WO2023045479A1 - Visual identification-based single piece separation system - Google Patents

Visual identification-based single piece separation system Download PDF

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Publication number
WO2023045479A1
WO2023045479A1 PCT/CN2022/103566 CN2022103566W WO2023045479A1 WO 2023045479 A1 WO2023045479 A1 WO 2023045479A1 CN 2022103566 W CN2022103566 W CN 2022103566W WO 2023045479 A1 WO2023045479 A1 WO 2023045479A1
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WO
WIPO (PCT)
Prior art keywords
module
roller
driven
belt
active
Prior art date
Application number
PCT/CN2022/103566
Other languages
French (fr)
Chinese (zh)
Inventor
欧阳庆生
方亚星
丁亚东
Original Assignee
中科微至科技股份有限公司
Priority date (The priority date 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 date listed.)
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Application filed by 中科微至科技股份有限公司 filed Critical 中科微至科技股份有限公司
Priority to DE212022000274.1U priority Critical patent/DE212022000274U1/en
Publication of WO2023045479A1 publication Critical patent/WO2023045479A1/en

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Classifications

    • 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
    • B07C1/00—Measures preceding sorting according to destination
    • B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
    • B07C1/04—Forming a stream from a bulk; Controlling the stream, e.g. spacing the articles
    • 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
    • B07C1/00—Measures preceding sorting according to destination
    • B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
    • B07C1/06—Orientating; Aligning ; Aligning to one edge
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/30—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors

Definitions

  • the utility model relates to the technical field of parcel sorting, in particular to a single piece separation system based on visual recognition.
  • the traditional logistics parcel sorting mode uses manual sorting, which has low efficiency, low accuracy, and poor stability. At the same time, it also greatly increases the labor cost of the enterprise, and the labor of sorting a large number of parcels every day has a negative impact on the health of workers. heavy burden. Therefore, a high-efficiency single-piece separation system suitable for parcel sorting came into being.
  • this application provides a single-piece separation system based on visual recognition, which can automatically identify and separate multiple packages, realize a single delivery effect, improve the efficiency of package sorting, and improve the sorting efficiency. Accuracy, reduce labor costs.
  • a single-piece separation system based on visual recognition comprising a diverging module that separates closely parallel packages from the width; Set the distance output, the discharge end of the separation module is provided with a transition module, the discharge end of the transition module is provided with a centering module, and the centering module moves the side-by-side parcels closer to the middle position as much as possible during transportation; the separation module is directly above
  • a visual inspection module is set, and the visual inspection module uses a high-speed camera to capture the moving package, the visual inspection module is fixed on the support frame, and the visual inspection module can identify the package quantity and position information on the separation module and feed back to the control system, The control system adjusts the working speed of the separation module to convey the parcel according to the information provided by the visual inspection module;
  • the divergent module includes a divergent main frame, and a plurality of divergent transmission modules are arranged horizontally on the divergent main frame, and the distance between two adjacent divergent transmission modules changes from small to large from the feed end to the discharge end;
  • the left and right sides of the transmission module are respectively equipped with side baffles, and the lower end of the side baffles is set on the divergent main frame, and a cover plate is arranged directly above the divergent transmission modules, and the four corners of the cover plate are respectively detachably connected to the upper end of the column and the lower end of the column Fixed on the frame, the transmission end faces of the conveying parcels of the plurality of divergent transmission modules are exposed from the top surface of the cover plate.
  • the divergent transmission module includes a driving belt module, and several driven belt modules are arranged on one side of the driving belt module.
  • the transmission between the belt modules is connected by a universal coupling.
  • the distance between the driving belt module and the adjacent driven belt module changes from small to large from the feed end to the discharge end.
  • the distance between two adjacent driven belt modules The distance from the feed end to the discharge end changes from small to large.
  • One side of the active belt module is connected to the drive module.
  • the drive module drives the active belt module to realize the transmission and transmission of the package.
  • the active belt module drives several slaves through the universal coupling. The drive is conveyed together with the moving belt module.
  • the driven belt module includes a driven driving roller and a driven tensioning roller, the driven driving roller and the driven tensioning roller are fitted with a driven synchronous belt, and the lower end surface of the upper transmission part of the driven synchronous belt Set the driven belt support plate, the driven belt support plate supports the upper transmission part of the driven synchronous belt, and the left and right sides of the driven belt support plate are respectively detachably connected to the first driven side plate and the second driven side plate through connectors The lower ends of the first driven side plate and the second driven side plate are detachably connected to the frame through the connecting piece, and the first driven side plate and the second driven side plate are set on the side facing the driven tension roller.
  • Tightening chute the two ends of the roller shaft of the driven tensioning roller are slidably connected in the tensioning chute, a driven adjustment bracket is set on one side of the tensioning chute, and the driven tensioning bolt is connected to the driven adjustment bracket through threads. The front end of the driven tensioning bolt presses against the end of the roller shaft of the driven tensioning roller.
  • the active belt module includes an active driving roller and an active tensioning roller.
  • the active driving roller and the active tensioning roller are equipped with an active synchronous belt.
  • the belt supporting plate supports the upper transmission part of the active synchronous belt, and the left and right sides of the driving belt supporting plate are respectively detachably connected to the first driving side plate and the second driving side plate through connectors, and the first driving side plate and the second driving side plate
  • the lower end is detachably connected to the frame through the connecting piece
  • the first driving side plate and the second driving side plate are provided with tensioning chute on the side facing the active tensioning roller, and the two ends of the roller shaft of the active tensioning roller are slidably connected
  • an active adjustment bracket is arranged on one side of the tensioning chute, and an active tensioning bolt is connected to the active adjustment bracket through threads, and the front end of the active tensioning bolt pushes against the end of the roller shaft of the active tensioning roller.
  • the drive module includes a reducer mounting seat fixed on the lower end surface of the frame.
  • the reducer is fixed on the reducer mounting seat.
  • One end of the reducer is connected to the drive end of the servo motor, and the other end of the reducer is connected to the first synchronous pulley.
  • the first synchronous The belt pulley is connected to drive the second synchronous belt pulley through the synchronous belt, and the second synchronous belt pulley is connected to one end of the roller shaft of the driving roller.
  • the separation module includes a separation frame, the bottom of the separation frame is provided with a protective bottom net, and a plurality of independent conveyor belt modules are respectively arranged on the separation frame, and the plurality of independent conveyor belt modules are arranged on the separation frame in a matrix distribution form.
  • the independent conveyor belt module includes two side mounting plates arranged in parallel, and the two side mounting plates are connected into one body through a plurality of connecting rods, and the upper and rear ends of the two side mounting plates are respectively rotated and connected to the first driving roller And the second transmission roller, the middle part between the two side mounting plates is rotatably connected to the tension roller, the lower part between the two side mounting plates is rotatably connected to the driving roller, and the lower part between the two side mounting plates is fixed with an independent drive motor, independent The drive end of the drive motor is connected to the drive roller through the pulley transmission assembly.
  • the first drive roller, the second drive roller, the tension roller and the drive roller are equipped with an independent conveyor belt.
  • the first drive roller, the second The rolling end faces of the drive roller and the drive roller are in contact with the inner drive end face of the independent conveyor belt, and the rolling end faces of the tension roller are in contact with the outer drive end face of the independent conveyor belt.
  • the transition module includes a plurality of unpowered rollers arranged side by side along the package conveying direction on the transition bracket, both ends of the multiple unpowered rollers are rotatably connected to the transition bracket, and transition baffles are respectively set at both ends of the multiple unpowered rollers , the lower end of the transition baffle is detachably connected to the transition bracket through the connecting piece, the transition drive motor is fixed on the lower end of the transition bracket, the drive end of the transition drive motor is connected to the transition drive roller, and the front and rear ends of the transition drive roller are respectively provided with transition drive rollers, A transition friction belt is sheathed on the transition drive roller and the transition transmission roller, and the transition friction belt drives multiple unpowered rollers to roll through friction.
  • the centering module includes two sets of unpowered rollers arranged symmetrically from left to right, each set of unpowered rollers includes a plurality of centered unpowered rollers arranged side by side, and the conveying direction of each set of unpowered rollers is from the outside to the middle of the centering module Position, the two ends of the non-powered roller rotate to connect the centering bracket, the upper end faces of the left and right sides of the centering bracket are detachably connected to the centering baffle through the connecting piece, and the rear end of the centering baffle is provided with a guide baffle inclined to the middle line of the centering module, the guide baffle The plate is detachably connected to the center bracket through the connecting piece. The inner end of the guide baffle is provided with a fixed plate.
  • a plurality of fixed shafts are arranged side by side along the conveying direction.
  • Each fixed shaft is connected to a plurality of guide rollers by rotation.
  • Each group has no
  • a center drive module is arranged under the power roller group, and the center drive module can drive the non-power roller group to roll.
  • the centering drive module includes a centering drive motor fixed on the bottom of the centering bracket, the driving end of the centering drive motor is connected to the centering drive roller, and the front and rear ends of the centering drive roller are respectively provided with a plurality of centering drive rollers, and the centering drive roller and the multiple A centered friction belt is sheathed on the two centered drive rollers, and the centered friction belt is rollingly connected with the centered non-powered roller.
  • the utility model has a compact and reasonable structure, and is easy to operate. It can automatically identify and separate multiple parcels, realize a single conveying effect, improve the efficiency of parcel sorting, improve the sorting accuracy, and reduce labor costs; two adjacent divergent transmission The distance between the modules changes from small to large from the feed end to the discharge end.
  • the parcels enter from the feed end of the divergent transmission module, and then are distributed and transported to the discharge end through the divergent transmission module, thereby realizing the single-piece separation of parcels;
  • the driving belt module and the driven belt module are driven by a driving module Synchronous work reduces costs; the guide baffle of the centering module touches the side of the package to ensure that the package can be guided to the middle position for delivery.
