A clay imprinting system for transparent product identification and sorting

Abstract

A clay imprinting system for identifying and sorting transparent products comprises a control robot and a clay imprinting platform arranged face to face, as well as a first conveyor belt, a second conveyor belt, and a third conveyor belt respectively arranged on either side of the clay imprinting platform. The control robot is provided with a gripping fixture. The clay imprinting platform is provided with a light source mechanism, an imaging mechanism, and a clay processing mechanism. The light source mechanism includes a light source, and the imaging mechanism includes a visual camera. The clay processing mechanism includes a base plate, a linear rail is provided on the base plate, a slide is provided on the linear rail, and a clay frame is provided on the slide; the clay processing mechanism also includes a pressing roller and a cylinder, the output end of the cylinder being connected to the slide. The clay imprinting system in this case utilizes the plasticity of the clay to imprint a characteristic imprint pattern of the product on the clay, and then uses a visual camera for photographic identification to identify the front and back of the product, which is beneficial for product identification and sorting on an automated assembly line, with a high degree of automation and high efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automated sorting of assembly lines, and in particular to an oil mud stamping system for identifying and sorting transparent products. Background Art

[0002] In the field of industrial automation, it is often necessary to identify and sort products on the assembly line, such as separating products with the front side facing up from those with the back side facing up. Traditional identification and sorting methods mainly include the following three methods:

[0003] One approach is to use 3D vision cameras or line scan cameras to achieve recognition through multiple cameras. For example, patent CN109903323B, covering a training method, device, storage medium, and terminal for transparent object recognition, covers image processing. The patent uses multiple cameras, one for RGB images and one for depth images, and uses a one-to-one mapping of the RGB and depth images for training. This patent primarily uses software algorithms to identify transparent products.

[0004] The second method involves identifying transparent parts by changing the external environment. Patent CN104180772A, for example, describes a visual inspection device that uses a flat plate with one transparent side and one rough side. A light source is positioned on the rough side of the plate, shining toward the rough surface, while a camera is positioned on the transparent side. This method can identify the outline of the plate. However, this patent only recognizes the outline of the product, not features within the plate, such as grooves and bosses, and cannot distinguish between the front and back of the product.

[0005] The above two traditional identification and sorting methods have the following defects:

[0006] 1) 3D vision camera or line scan camera method, using multiple cameras for photo recognition, one to obtain RGB images, and one to obtain depth images, and then matching these images one by one for training and learning to identify transparent products. This method mainly uses software algorithms to achieve transparent product recognition. This method has high configuration requirements, complex operation, and high cost. It is not suitable for industrial applications and is not suitable for products in mid- and low-end industries.

[0007] 2) A method of controlling the external environment to identify transparent parts. By controlling the light source, shielding the external light source, and using the distribution of the vertical / transverse polarization degree of the vertical / transverse polarization degree image to identify the transparent object, this method is generally too complicated and not conducive to industrial applications. Often, this method can only obtain product outline information, and cannot distinguish its product details or the front and back. Summary of the Invention

[0008] In view of the deficiencies in the prior art, the present invention provides an oil mud stamping system for transparent product identification and sorting to overcome the deficiencies in the prior art.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0010] A clay stamping system for identifying and sorting transparent products includes a control robot and a clay stamping platform that are arranged face to face, a first conveyor belt arranged on one side of the clay stamping platform, and second and third conveyor belts arranged on the other side of the clay stamping platform.

[0011] The articulated arm of the control robot is provided with a detachable gripping fixture;

[0012] The oil mud stamping platform is provided with a light source mechanism, an imaging mechanism and an oil mud processing mechanism;

[0013] The light source mechanism includes a light source facing the surface of the clay imprinting table;

[0014] The imaging mechanism includes a visual camera facing the surface of the oil clay imprinting table;

[0015] The oil sludge processing mechanism includes a base plate, a linear rail is provided on the base plate, a slide is provided on the linear rail and is slidably engaged with the slide, and an oil sludge frame is provided on the slide; the oil sludge processing mechanism also includes a pressure roller mounting frame, a pressure roller is mounted on the pressure roller mounting frame; the oil sludge processing mechanism also includes a cylinder, the output end of the cylinder is connected to the slide.

[0016] Furthermore, the light source mechanism includes a supporting bracket fixedly erected on the oil clay imprinting table, a mounting block is provided on the supporting bracket, a first cross is vertically mounted on the mounting block, a pair of light source mounting plates are horizontally mounted on the first cross through a first connecting rod, and the light source is mounted on the light source mounting plate.

[0017] Furthermore, the imaging mechanism includes an imaging bracket connected to the first cross, the imaging bracket is arranged horizontally, and the visual camera is installed at the end of the imaging bracket.

