-29 |
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ID=62305921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721506762.4U Active CN207424990U (en) | 2017-11-13 | 2017-11-13 | A kind of device for automatically delivering sorting coin |
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| Country | Link |
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| CN (1) | CN207424990U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107742355A (en) * | 2017-11-13 | 2018-02-27 | 淮海工学院 | Automatically deliver the device of sorting coin |
| CN109774999A (en) * | 2019-01-17 | 2019-05-21 | 南京中钞长城金融设备有限公司 | A kind of noble metal Coin dispensing apparatus |
| CN117470860A (en) * | 2023-12-27 | 2024-01-30 | 齐心商用设备(深圳)有限公司 | Coin double-sided detection device for coin counting equipment and detection method thereof |
-
2017
- 2017-11-13 CN CN201721506762.4U patent/CN207424990U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107742355A (en) * | 2017-11-13 | 2018-02-27 | 淮海工学院 | Automatically deliver the device of sorting coin |
| CN107742355B (en) * | 2017-11-13 | 2023-08-18 | 江苏海洋大学 | Automatic device of conveying letter sorting coin |
| CN109774999A (en) * | 2019-01-17 | 2019-05-21 | 南京中钞长城金融设备有限公司 | A kind of noble metal Coin dispensing apparatus |
| CN109774999B (en) * | 2019-01-17 | 2023-12-22 | 南京中钞长城金融设备有限公司 | Precious metal coin outlet machine |
| CN117470860A (en) * | 2023-12-27 | 2024-01-30 | 齐心商用设备(深圳)有限公司 | Coin double-sided detection device for coin counting equipment and detection method thereof |
| CN117470860B (en) * | 2023-12-27 | 2024-04-02 | 齐心商用设备(深圳)有限公司 | Coin double-sided detection device for coin counting equipment and detection method thereof |
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