  • Fig. 1 is a perspective view of the utility model.
  • Fig. 2 is a perspective view of the diverging module.
  • Figure 3 is an exploded view of the active belt module.
  • Figure 4 is an exploded view of the driven belt module.
  • Figure 5 is a structural diagram of the bottom of the diverging module.
  • Fig. 6 is an enlarged view of A in Fig. 5 .
  • Fig. 7 is a perspective view of the separation module.
  • Fig. 8 is a perspective view of an independent conveyor belt module.
  • Fig. 9 is a perspective view of the transition module and the center module.
  • Figure 10 is a structural diagram of the transition module and the bottom of the center module.
  • Fig. 11 is an enlarged view of B in Fig. 9 .
  • First driven side plate; 172. Driven drive roller; 173.
  • Driven tension roller; 174 Driven synchronous belt; 175.
  • Driven belt support plate; 176 driven belt support plate; 176.
  • a single-piece separation system based on visual recognition mainly includes a divergence module 100.
  • the divergence module 100 separates closely parallel packages from the width, thereby optimizing the single-piece separation effect and preventing package congestion.
  • a separation module 200 is provided at the discharge end of the diverging module 100, and the separation module 200 outputs the package at a set distance along the conveying direction.
  • the discharge end of the separation module 200 is provided with a transition module 300, and the discharge end of the transition module 300 is provided with a centering module 400.
  • the centering module 400 moves the parcels on the side as close as possible to the middle position during transportation, and passes through them in a single row at a set distance.
  • the visual inspection module 600 is arranged directly above the separation module 200, and the visual inspection module 600 uses a high-speed camera to capture the moving package.
  • the visual inspection module 600 is fixed on the supporting frame 500 .
  • the visual inspection module 600 can identify the number and location information of the packages on the separation module 200 and feed back to the control system, and the control system adjusts the working speed of the separation module 200 to transport the packages according to the information provided by the visual inspection module 600 .
  • the divergent module 100 includes a divergent main frame 110, and a plurality of divergent transmission modules are arranged horizontally on the divergent main frame 110, and the distance between two adjacent divergent transmission modules is from the feed end to the discharge end. The end changes from small to large.
  • the parcels enter from the feed end of the divergent transmission module, and then are distributed and transported to the discharge end through the divergent transmission module, thereby realizing the single-piece separation of the parcels.
  • side baffles 140 are respectively arranged on the left and right sides of a plurality of divergent transmission modules, and the lower ends of the side baffles 140 are arranged on the main chassis 110 of divergence, and the side baffles 140 can prevent packages from diverging from the divergent transmission modules. fell to the ground.
  • a cover plate 120 is arranged directly above the multiple divergent transmission modules, and the four corners of the cover plate 120 are detachably connected to the upper end of the column 130 through connectors, and the lower end of the column 130 is fixed on the frame 110 .
  • the transmission end surfaces of the plurality of divergent transmission modules for conveying packages are exposed from the upper end surface of the cover plate 120 .
  • the cover plate 120 can prevent packages and foreign objects from falling into the gaps in the divergent transmission module during operation, which will affect the normal operation of the divergent transmission module.
  • the divergent transmission module includes a driving belt module 150, and several driven belt modules 170 are arranged on one side of the driving belt module 150, and the driving belt module 150 and the driven belt module 170 are connected by a universal
  • the shaft coupling 160 is connected to the transmission, and two adjacent driven belt modules 170 are connected to the transmission through the universal coupling 160 .
  • the distance between the driving belt module 150 and the adjacent driven belt module 170 becomes larger from the feed end to the discharge end, and the distance between two adjacent driven belt modules 170 is from the feed end to the discharge end From small to large.
  • One side of the active belt module 150 is connected to the driving module 180, and the driving module 180 drives the active belt module 150 to realize the conveyance and transmission of the package.
  • the active belt module 150 includes an active driving roller 152 and an active tensioning roller 153, and the active driving roller 152 and the active tensioning roller 153 are equipped with an active synchronous belt 154, and the active synchronous
  • the lower end surface of the upper transmission portion of the belt 154 is provided with an active belt supporting plate 155, the active belt supporting plate 155 supports the upper transmission portion of the active synchronous belt 154, and the left and right sides of the active belt supporting plate 155 are respectively detachably connected to the first driving side plate through connectors 151 and the second active side plate 156 , the lower ends of the first active side plate 151 and the second active side plate 156 are detachably connected to the frame 110 through connecting pieces.
  • the first driving side plate 151 and the second driving side plate 156 are all provided with a tensioning chute facing the side of the active tensioning roller 153, and the two ends of the roller shaft of the active tensioning roller 153 The sliding connection is in the tensioning chute.
  • One side of the tensioning chute is provided with an active adjustment bracket 157, and the active adjustment bracket 157 is threadedly connected with an active tension bolt 158, and the front end of the active tension bolt 158 is tightly contacted with the roller shaft end of the active tension roller 153.
  • the driven belt module 170 includes a driven driving roller 172 and a driven tensioning roller 173, and the driven driving roller 172 and the driven tensioning roller 173 are co-set driven Timing belt 174, driven belt supporting plate 175 is arranged on the lower end surface of the upper transmission portion of driven synchronous belt 174, driven belt supporting plate 175 supports the upper transmission portion of driven synchronous belt 174, and the left and right sides of driven belt supporting plate 175 are respectively connected
  • the first driven side plate 171 and the second driven side plate 176 are detachably connected by a piece, and the lower ends of the first driven side plate 171 and the second driven side plate 176 are detachably connected to the frame 110 through the connecting piece.
  • the first driven side plate 171 and the second driven side plate 176 are provided with a tensioning chute on the side facing the driven tension roller 173, and the driven tension roller 173 Both ends of the roller shaft are slidingly connected in the tensioning chute.
  • One side of the tensioning chute is provided with a driven adjustment bracket 177, and the driven adjustment bracket 177 is threadedly connected with a driven tensioning bolt 178, and the front end of the driven tensioning bolt 178 tightly contacts the roller shaft end of the driven tensioning roller 173 department.
  • the drive module 180 includes a reducer mounting base 183 fixed on the lower end surface of the frame 110, a reducer 182 is fixed on the reducer mounting base 183, and one end of the reducer 182 is connected to the servo motor 181 At the drive end, the other end of the speed reducer 182 is connected to the first synchronous pulley 185, and the first synchronous pulley 185 is connected to drive the second synchronous pulley 186 through the synchronous belt 184, and the second synchronous pulley 186 is connected to the roller of the driving roller 152. shaft end.
  • the separation module 200 can realize the conveyance of the single package after separation.
  • the separation module 200 includes a separation frame 220, and the bottom of the separation frame 220 is provided with a protective bottom net.
  • the independent conveyor belt module 210 includes two side mounting plates 211 arranged in parallel, and the two side mounting plates 211 are connected into one body through a plurality of connecting rods 218 .
  • the front and rear ends of the upper part between the two side mounting plates 211 are respectively rotatably connected to the first driving roller 212 and the second driving roller 213, and the middle part between the two side mounting plates 211 is rotatably connected to the tensioning roller 214, and the two side mounting plates
  • the lower part between 211 is rotatably connected with driving roller 215.
  • An independent driving motor 216 is fixed at the bottom between the two side mounting plates 211 , and the driving end of the independent driving motor 216 is connected to the driving roller 215 through a pulley transmission assembly 217 .
  • the first driving roller 212, the second driving roller 213, the tension roller 214 and the driving roller 215 are equipped with an independent conveyor belt 219, and the first driving roller 212, the second driving roller 213 and the driving roller 215 roll
  • the end face is in contact with the inner drive end face of the independent conveyor belt 219
  • the rolling end face of the tension roller 214 is in contact with the outer drive end face of the independent conveyor belt 219 , thereby realizing the tensioning of the independent conveyor belt 219 .
  • the transition module 300 includes a plurality of unpowered rollers 301 arranged side by side along the package conveying direction on the transition bracket 302, and the two ends of the multiple unpowered rollers 301 are rotatably connected to the transition bracket 302 superior.
  • Transition baffles 303 are respectively provided at both ends of the plurality of unpowered rollers 301 , and the lower ends of the transition baffles 303 are detachably connected to the transition bracket 302 through connecting pieces.
  • the transition drive motor 304 is fixed on the lower end surface of the transition bracket 302, and the drive end of the transition drive motor 304 is connected to the transition drive roller 305.
  • a transitional friction belt 306 is sheathed on the cylinder 307, and the transitional friction belt 306 drives a plurality of unpowered rollers 301 to roll through friction.
  • the centering module 400 includes two sets of left and right symmetrically arranged unpowered roller groups, and each group of unpowered roller groups includes a plurality of centered unpowered rollers 410 arranged side by side, each group without
  • the conveying direction of the power roller set is from the outside to the middle position of the centering module 400, so that the package can move closer to the middle position as far as possible after being conveyed by two sets of unpowered roller sets.
  • the two ends of the unpowered roller 410 are rotatably connected to the centering bracket 420 , and the upper end faces of the left and right sides of the centering bracket 420 are detachably connected to the centering baffle 430 through connecting pieces.
  • the rear end of the centering baffle 430 is provided with a guide baffle 440 inclined to the middle line of the centering module 400.
  • the guide baffle 440 is detachably connected to the centering bracket 420 through a connector.
  • the guide baffle 440 is used to realize the centering of the package.
  • a central driving module 450 is arranged under each set of unpowered rollers, and the central driving module 450 can drive the unpowered rollers to roll.
  • a fixed plate 441 is provided on the inner end surface of the guide baffle 440, and a plurality of fixed shafts 442 are arranged side by side along the conveying direction on the fixed plate 441, and a plurality of guide shafts 442 are rotatably connected to each other.
  • the centering drive module includes a centering drive motor 451 fixed on the bottom of the centering bracket 420, the driving end of the centering drive motor 451 is connected to the centering drive roller 452, and the front and rear ends of the centering drive roller 452 are respectively provided with multiple A centered drive roller 454, a centered drive roller 452 and a plurality of centered drive rollers 454 are provided with a centered friction belt 453, and the centered friction belt 453 is rollingly connected to the centered non-powered roller 410.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sorting Of Articles (AREA)
  • Rollers For Roller Conveyors For Transfer (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

A visual identification-based single piece separation system, comprising a dispersing module (100). The dispersing module (100) separates closely parallel parcels in a width direction; a separation module (200) is provided at the discharge end of the dispersing module (100); the separation module (200) outputs the parcels at a set distance along a conveying direction; a transition module (300) is provided at the discharge end of the separation module (200); a centering module (400) is provided at the discharge end of the transition module (300); and the centering module (400) moves the parcels which are against the edge as close to the middle position as possible during conveying. Automatic identification and separation are performed on multiple parcels to achieve a single conveying effect, so that the efficiency of parcel sorting is improved, the accuracy of sorting is increased, and the labor cost is reduced; the distance between two adjacent dispersing and transmission modules is increased from feed ends to discharge ends, and during parcel sorting, the parcels enter from the feed ends of the dispersing and transmission modules, and then are dispersed and conveyed to the discharge ends by means of the dispersing and transmission modules, thereby implementing single piece separation of the parcels.

Description

一种基于视觉识别的单件分离***A single-piece separation system based on visual recognition 技术领域technical field
本实用新型涉及包裹分拣技术领域，尤其是一种基于视觉识别的单件分离***。The utility model relates to the technical field of parcel sorting, in particular to a single piece separation system based on visual recognition.
背景技术Background technique
传统的物流包裹分拣模式采用的是人工分拣，这种方式效率低，准确性低，稳定性差，同时也大大增加了企业的人工成本，而且每天大量分拣包裹的劳作对工人的身体有着沉重的负担。因此，适用于包裹分拣的高效率单件分离***应运而生。The traditional logistics parcel sorting mode uses manual sorting, which has low efficiency, low accuracy, and poor stability. At the same time, it also greatly increases the labor cost of the enterprise, and the labor of sorting a large number of parcels every day has a negative impact on the health of workers. heavy burden. Therefore, a high-efficiency single-piece separation system suitable for parcel sorting came into being.
然而在包裹进入单件分离***前，包裹是聚集着涌入单件分离***，部分包裹必然会紧贴着一起进入单件分离***，这样后面的视觉***就会将这两个包裹识别为一个包裹，造成错误分拣，降低***分拣成功率。因此，需要一种能够实现多个包裹的自动化识别分离的***来进行包裹单件分离。However, before the parcels enter the single-piece separation system, the parcels are gathered and poured into the single-piece separation system, and some parcels will inevitably enter the single-piece separation system closely together, so that the subsequent vision system will recognize the two parcels as one parcels, causing wrong sorting and reducing the success rate of system sorting. Therefore, there is a need for a system capable of realizing automatic identification and separation of multiple parcels to separate individual parcels.
技术问题technical problem
本申请针对上述现有生产技术中的缺点，提供一种基于视觉识别的单件分离***，能够对多个包裹进行自动化识别分离，实现单一输送效果，提高了包裹分拣的效率，提升分拣准确率，降低人工成本。Aiming at the shortcomings in the above-mentioned existing production technology, this application provides a single-piece separation system based on visual recognition, which can automatically identify and separate multiple packages, realize a single delivery effect, improve the efficiency of package sorting, and improve the sorting efficiency. Accuracy, reduce labor costs.
技术解决方案technical solution
本实用新型所采用的技术方案如下：The technical scheme adopted in the utility model is as follows:
一种基于视觉识别的单件分离***，包括发散模块，所述发散模块将紧靠并行的包裹从宽度上分离，发散模块的出料端设置分离模块，所述分离模块将包裹沿输送方向以设定距离输出，分离模块的出料端设置过渡模块，所述过渡模块的出料端设置居中模块，所述居中模块将靠边的包裹在输送时尽量向中间位置靠拢；所述分离模块正上方设置视觉检视模块，所述视觉检视模块采用高速相机对移动中的包裹进行捕捉，视觉检视模块固定在支撑架上，视觉检视模块能够识别分离模块上的包裹数量和位置信息并反馈给控制***，所述控制***根据视觉检视模块提供的信息调整分离模块输送包裹的工作速度；A single-piece separation system based on visual recognition, comprising a diverging module that separates closely parallel packages from the width; Set the distance output, the discharge end of the separation module is provided with a transition module, the discharge end of the transition module is provided with a centering module, and the centering module moves the side-by-side parcels closer to the middle position as much as possible during transportation; the separation module is directly above A visual inspection module is set, and the visual inspection module uses a high-speed camera to capture the moving package, the visual inspection module is fixed on the support frame, and the visual inspection module can identify the package quantity and position information on the separation module and feed back to the control system, The control system adjusts the working speed of the separation module to convey the parcel according to the information provided by the visual inspection module;
所述发散模块包括发散主机架，发散主机架上横向设置多个发散传动模块，相邻两个发散传动模块之间的间距从进料端向出料端由小变大；所述多个发散传动模块的左右两侧分别设置侧挡板，侧挡板下端设置在发散主机架上，多个发散传动模块正上方设置盖板，盖板四角分别通过连接件可拆卸的连接立柱上端，立柱下端固定在机架上，多个发散传动模块的输送包裹的传动端面露出盖板上端面。The divergent module includes a divergent main frame, and a plurality of divergent transmission modules are arranged horizontally on the divergent main frame, and the distance between two adjacent divergent transmission modules changes from small to large from the feed end to the discharge end; The left and right sides of the transmission module are respectively equipped with side baffles, and the lower end of the side baffles is set on the divergent main frame, and a cover plate is arranged directly above the divergent transmission modules, and the four corners of the cover plate are respectively detachably connected to the upper end of the column and the lower end of the column Fixed on the frame, the transmission end faces of the conveying parcels of the plurality of divergent transmission modules are exposed from the top surface of the cover plate.
进一步的，发散传动模块包括一个主动皮带模块，主动皮带模块一侧设置若干个从动皮带模块，主动皮带模块和从动皮带模块之间通过万向联轴器连接传动，相邻两个从动皮带模块之间通过万向联轴器连接传动，主动皮带模块和相邻从动皮带模块之间的间距从进料端向出料端由小变大，相邻两个从动皮带模块之间的间距从进料端向出料端由小变大，主动皮带模块一侧连接驱动模块，驱动模块带动主动皮带模块实现包裹的输送传动，主动皮带模块又通过万向联轴器带动若干个从动皮带模块一起输送传动。Further, the divergent transmission module includes a driving belt module, and several driven belt modules are arranged on one side of the driving belt module. The transmission between the belt modules is connected by a universal coupling. The distance between the driving belt module and the adjacent driven belt module changes from small to large from the feed end to the discharge end. The distance between two adjacent driven belt modules The distance from the feed end to the discharge end changes from small to large. One side of the active belt module is connected to the drive module. The drive module drives the active belt module to realize the transmission and transmission of the package. The active belt module drives several slaves through the universal coupling. The drive is conveyed together with the moving belt module.
进一步的，从动皮带模块包括从动驱动辊筒和从动张紧辊筒，从动驱动辊筒和从动张紧辊筒上共同套装从动同步皮带，从动同步皮带的上传动部下端面设置从动皮带托板，从动皮带托板支撑从动同步皮带上传动部，从动皮带托板左右两侧分别通过连接件可拆卸的连接第一从动侧板和第二从动侧板，第一从动侧板和第二从动侧板下端通过连接件可拆卸的连接机架，第一从动侧板和第二从动侧板面向从动张紧辊筒一侧均设置张紧滑槽，从动张紧辊筒的辊轴两端滑动连接在张紧滑槽中，张紧滑槽一侧设置从动调节支架，从动调节支架上通过螺纹连接从动张紧螺栓，从动张紧螺栓前端顶紧接触从动张紧辊筒的辊轴端部。Further, the driven belt module includes a driven driving roller and a driven tensioning roller, the driven driving roller and the driven tensioning roller are fitted with a driven synchronous belt, and the lower end surface of the upper transmission part of the driven synchronous belt Set the driven belt support plate, the driven belt support plate supports the upper transmission part of the driven synchronous belt, and the left and right sides of the driven belt support plate are respectively detachably connected to the first driven side plate and the second driven side plate through connectors The lower ends of the first driven side plate and the second driven side plate are detachably connected to the frame through the connecting piece, and the first driven side plate and the second driven side plate are set on the side facing the driven tension roller. Tightening chute, the two ends of the roller shaft of the driven tensioning roller are slidably connected in the tensioning chute, a driven adjustment bracket is set on one side of the tensioning chute, and the driven tensioning bolt is connected to the driven adjustment bracket through threads. The front end of the driven tensioning bolt presses against the end of the roller shaft of the driven tensioning roller.
进一步的，主动皮带模块包括主动驱动辊筒和主动张紧辊筒，主动驱动辊筒和主动张紧辊筒上共同套装主动同步皮带，主动同步皮带的上传动部下端面设置主动皮带托板，主动皮带托板支撑主动同步皮带的上传动部，主动皮带托板左右两侧分别通过连接件可拆卸的连接第一主动侧板和第二主动侧板，第一主动侧板和第二主动侧板下端通过连接件可拆卸的连接机架，第一主动侧板和第二主动侧板面向主动张紧辊筒一侧均设置张紧滑槽，主动张紧辊筒的辊轴两端滑动连接在张紧滑槽中，张紧滑槽一侧设置主动调节支架，主动调节支架上通过螺纹连接主动张紧螺栓，主动张紧螺栓前端顶紧接触主动张紧辊筒的辊轴端部。Further, the active belt module includes an active driving roller and an active tensioning roller. The active driving roller and the active tensioning roller are equipped with an active synchronous belt. The belt supporting plate supports the upper transmission part of the active synchronous belt, and the left and right sides of the driving belt supporting plate are respectively detachably connected to the first driving side plate and the second driving side plate through connectors, and the first driving side plate and the second driving side plate The lower end is detachably connected to the frame through the connecting piece, the first driving side plate and the second driving side plate are provided with tensioning chute on the side facing the active tensioning roller, and the two ends of the roller shaft of the active tensioning roller are slidably connected In the tensioning chute, an active adjustment bracket is arranged on one side of the tensioning chute, and an active tensioning bolt is connected to the active adjustment bracket through threads, and the front end of the active tensioning bolt pushes against the end of the roller shaft of the active tensioning roller.
进一步的，驱动模块包括固定在机架下端面的减速器安装座，减速器安装座上固定减速器，减速器一端连接伺服电机驱动端，减速器另一端连接第一同步带轮，第一同步带轮通过同步带连接传动第二同步带轮，第二同步带轮连接在主动驱动辊筒的辊轴一端。Further, the drive module includes a reducer mounting seat fixed on the lower end surface of the frame. The reducer is fixed on the reducer mounting seat. One end of the reducer is connected to the drive end of the servo motor, and the other end of the reducer is connected to the first synchronous pulley. The first synchronous The belt pulley is connected to drive the second synchronous belt pulley through the synchronous belt, and the second synchronous belt pulley is connected to one end of the roller shaft of the driving roller.
进一步的，分离模块包括分离机架，分离机架底部设置防护底网，分离机架上分别设置多个独立传送带模块，多个独立传送带模块以矩阵式的分布形式设置在分离机架上。Further, the separation module includes a separation frame, the bottom of the separation frame is provided with a protective bottom net, and a plurality of independent conveyor belt modules are respectively arranged on the separation frame, and the plurality of independent conveyor belt modules are arranged on the separation frame in a matrix distribution form.
进一步的，独立传送带模块包括两个平行设置的侧安装板，两个侧安装板之间通过多个连杆连接成一体，两个侧安装板之间上部前后端分别转动连接第一传动辊筒和第二传动辊筒，两个侧安装板之间中部转动连接张紧辊筒，两个侧安装板之间下部转动连接驱动辊筒，两个侧安装板之间下部固定独立驱动电机，独立驱动电机的驱动端通过带轮传动组件连接传动驱动辊筒，第一传动辊筒、第二传动辊筒、张紧辊筒和驱动辊筒上共同套装独立传送带，第一传动辊筒、第二传动辊筒和驱动辊筒滚动端面和独立传送带内传动端面接触，张紧辊筒滚动端面和独立传送带外传动端面接触。Further, the independent conveyor belt module includes two side mounting plates arranged in parallel, and the two side mounting plates are connected into one body through a plurality of connecting rods, and the upper and rear ends of the two side mounting plates are respectively rotated and connected to the first driving roller And the second transmission roller, the middle part between the two side mounting plates is rotatably connected to the tension roller, the lower part between the two side mounting plates is rotatably connected to the driving roller, and the lower part between the two side mounting plates is fixed with an independent drive motor, independent The drive end of the drive motor is connected to the drive roller through the pulley transmission assembly. The first drive roller, the second drive roller, the tension roller and the drive roller are equipped with an independent conveyor belt. The first drive roller, the second The rolling end faces of the drive roller and the drive roller are in contact with the inner drive end face of the independent conveyor belt, and the rolling end faces of the tension roller are in contact with the outer drive end face of the independent conveyor belt.
进一步的，过渡模块包括过渡支架上沿包裹输送方向并排设置多个无动力辊筒，多个无动力辊筒两端转动连接在过渡支架上，多个无动力辊筒两端分别设置过渡挡板，过渡挡板下端通过连接件可拆卸的连接过渡支架，过渡支架下端面固定过渡驱动电机，过渡驱动电机的驱动端连接过渡驱动辊筒，过渡驱动辊筒的前后端分别设置过渡传动辊筒，过渡驱动辊筒和过渡传动辊筒上共同套设过渡摩擦带，过渡摩擦带通过摩擦力驱动多个无动力辊筒滚动。Further, the transition module includes a plurality of unpowered rollers arranged side by side along the package conveying direction on the transition bracket, both ends of the multiple unpowered rollers are rotatably connected to the transition bracket, and transition baffles are respectively set at both ends of the multiple unpowered rollers , the lower end of the transition baffle is detachably connected to the transition bracket through the connecting piece, the transition drive motor is fixed on the lower end of the transition bracket, the drive end of the transition drive motor is connected to the transition drive roller, and the front and rear ends of the transition drive roller are respectively provided with transition drive rollers, A transition friction belt is sheathed on the transition drive roller and the transition transmission roller, and the transition friction belt drives multiple unpowered rollers to roll through friction.
进一步的，居中模块包括两组左右对称设置的无动力辊组，每组无动力辊组包括多个并排设置的居中无动力辊筒，每组无动力辊组的输送方向由外侧朝向居中模块中间位置，无动力辊筒两端转动连接居中支架，居中支架左右两侧上端面通过连接件可拆卸的连接居中挡板，居中挡板后端设置向居中模块中间线倾斜的导向挡板，导向挡板通过连接件可拆卸的连接在居中支架上，导向挡板内侧端面设置固定板，固定板上沿输送方向并排设置多个固定轴，每个固定轴上转动连接多个导向滚轮，每组无动力辊组下方设置一个居中驱动模块，居中驱动模块能够带动无动力辊组滚动。Further, the centering module includes two sets of unpowered rollers arranged symmetrically from left to right, each set of unpowered rollers includes a plurality of centered unpowered rollers arranged side by side, and the conveying direction of each set of unpowered rollers is from the outside to the middle of the centering module Position, the two ends of the non-powered roller rotate to connect the centering bracket, the upper end faces of the left and right sides of the centering bracket are detachably connected to the centering baffle through the connecting piece, and the rear end of the centering baffle is provided with a guide baffle inclined to the middle line of the centering module, the guide baffle The plate is detachably connected to the center bracket through the connecting piece. The inner end of the guide baffle is provided with a fixed plate. On the fixed plate, a plurality of fixed shafts are arranged side by side along the conveying direction. Each fixed shaft is connected to a plurality of guide rollers by rotation. Each group has no A center drive module is arranged under the power roller group, and the center drive module can drive the non-power roller group to roll.
进一步的，居中驱动模块包括固定在居中支架底部的居中驱动电机，居中驱动电机的驱动端连接居中驱动辊筒，居中驱动辊筒前后端分别设置多个居中传动辊筒，居中驱动辊筒和多个居中传动辊筒上共同套设居中摩擦带，居中摩擦带和居中无动力辊筒滚动连接。Further, the centering drive module includes a centering drive motor fixed on the bottom of the centering bracket, the driving end of the centering drive motor is connected to the centering drive roller, and the front and rear ends of the centering drive roller are respectively provided with a plurality of centering drive rollers, and the centering drive roller and the multiple A centered friction belt is sheathed on the two centered drive rollers, and the centered friction belt is rollingly connected with the centered non-powered roller.
有益效果Beneficial effect
本实用新型的有益效果如下：The beneficial effects of the utility model are as follows:
本实用新型结构紧凑、合理，操作方便，能够对多个包裹进行自动化识别分离，实现单一输送效果，提高了包裹分拣的效率，提升分拣准确率，降低人工成本；相邻两个发散传动模块之间的间距从进料端向出料端由小变大。在包裹分拣时，包裹由发散传动模块进料端进入，然后经过发散传动模块分散输送到出料端，从而实现了包裹的单件分离；由一个驱动模块带动主动皮带模块和从动皮带模块同步工作，降低了成本；居中模块的导向挡板接触包裹的侧面，保证包裹能够导向中间位置进行输送。The utility model has a compact and reasonable structure, and is easy to operate. It can automatically identify and separate multiple parcels, realize a single conveying effect, improve the efficiency of parcel sorting, improve the sorting accuracy, and reduce labor costs; two adjacent divergent transmission The distance between the modules changes from small to large from the feed end to the discharge end. When parcels are sorted, the parcels enter from the feed end of the divergent transmission module, and then are distributed and transported to the discharge end through the divergent transmission module, thereby realizing the single-piece separation of parcels; the driving belt module and the driven belt module are driven by a driving module Synchronous work reduces costs; the guide baffle of the centering module touches the side of the package to ensure that the package can be guided to the middle position for delivery.
附图说明Description of drawings
图1为本实用新型立体图。Fig. 1 is a perspective view of the utility model.
图2为发散模块立体图。Fig. 2 is a perspective view of the diverging module.
图3为主动皮带模块***图。Figure 3 is an exploded view of the active belt module.
图4为从动皮带模块***图。Figure 4 is an exploded view of the driven belt module.
图5为发散模块底部结构图。Figure 5 is a structural diagram of the bottom of the diverging module.
图6为图5中A处放大图。Fig. 6 is an enlarged view of A in Fig. 5 .
图7为分离模块立体图。Fig. 7 is a perspective view of the separation module.
图8为独立传送带模块立体图。Fig. 8 is a perspective view of an independent conveyor belt module.
图9为过渡模块和居中模块立体图。Fig. 9 is a perspective view of the transition module and the center module.
图10为过渡模块和居中模块底部结构图。Figure 10 is a structural diagram of the transition module and the bottom of the center module.
图11为图9中B处放大图。Fig. 11 is an enlarged view of B in Fig. 9 .
其中：100、发散模块；110、发散主机架；120、盖板；130、立柱；140、侧挡板；150、主动皮带模块；151、第一主动侧板；152、主动驱动辊筒；153、主动张紧辊筒；154、主动同步皮带；155、主动皮带托板；156、第二主动侧板；157、主动调节支架；158、主动张紧螺栓；160、万向联轴器；170、从动皮带模块；171、第一从动侧板；172、从动驱动辊筒；173、从动张紧辊筒；174、从动同步皮带；175、从动皮带托板；176、第二从动侧板；177、从动调节支架；178、从动张紧螺栓；180、驱动模块；181、伺服电机；182、减速器；183、减速器安装座；184、同步带；185、第一同步带轮；186、第二同步带轮；200、分离模块；210、独立传送带模块；211、侧安装板；212、第一传动辊筒；213、第二传动辊筒；214、张紧辊筒；215、驱动辊筒；216、独立驱动电机；217、带轮传动组件；218、连杆；219、独立传送带；220、分离机架；300、过渡模块；301、无动力辊筒；302、过渡支架；303、过渡挡板；304、过渡驱动电机；305、过渡驱动辊筒；306、过渡摩擦带；307、过渡传动辊筒；400、居中模块；410、居中无动力辊筒；420、居中支架；430、居中挡板；440、导向挡板；441、固定板；442、固定轴；443、导向滚轮；450、居中驱动模块；451、居中驱动电机；452、居中驱动辊筒；453、居中摩擦带；454、居中传动辊筒；500、支撑架；600、视觉检视模块。Among them: 100, diverging module; 110, diverging main frame; 120, cover plate; 130, column; 140, side baffle; 150, driving belt module; 151, first driving side plate; 152, driving roller; 153 , active tensioning roller; 154, active synchronous belt; 155, active belt support plate; 156, second active side plate; 157, active adjustment bracket; 158, active tensioning bolt; 160, universal coupling; 170 1. Driven belt module; 171. First driven side plate; 172. Driven drive roller; 173. Driven tension roller; 174. Driven synchronous belt; 175. Driven belt support plate; 176. The first Two driven side plates; 177, driven adjustment bracket; 178, driven tension bolt; 180, drive module; 181, servo motor; 182, reducer; 183, reducer mounting seat; 184, synchronous belt; 185, The first synchronous pulley; 186, the second synchronous pulley; 200, the separation module; 210, the independent conveyor belt module; 211, the side mounting plate; 212, the first transmission roller; 213, the second transmission roller; 214, Zhang Tight roller; 215, driving roller; 216, independent driving motor; 217, pulley transmission assembly; 218, connecting rod; 219, independent conveyor belt; 220, separation frame; 300, transition module; 301, unpowered roller ;302, transition bracket; 303, transition baffle; 304, transition drive motor; 305, transition drive roller; 306, transition friction belt; 307, transition drive roller; 400, center module; 410, center unpowered roller ;420, centering bracket; 430, centering baffle; 440, guide baffle; 441, fixed plate; 442, fixed shaft; 443, guide roller; 450, centering drive module; 451, centering drive motor; 452, centering drive roller cylinder; 453, centering friction belt; 454, centering drive roller; 500, support frame; 600, visual inspection module.
本实用新型的实施方式Embodiment of the utility model
下面结合附图，说明本实用新型的具体实施方式。Below in conjunction with accompanying drawing, illustrate the specific embodiment of the present utility model.
如图1所示的实施例中，一种基于视觉识别的单件分离***主要包括发散模块100，发散模块100将紧靠并行的包裹从宽度上分离，进而优化单件分离效果，防止包裹拥堵。发散模块100的出料端设置分离模块200，分离模块200将包裹沿输送方向以设定距离输出。分离模块200的出料端设置过渡模块300，过渡模块300的出料端设置居中模块400，居中模块400将靠边的包裹在输送时尽量向中间位置靠拢，同时以设定距离单列通过。分离模块200正上方设置视觉检视模块600，视觉检视模块600采用高速相机对移动中的包裹进行捕捉。视觉检视模块600固定在支撑架500上。视觉检视模块600能够识别分离模块200上的包裹数量和位置信息并反馈给控制***，控制***根据视觉检视模块600提供的信息调整分离模块200输送包裹的工作速度。In the embodiment shown in Figure 1, a single-piece separation system based on visual recognition mainly includes a divergence module 100. The divergence module 100 separates closely parallel packages from the width, thereby optimizing the single-piece separation effect and preventing package congestion. . A separation module 200 is provided at the discharge end of the diverging module 100, and the separation module 200 outputs the package at a set distance along the conveying direction. The discharge end of the separation module 200 is provided with a transition module 300, and the discharge end of the transition module 300 is provided with a centering module 400. The centering module 400 moves the parcels on the side as close as possible to the middle position during transportation, and passes through them in a single row at a set distance. The visual inspection module 600 is arranged directly above the separation module 200, and the visual inspection module 600 uses a high-speed camera to capture the moving package. The visual inspection module 600 is fixed on the supporting frame 500 . The visual inspection module 600 can identify the number and location information of the packages on the separation module 200 and feed back to the control system, and the control system adjusts the working speed of the separation module 200 to transport the packages according to the information provided by the visual inspection module 600 .
如图2所示的实施例中，发散模块100包括发散主机架110，发散主机架110上横向设置多个发散传动模块，相邻两个发散传动模块之间的间距从进料端向出料端由小变大。在包裹分拣时，包裹由发散传动模块进料端进入，然后经过发散传动模块分散输送到出料端，从而实现了包裹的单件分离。In the embodiment shown in Figure 2, the divergent module 100 includes a divergent main frame 110, and a plurality of divergent transmission modules are arranged horizontally on the divergent main frame 110, and the distance between two adjacent divergent transmission modules is from the feed end to the discharge end. The end changes from small to large. When parcels are sorted, the parcels enter from the feed end of the divergent transmission module, and then are distributed and transported to the discharge end through the divergent transmission module, thereby realizing the single-piece separation of the parcels.
如图2所示的实施例中，多个发散传动模块的左右两侧分别设置侧挡板140，侧挡板140下端设置在发散主机架110上，侧挡板140能够阻挡包裹从发散传动模块上掉落到地面。多个发散传动模块正上方设置盖板120，盖板120四角分别通过连接件可拆卸的连接立柱130上端，立柱130下端固定在机架110上。多个发散传动模块的输送包裹的传动端面露出盖板120上端面。盖板120能够防止运行过程中包裹以及异物掉入发散传动模块内缝隙，影响发散传动模块正常工作。In the embodiment shown in Figure 2, side baffles 140 are respectively arranged on the left and right sides of a plurality of divergent transmission modules, and the lower ends of the side baffles 140 are arranged on the main chassis 110 of divergence, and the side baffles 140 can prevent packages from diverging from the divergent transmission modules. fell to the ground. A cover plate 120 is arranged directly above the multiple divergent transmission modules, and the four corners of the cover plate 120 are detachably connected to the upper end of the column 130 through connectors, and the lower end of the column 130 is fixed on the frame 110 . The transmission end surfaces of the plurality of divergent transmission modules for conveying packages are exposed from the upper end surface of the cover plate 120 . The cover plate 120 can prevent packages and foreign objects from falling into the gaps in the divergent transmission module during operation, which will affect the normal operation of the divergent transmission module.
如图2所示的实施例中，发散传动模块包括一个主动皮带模块150，主动皮带模块150一侧设置若干个从动皮带模块170，主动皮带模块150和从动皮带模块170之间通过万向联轴器160连接传动，相邻两个从动皮带模块170之间通过万向联轴器160连接传动。主动皮带模块150和相邻从动皮带模块170之间的间距从进料端向出料端由小变大，相邻两个从动皮带模块170之间的间距从进料端向出料端由小变大。主动皮带模块150一侧连接驱动模块180，驱动模块180带动主动皮带模块150实现包裹的输送传动，主动皮带模块150又通过万向联轴器160带动若干个从动皮带模块170一起输送传动。In the embodiment shown in Figure 2, the divergent transmission module includes a driving belt module 150, and several driven belt modules 170 are arranged on one side of the driving belt module 150, and the driving belt module 150 and the driven belt module 170 are connected by a universal The shaft coupling 160 is connected to the transmission, and two adjacent driven belt modules 170 are connected to the transmission through the universal coupling 160 . The distance between the driving belt module 150 and the adjacent driven belt module 170 becomes larger from the feed end to the discharge end, and the distance between two adjacent driven belt modules 170 is from the feed end to the discharge end From small to large. One side of the active belt module 150 is connected to the driving module 180, and the driving module 180 drives the active belt module 150 to realize the conveyance and transmission of the package.
如图3所示的实施例中，主动皮带模块150包括主动驱动辊筒152和主动张紧辊筒153，主动驱动辊筒152和主动张紧辊筒153上共同套装主动同步皮带154，主动同步皮带154的上传动部下端面设置主动皮带托板155，主动皮带托板155支撑主动同步皮带154的上传动部，主动皮带托板155左右两侧分别通过连接件可拆卸的连接第一主动侧板151和第二主动侧板156，第一主动侧板151和第二主动侧板156下端通过连接件可拆卸的连接机架110。In the embodiment shown in Figure 3, the active belt module 150 includes an active driving roller 152 and an active tensioning roller 153, and the active driving roller 152 and the active tensioning roller 153 are equipped with an active synchronous belt 154, and the active synchronous The lower end surface of the upper transmission portion of the belt 154 is provided with an active belt supporting plate 155, the active belt supporting plate 155 supports the upper transmission portion of the active synchronous belt 154, and the left and right sides of the active belt supporting plate 155 are respectively detachably connected to the first driving side plate through connectors 151 and the second active side plate 156 , the lower ends of the first active side plate 151 and the second active side plate 156 are detachably connected to the frame 110 through connecting pieces.
如图3所示的实施例中，第一主动侧板151和第二主动侧板156面向主动张紧辊筒153一侧均设置张紧滑槽，主动张紧辊筒153的辊轴两端滑动连接在张紧滑槽中。张紧滑槽一侧设置主动调节支架157，主动调节支架157上通过螺纹连接主动张紧螺栓158，主动张紧螺栓158前端顶紧接触主动张紧辊筒153的辊轴端部。In the embodiment shown in Figure 3, the first driving side plate 151 and the second driving side plate 156 are all provided with a tensioning chute facing the side of the active tensioning roller 153, and the two ends of the roller shaft of the active tensioning roller 153 The sliding connection is in the tensioning chute. One side of the tensioning chute is provided with an active adjustment bracket 157, and the active adjustment bracket 157 is threadedly connected with an active tension bolt 158, and the front end of the active tension bolt 158 is tightly contacted with the roller shaft end of the active tension roller 153.
如图4所示的实施例中，从动皮带模块170包括从动驱动辊筒172和从动张紧辊筒173，从动驱动辊筒172和从动张紧辊筒173上共同套装从动同步皮带174，从动同步皮带174的上传动部下端面设置从动皮带托板175，从动皮带托板175支撑从动同步皮带174上传动部，从动皮带托板175左右两侧分别通过连接件可拆卸的连接第一从动侧板171和第二从动侧板176，第一从动侧板171和第二从动侧板176下端通过连接件可拆卸的连接机架110。In the embodiment shown in Figure 4, the driven belt module 170 includes a driven driving roller 172 and a driven tensioning roller 173, and the driven driving roller 172 and the driven tensioning roller 173 are co-set driven Timing belt 174, driven belt supporting plate 175 is arranged on the lower end surface of the upper transmission portion of driven synchronous belt 174, driven belt supporting plate 175 supports the upper transmission portion of driven synchronous belt 174, and the left and right sides of driven belt supporting plate 175 are respectively connected The first driven side plate 171 and the second driven side plate 176 are detachably connected by a piece, and the lower ends of the first driven side plate 171 and the second driven side plate 176 are detachably connected to the frame 110 through the connecting piece.
如图4所示的实施例中，第一从动侧板171和第二从动侧板176面向从动张紧辊筒173一侧均设置张紧滑槽，从动张紧辊筒173的辊轴两端滑动连接在张紧滑槽中。张紧滑槽一侧设置从动调节支架177，从动调节支架177上通过螺纹连接从动张紧螺栓178，从动张紧螺栓178前端顶紧接触从动张紧辊筒173的辊轴端部。In the embodiment shown in Figure 4, the first driven side plate 171 and the second driven side plate 176 are provided with a tensioning chute on the side facing the driven tension roller 173, and the driven tension roller 173 Both ends of the roller shaft are slidingly connected in the tensioning chute. One side of the tensioning chute is provided with a driven adjustment bracket 177, and the driven adjustment bracket 177 is threadedly connected with a driven tensioning bolt 178, and the front end of the driven tensioning bolt 178 tightly contacts the roller shaft end of the driven tensioning roller 173 department.
如图5和图6所示的实施例中，驱动模块180包括固定在机架110下端面的减速器安装座183，减速器安装座183上固定减速器182，减速器182一端连接伺服电机181驱动端，减速器182另一端连接第一同步带轮185，第一同步带轮185通过同步带184连接传动第二同步带轮186，第二同步带轮186连接在主动驱动辊筒152的辊轴一端。In the embodiment shown in Figure 5 and Figure 6, the drive module 180 includes a reducer mounting base 183 fixed on the lower end surface of the frame 110, a reducer 182 is fixed on the reducer mounting base 183, and one end of the reducer 182 is connected to the servo motor 181 At the drive end, the other end of the speed reducer 182 is connected to the first synchronous pulley 185, and the first synchronous pulley 185 is connected to drive the second synchronous pulley 186 through the synchronous belt 184, and the second synchronous pulley 186 is connected to the roller of the driving roller 152. shaft end.
如图7所示的实施例中，分离模块200能够实现分离后单件包裹的输送，分离模块200包括分离机架220，分离机架220底部设置防护底网，分离机架220上分别设置多个独立传送带模块210，多个独立传送带模块210以矩阵式的分布形式设置在分离机架220上。In the embodiment shown in Figure 7, the separation module 200 can realize the conveyance of the single package after separation. The separation module 200 includes a separation frame 220, and the bottom of the separation frame 220 is provided with a protective bottom net. There are a plurality of independent conveyor belt modules 210, and a plurality of independent conveyor belt modules 210 are arranged on the separation frame 220 in a matrix distribution form.
如图8所示的实施例中，独立传送带模块210包括两个平行设置的侧安装板211，两个侧安装板211之间通过多个连杆218连接成一体。两个侧安装板211之间上部前后端分别转动连接第一传动辊筒212和第二传动辊筒213，两个侧安装板211之间中部转动连接张紧辊筒214，两个侧安装板211之间下部转动连接驱动辊筒215。两个侧安装板211之间下部固定独立驱动电机216，独立驱动电机216的驱动端通过带轮传动组件217连接传动驱动辊筒215。第一传动辊筒212、第二传动辊筒213、张紧辊筒214和驱动辊筒215上共同套装独立传送带219，第一传动辊筒212、第二传动辊筒213和驱动辊筒215滚动端面和独立传送带219内传动端面接触，张紧辊筒214滚动端面和独立传送带219外传动端面接触，从而实现对独立传送带219的张紧。In the embodiment shown in FIG. 8 , the independent conveyor belt module 210 includes two side mounting plates 211 arranged in parallel, and the two side mounting plates 211 are connected into one body through a plurality of connecting rods 218 . The front and rear ends of the upper part between the two side mounting plates 211 are respectively rotatably connected to the first driving roller 212 and the second driving roller 213, and the middle part between the two side mounting plates 211 is rotatably connected to the tensioning roller 214, and the two side mounting plates The lower part between 211 is rotatably connected with driving roller 215. An independent driving motor 216 is fixed at the bottom between the two side mounting plates 211 , and the driving end of the independent driving motor 216 is connected to the driving roller 215 through a pulley transmission assembly 217 . The first driving roller 212, the second driving roller 213, the tension roller 214 and the driving roller 215 are equipped with an independent conveyor belt 219, and the first driving roller 212, the second driving roller 213 and the driving roller 215 roll The end face is in contact with the inner drive end face of the independent conveyor belt 219 , and the rolling end face of the tension roller 214 is in contact with the outer drive end face of the independent conveyor belt 219 , thereby realizing the tensioning of the independent conveyor belt 219 .
如图9和图10所示的实施例中，过渡模块300包括过渡支架302上沿包裹输送方向并排设置多个无动力辊筒301，多个无动力辊筒301两端转动连接在过渡支架302上。多个无动力辊筒301两端分别设置过渡挡板303，过渡挡板303下端通过连接件可拆卸的连接过渡支架302。过渡支架302下端面固定过渡驱动电机304，过渡驱动电机304的驱动端连接过渡驱动辊筒305，过渡驱动辊筒305的前后端分别设置过渡传动辊筒307，过渡驱动辊筒305和过渡传动辊筒307上共同套设过渡摩擦带306，过渡摩擦带306通过摩擦力驱动多个无动力辊筒301滚动。In the embodiment shown in Figure 9 and Figure 10, the transition module 300 includes a plurality of unpowered rollers 301 arranged side by side along the package conveying direction on the transition bracket 302, and the two ends of the multiple unpowered rollers 301 are rotatably connected to the transition bracket 302 superior. Transition baffles 303 are respectively provided at both ends of the plurality of unpowered rollers 301 , and the lower ends of the transition baffles 303 are detachably connected to the transition bracket 302 through connecting pieces. The transition drive motor 304 is fixed on the lower end surface of the transition bracket 302, and the drive end of the transition drive motor 304 is connected to the transition drive roller 305. A transitional friction belt 306 is sheathed on the cylinder 307, and the transitional friction belt 306 drives a plurality of unpowered rollers 301 to roll through friction.
如图9和图10所示的实施例中，居中模块400包括两组左右对称设置的无动力辊组，每组无动力辊组包括多个并排设置的居中无动力辊筒410，每组无动力辊组的输送方向由外侧朝向居中模块400中间位置，使得包裹经过两组无动力辊组输送后能够尽量向中间位置靠拢。无动力辊筒410两端转动连接居中支架420，居中支架420左右两侧上端面通过连接件可拆卸的连接居中挡板430。居中挡板430后端设置向居中模块400中间线倾斜的导向挡板440，导向挡板440通过连接件可拆卸的连接在居中支架420上，导向挡板440用于实现包裹的居中导向。每组无动力辊组下方设置一个居中驱动模块450，居中驱动模块450能够带动无动力辊组滚动。In the embodiment shown in Fig. 9 and Fig. 10, the centering module 400 includes two sets of left and right symmetrically arranged unpowered roller groups, and each group of unpowered roller groups includes a plurality of centered unpowered rollers 410 arranged side by side, each group without The conveying direction of the power roller set is from the outside to the middle position of the centering module 400, so that the package can move closer to the middle position as far as possible after being conveyed by two sets of unpowered roller sets. The two ends of the unpowered roller 410 are rotatably connected to the centering bracket 420 , and the upper end faces of the left and right sides of the centering bracket 420 are detachably connected to the centering baffle 430 through connecting pieces. The rear end of the centering baffle 430 is provided with a guide baffle 440 inclined to the middle line of the centering module 400. The guide baffle 440 is detachably connected to the centering bracket 420 through a connector. The guide baffle 440 is used to realize the centering of the package. A central driving module 450 is arranged under each set of unpowered rollers, and the central driving module 450 can drive the unpowered rollers to roll.
如图9和图11所示的实施例中，导向挡板440内侧端面设置固定板441，固定板441上沿输送方向并排设置多个固定轴442，每个固定轴442上转动连接多个导向滚轮443，在使用中导向滚轮443接触包裹的侧面，保证包裹能够导向中间位置进行输送。In the embodiment shown in Figures 9 and 11, a fixed plate 441 is provided on the inner end surface of the guide baffle 440, and a plurality of fixed shafts 442 are arranged side by side along the conveying direction on the fixed plate 441, and a plurality of guide shafts 442 are rotatably connected to each other. Roller 443, in use guide roller 443 contacts the side of package, guarantees that package can be guided to the middle position and conveyed.
如图10所示的实施例中，居中驱动模块包括固定在居中支架420底部的居中驱动电机451，居中驱动电机451的驱动端连接居中驱动辊筒452，居中驱动辊筒452前后端分别设置多个居中传动辊筒454，居中驱动辊筒452和多个居中传动辊筒454上共同套设居中摩擦带453，居中摩擦带453和居中无动力辊筒410滚动连接。In the embodiment shown in Figure 10, the centering drive module includes a centering drive motor 451 fixed on the bottom of the centering bracket 420, the driving end of the centering drive motor 451 is connected to the centering drive roller 452, and the front and rear ends of the centering drive roller 452 are respectively provided with multiple A centered drive roller 454, a centered drive roller 452 and a plurality of centered drive rollers 454 are provided with a centered friction belt 453, and the centered friction belt 453 is rollingly connected to the centered non-powered roller 410.
以上描述是对本实用新型的解释，不是对实用新型的限定，本实用新型所限定的范围参见权利要求，在本实用新型的保护范围之内，可以作任何形式的修改。The above description is an explanation of the utility model, not a limitation of the utility model. For the scope limited by the utility model, please refer to the claims. Within the protection scope of the utility model, any form of modification can be made.

Claims (10)

  1. 一种基于视觉识别的单件分离***，包括发散模块（100），其特征在于：所述发散模块（100）将紧靠并行的包裹从宽度上分离，发散模块（100）的出料端设置分离模块（200），所述分离模块（200）将包裹沿输送方向以设定距离输出，分离模块（200）的出料端设置过渡模块（300），所述过渡模块（300）的出料端设置居中模块（400），所述居中模块（400）将靠边的包裹在输送时尽量向中间位置靠拢；所述分离模块（200）正上方设置视觉检视模块（600），所述视觉检视模块（600）采用高速相机对移动中的包裹进行捕捉，视觉检视模块（600）固定在支撑架（500）上，视觉检视模块（600）能够识别分离模块（200）上的包裹数量和位置信息并反馈给控制***，所述控制***根据视觉检视模块（600）提供的信息调整分离模块（200）输送包裹的工作速度； A single-piece separation system based on visual recognition, comprising a diverging module (100), characterized in that: the diverging module (100) separates closely parallel packages from the width, and the discharging end of the diverging module (100) is set A separation module (200), the separation module (200) outputs the package at a set distance along the conveying direction, a transition module (300) is set at the discharge end of the separation module (200), and the discharge end of the transition module (300) A centering module (400) is set at the end, and the centering module (400) moves the side-by-side packages as close as possible to the middle position during transportation; a visual inspection module (600) is set right above the separation module (200), and the visual inspection module (600) Use a high-speed camera to capture the moving packages, the visual inspection module (600) is fixed on the support frame (500), the visual inspection module (600) can identify the number and location information of the packages on the separation module (200) and Feedback to the control system, the control system adjusts the working speed of the separation module (200) to deliver the parcel according to the information provided by the visual inspection module (600);
    所述发散模块（100）包括发散主机架（110），发散主机架（110）上横向设置多个发散传动模块，相邻两个发散传动模块之间的间距从进料端向出料端由小变大；所述多个发散传动模块的左右两侧分别设置侧挡板（140），侧挡板（140）下端设置在发散主机架（110）上，多个发散传动模块正上方设置盖板（120），盖板（120）四角分别通过连接件可拆卸的连接立柱（130）上端，立柱（130）下端固定在机架（110）上，多个发散传动模块的输送包裹的传动端面露出盖板（120）上端面。The divergent module (100) includes a divergent main frame (110), and a plurality of divergent transmission modules are arranged horizontally on the divergent main frame (110). The distance between two adjacent divergent transmission modules is from the feed end to the discharge end. Small becomes large; side baffles (140) are respectively set on the left and right sides of the multiple divergent transmission modules, the lower end of the side baffles (140) is set on the divergent main frame (110), and a cover is set directly above the multiple divergent transmission modules The four corners of the plate (120) and the cover plate (120) are detachably connected to the upper end of the column (130) through connectors, and the lower end of the column (130) is fixed on the frame (110). Expose the upper end surface of the cover plate (120).
  2. 如权利要求1所述的一种基于视觉识别的单件分离***，其特征在于：所述发散传动模块包括一个主动皮带模块（150），主动皮带模块（150）一侧设置若干个从动皮带模块（170），主动皮带模块（150）和从动皮带模块（170）之间通过万向联轴器（160）连接传动，相邻两个从动皮带模块（170）之间通过万向联轴器（160）连接传动，主动皮带模块（150）和相邻从动皮带模块（170）之间的间距从进料端向出料端由小变大，相邻两个从动皮带模块（170）之间的间距从进料端向出料端由小变大，主动皮带模块（150）一侧连接驱动模块（180），驱动模块（180）带动主动皮带模块（150）实现包裹的输送传动，主动皮带模块（150）又通过万向联轴器（160）带动若干个从动皮带模块（170）一起输送传动。The single-piece separation system based on visual recognition according to claim 1, characterized in that: the divergent transmission module includes a driving belt module (150), and several driven belts are arranged on one side of the driving belt module (150) The module (170), the drive belt module (150) and the driven belt module (170) are connected by a universal joint (160) for transmission, and the two adjacent driven belt modules (170) are connected by a universal joint The shaft (160) is connected to the transmission, the distance between the driving belt module (150) and the adjacent driven belt module (170) changes from small to large from the feed end to the discharge end, and the two adjacent driven belt modules ( The distance between 170) changes from small to large from the feed end to the discharge end. One side of the driving belt module (150) is connected to the driving module (180), and the driving module (180) drives the driving belt module (150) to realize the delivery of packages For transmission, the active belt module (150) drives several driven belt modules (170) through the universal coupling (160) to convey the transmission together.
  3. 如权利要求2所述的一种基于视觉识别的单件分离***，其特征在于：所述从动皮带模块（170）包括从动驱动辊筒（172）和从动张紧辊筒（173），从动驱动辊筒（172）和从动张紧辊筒（173）上共同套装从动同步皮带（174），从动同步皮带（174）的上传动部下端面设置从动皮带托板（175），从动皮带托板（175）支撑从动同步皮带（174）上传动部，从动皮带托板（175）左右两侧分别通过连接件可拆卸的连接第一从动侧板（171）和第二从动侧板（176），第一从动侧板（171）和第二从动侧板（176）下端通过连接件可拆卸的连接机架（110），第一从动侧板（171）和第二从动侧板（176）面向从动张紧辊筒（173）一侧均设置张紧滑槽，从动张紧辊筒（173）的辊轴两端滑动连接在张紧滑槽中，张紧滑槽一侧设置从动调节支架（177），从动调节支架（177）上通过螺纹连接从动张紧螺栓（178），从动张紧螺栓（178）前端顶紧接触从动张紧辊筒（173）的辊轴端部。The single-piece separation system based on visual recognition according to claim 2, characterized in that: the driven belt module (170) includes a driven driving roller (172) and a driven tensioning roller (173) , the driven driving roller (172) and the driven tensioning roller (173) are set on the driven synchronous belt (174), and the lower end surface of the upper transmission part of the driven synchronous belt (174) is provided with a driven belt supporting plate (175 ), the driven belt supporting plate (175) supports the upper transmission part of the driven synchronous belt (174), and the left and right sides of the driven belt supporting plate (175) are respectively detachably connected to the first driven side plate (171) through connectors and the second driven side plate (176), the lower ends of the first driven side plate (171) and the second driven side plate (176) are detachably connected to the frame (110) through connecting pieces, the first driven side plate (171) and the second driven side plate (176) are provided with a tensioning chute on the side facing the driven tensioning roller (173), and the two ends of the roller shaft of the driven tensioning roller (173) are slidingly connected to the In the tensioning chute, a driven adjustment bracket (177) is arranged on one side of the tensioning chute, and the driven tensioning bolt (178) is connected to the driven adjustment bracket (177) through threads, and the front end of the driven tensioning bolt (178) tops In tight contact with the end of the roller shaft of the driven tension roller (173).
  4. 如权利要求2所述的一种基于视觉识别的单件分离***，其特征在于：所述主动皮带模块（150）包括主动驱动辊筒（152）和主动张紧辊筒（153），主动驱动辊筒（152）和主动张紧辊筒（153）上共同套装主动同步皮带（154），主动同步皮带（154）的上传动部下端面设置主动皮带托板（155），主动皮带托板（155）支撑主动同步皮带（154）的上传动部，主动皮带托板（155）左右两侧分别通过连接件可拆卸的连接第一主动侧板（151）和第二主动侧板（156），第一主动侧板（151）和第二主动侧板（156）下端通过连接件可拆卸的连接机架（110），第一主动侧板（151）和第二主动侧板（156）面向主动张紧辊筒（153）一侧均设置张紧滑槽，主动张紧辊筒（153）的辊轴两端滑动连接在张紧滑槽中，张紧滑槽一侧设置主动调节支架（157），主动调节支架（157）上通过螺纹连接主动张紧螺栓（158），主动张紧螺栓（158）前端顶紧接触主动张紧辊筒（153）的辊轴端部。The single-piece separation system based on visual recognition according to claim 2, characterized in that: the active belt module (150) includes an active driving roller (152) and an active tensioning roller (153), and the active driving The active synchronous belt (154) is set on the roller (152) and the active tensioning roller (153), and the lower end surface of the upper transmission part of the active synchronous belt (154) is provided with the active belt support plate (155), and the active belt support plate (155 ) to support the upper transmission part of the active synchronous belt (154), the left and right sides of the active belt supporting plate (155) are respectively detachably connected to the first active side plate (151) and the second active side plate (156) through connectors, the The lower ends of the first active side plate (151) and the second active side plate (156) are detachably connected to the frame (110) through connectors, the first active side plate (151) and the second active side plate (156) face the active tension One side of the tension roller (153) is provided with a tensioning chute, the two ends of the roller shaft of the active tensioning roller (153) are slidably connected in the tensioning chute, and one side of the tensioning chute is provided with an active adjustment bracket (157) , the active tensioning bolt (158) is threadedly connected to the active adjustment bracket (157), and the front end of the active tensioning bolt (158) pushes against the end of the roller shaft of the active tensioning roller (153).
  5. 如权利要求4所述的一种基于视觉识别的单件分离***，其特征在于：所述驱动模块（180）包括固定在机架（110）下端面的减速器安装座（183），减速器安装座（183）上固定减速器（182），减速器（182）一端连接伺服电机（181）驱动端，减速器（182）另一端连接第一同步带轮（185），第一同步带轮（185）通过同步带（184）连接传动第二同步带轮（186），第二同步带轮（186）连接在主动驱动辊筒（152）的辊轴一端。The single-piece separation system based on visual recognition according to claim 4, characterized in that: the drive module (180) includes a reducer mounting seat (183) fixed on the lower end surface of the frame (110), and the reducer The reducer (182) is fixed on the mounting base (183), one end of the reducer (182) is connected to the drive end of the servo motor (181), the other end of the reducer (182) is connected to the first synchronous pulley (185), and the first synchronous pulley (185) is connected to drive the second synchronous pulley (186) through the synchronous belt (184), and the second synchronous pulley (186) is connected to one end of the roller shaft of the driving roller (152).
  6. 如权利要求1所述的一种基于视觉识别的单件分离***，其特征在于：所述分离模块（200）包括分离机架（220），分离机架（220）底部设置防护底网，分离机架（220）上分别设置多个独立传送带模块（210），多个独立传送带模块（210）以矩阵式的分布形式设置在分离机架（220）上。The single-piece separation system based on visual recognition according to claim 1, characterized in that: the separation module (200) includes a separation frame (220), the bottom of the separation frame (220) is provided with a protective bottom net, and the separation A plurality of independent conveyor belt modules (210) are respectively arranged on the frame (220), and the plurality of independent conveyor belt modules (210) are arranged on the separate frame (220) in a matrix distribution form.
  7. 如权利要求6所述的一种基于视觉识别的单件分离***，其特征在于：所述独立传送带模块（210）包括两个平行设置的侧安装板（211），两个侧安装板（211）之间通过多个连杆（218）连接成一体，两个侧安装板（211）之间上部前后端分别转动连接第一传动辊筒（212）和第二传动辊筒（213），两个侧安装板（211）之间中部转动连接张紧辊筒（214），两个侧安装板（211）之间下部转动连接驱动辊筒（215），两个侧安装板（211）之间下部固定独立驱动电机（216），独立驱动电机（216）的驱动端通过带轮传动组件（217）连接传动驱动辊筒（215），第一传动辊筒（212）、第二传动辊筒（213）、张紧辊筒（214）和驱动辊筒（215）上共同套装独立传送带（219），第一传动辊筒（212）、第二传动辊筒（213）和驱动辊筒（215）滚动端面和独立传送带（219）内传动端面接触，张紧辊筒（214）滚动端面和独立传送带（219）外传动端面接触。The single-piece separation system based on visual recognition according to claim 6, characterized in that: the independent conveyor belt module (210) includes two side installation plates (211) arranged in parallel, two side installation plates (211 ) are connected together by a plurality of connecting rods (218), and the front and rear ends of the upper part between the two side mounting plates (211) are respectively rotated to connect the first drive roller (212) and the second drive roller (213). Between the two side mounting plates (211), the middle part rotates and connects the tension roller (214), between the two side mounting plates (211), the lower part rotates and connects the drive roller (215), between the two side mounting plates (211) The lower part fixes the independent driving motor (216), the driving end of the independent driving motor (216) is connected to the driving roller (215) through the pulley transmission assembly (217), the first driving roller (212), the second driving roller ( 213), the tension roller (214) and the driving roller (215) are jointly set with an independent conveyor belt (219), the first driving roller (212), the second driving roller (213) and the driving roller (215) The rolling end surface is in contact with the inner transmission end surface of the independent conveyor belt (219), and the rolling end surface of the tension roller (214) is in contact with the outer transmission end surface of the independent conveyor belt (219).
  8. 如权利要求1所述的一种基于视觉识别的单件分离***，其特征在于：所述过渡模块（300）包括过渡支架（302）上沿包裹输送方向并排设置多个无动力辊筒（301），多个无动力辊筒（301）两端转动连接在过渡支架（302）上，多个无动力辊筒（301）两端分别设置过渡挡板（303），过渡挡板（303）下端通过连接件可拆卸的连接过渡支架（302），过渡支架（302）下端面固定过渡驱动电机（304），过渡驱动电机（304）的驱动端连接过渡驱动辊筒（305），过渡驱动辊筒（305）的前后端分别设置过渡传动辊筒（307），过渡驱动辊筒（305）和过渡传动辊筒（307）上共同套设过渡摩擦带（306），过渡摩擦带（306）通过摩擦力驱动多个无动力辊筒（301）滚动。The single-piece separation system based on visual recognition according to claim 1, characterized in that: the transition module (300) includes a plurality of unpowered rollers (301) arranged side by side along the package conveying direction on the transition support (302) ), the two ends of multiple unpowered rollers (301) are rotatably connected to the transition bracket (302), the two ends of multiple unpowered rollers (301) are respectively provided with transition baffles (303), and the lower ends of the transition baffles (303) The transition bracket (302) is detachably connected through the connecting piece, the transition drive motor (304) is fixed on the lower surface of the transition bracket (302), the drive end of the transition drive motor (304) is connected to the transition drive roller (305), and the transition drive roller The front and rear ends of (305) are provided with transition drive rollers (307) respectively, transition friction belts (306) are sheathed on transition drive rollers (305) and transition drive rollers (307), and transition friction belts (306) pass friction Power drives multiple unpowered rollers (301) to roll.
  9. 如权利要求1所述的一种基于视觉识别的单件分离***，其特征在于：所述居中模块（400）包括两组左右对称设置的无动力辊组，每组无动力辊组包括多个并排设置的居中无动力辊筒（410），每组无动力辊组的输送方向由外侧朝向居中模块（400）中间位置，无动力辊筒（410）两端转动连接居中支架（420），居中支架（420）左右两侧上端面通过连接件可拆卸的连接居中挡板（430），居中挡板（430）后端设置向居中模块（400）中间线倾斜的导向挡板（440），导向挡板（440）通过连接件可拆卸的连接在居中支架（420）上，导向挡板（440）内侧端面设置固定板（441），固定板（441）上沿输送方向并排设置多个固定轴（442），每个固定轴（442）上转动连接多个导向滚轮（443），每组无动力辊组下方设置一个居中驱动模块（450），居中驱动模块（450）能够带动无动力辊组滚动。The single-piece separation system based on visual recognition according to claim 1, characterized in that: the centering module (400) includes two sets of unpowered rollers symmetrically arranged left and right, and each set of unpowered rollers includes a plurality of Centered unpowered rollers (410) arranged side by side, the conveying direction of each set of unpowered rollers is from the outside to the middle position of the centering module (400), and the two ends of the unpowered rollers (410) are connected to the centering bracket (420) by rotation, centered The upper end faces of the left and right sides of the bracket (420) are detachably connected to the centering baffle (430) through the connecting piece, and the rear end of the centering baffle (430) is provided with a guide baffle (440) inclined to the middle line of the centering module (400). The baffle (440) is detachably connected to the center bracket (420) through the connecting piece, the inner end surface of the guide baffle (440) is provided with a fixed plate (441), and multiple fixed shafts are arranged side by side along the conveying direction on the fixed plate (441) (442), a plurality of guide rollers (443) are rotatably connected to each fixed shaft (442), and a centered drive module (450) is arranged under each set of unpowered roller sets, and the centered drive module (450) can drive the unpowered roller sets scroll.
  10. 如权利要求9所述的一种基于视觉识别的单件分离***，其特征在于：所述居中驱动模块包括固定在居中支架（420）底部的居中驱动电机（451），居中驱动电机（451）的驱动端连接居中驱动辊筒（452），居中驱动辊筒（452）前后端分别设置多个居中传动辊筒（454），居中驱动辊筒（452）和多个居中传动辊筒（454）上共同套设居中摩擦带（453），居中摩擦带（453）和居中无动力辊筒（410）滚动连接。The single-piece separation system based on visual recognition according to claim 9, characterized in that: the centering drive module includes a centering drive motor (451) fixed at the bottom of the centering bracket (420), and the centering drive motor (451) The drive end of the center drive roller (452) is connected to the center drive roller (452), and the front and rear ends of the center drive roller (452) are respectively provided with multiple center drive rollers (454), center drive rollers (452) and multiple center drive rollers (454) The center friction belt (453) is sheathed together on the top, and the center friction belt (453) and the center non-powered roller (410) are rollingly connected.
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CN116281064A (en) * 2023-05-18 2023-06-23 中科微至科技股份有限公司 Separating and sorting machine for large package single piece
CN116281064B (en) * 2023-05-18 2024-04-19 中科微至科技股份有限公司 Separating and sorting machine for large package single piece
CN116899924A (en) * 2023-09-07 2023-10-20 常州创盛智能装备股份有限公司 Lithium battery cross visual inspection device and lithium battery cross visual inspection test method
CN116899924B (en) * 2023-09-07 2023-11-17 常州创盛智能装备股份有限公司 Lithium battery cross visual inspection device and lithium battery cross visual inspection test method
CN117884377A (en) * 2024-03-11 2024-04-16 北京晶品特装科技股份有限公司 Industrial robot detection device based on machine vision
CN117884377B (en) * 2024-03-11 2024-05-28 北京晶品特装科技股份有限公司 Industrial robot detection device based on machine vision

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