[0018] Preferably, a front limit block is provided at the front end of the linear rail, and a rear limit block is provided at the rear end of the linear rail.

[0019] Preferably, the pressure roller mounting frame is fixed on the table surface of the oil mud stamping table, and the pressure roller mounting frame is horizontally mounted on the bottom plate.

[0020] Preferably, the cylinder is fixed on the table surface of the oil clay stamping table.

[0021] Preferably, the visual camera is electrically connected to the control robot; the cylinder is electrically connected to the control robot.

[0022] Preferably, the control robot is mounted on a robot base.

[0023] Preferably, the second conveyor belt and the third conveyor belt are arranged side by side.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1) This case describes a clay imprinting system for transparent product identification and sorting. It utilizes the plasticity of clay to imprint a characteristic imprint pattern onto the clay. This system then uses a visual camera to photograph and identify the front and back of the product, facilitating product identification and sorting on automated production lines with a high degree of automation and efficiency.

[0026] 2) This case presents a clay imprinting system for transparent product identification and sorting. It uses the plasticity of clay to reflect product characteristics. This is a low-cost solution that addresses the problem of 2D vision cameras being unable to or having difficulty identifying transparent products. It also addresses the high cost of purchasing expensive cameras when traditional methods are used to identify transparent products.

[0027] In order to more clearly understand the present invention, preferred embodiments of the present invention will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 Schematic diagram of the structure of the oil mud stamping table in the present invention;

[0030] Figure 3 It is a schematic structural diagram of the side view of the oil clay stamping table in the present invention.

[0031] Figure ID:

[0032] 1-control robot, 2-oil clay stamping table, 3-first conveyor belt, 4-second conveyor belt, 5-third conveyor belt, 9-product; 11-robot base, 12-grabbing fixture; 211-support bracket, 212-mounting block, 213-first cross, 214-light source mounting plate; 221-imaging bracket, 222-visual camera; 231-base plate, 232-linear rail, 233-slide plate, 234-oil clay frame, 235-pressure roller mounting frame, 236-pressure roller, 237-cylinder. DETAILED DESCRIPTION

[0033] In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0034] In addition, if terms such as "first" and "second" are used for descriptive purposes only, they are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components, and cannot be understood as indicating or implying relative importance.

[0035] In addition, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a connection between the internal parts of two components; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] Please also see Figure 1-3 The present invention provides a clay stamping system for transparent product identification and sorting, comprising a control robot 1 and a clay stamping platform 2 arranged face to face, and a first conveyor belt 3 arranged on one side of the clay stamping platform 2 and a second conveyor belt 4 and a third conveyor belt 5 arranged on the other side of the clay stamping platform 2, wherein the second conveyor belt 4 and the third conveyor belt 5 are arranged side by side.

[0037] The control robot 1 is mounted on a robot base 11. A detachable gripping fixture 12 is provided on the articulated arm of the control robot 1. The gripping fixture 12 is used to grab the transparent product 9 to be inspected conveyed from the first conveyor belt 3. Since the gripping fixture 12 is detachable, it can be used with different types of products to be inspected 9 by simply replacing a different gripping fixture 12, thus providing good applicability.

[0038] Preferably, in this embodiment, the control robot 1 is an automated robot in the prior art. The control robot 1 can move in the up, down, left, right, front and back directions, and can flexibly grasp the product 9 to be inspected by cooperating with different types of grasping fixtures 12.

[0039] The first conveyor belt 3 is used to convey the products to be inspected 9 before sorting; the second conveyor belt 4 is used to convey the products 9 with the front side facing upward after sorting; and the third conveyor belt 5 is used to convey the products 9 with the back side facing upward after sorting.

[0040] The oil mud stamping platform 2 is provided with a light source mechanism, an imaging mechanism and an oil mud processing mechanism.

[0041] The light source mechanism includes a support bracket 211 fixedly erected on the oil clay imprinting table 2, a mounting block 212 is provided on the support bracket 211, a first cross 213 is vertically mounted on the mounting block 212, a pair of light source mounting plates 214 are horizontally mounted on the first cross 213 through a first connecting rod, and a light source is mounted on the light source mounting plate 214 facing the surface of the oil clay imprinting table 2, which is not shown in the figure.

[0042] The imaging mechanism includes an imaging bracket 221 connected to the first cross 213 . The imaging bracket 221 is arranged horizontally. A visual camera 222 facing the surface of the oil clay imprinting table 2 is installed at the end of the imaging bracket 221 .

[0043] Preferably, in this embodiment, the visual camera 222 is electrically connected to the control robot 1 .

[0044] The oily mud processing mechanism includes a base plate 231 fixedly arranged on the surface of the oily mud imprinting table 2, a linear rail 232 is arranged parallel to the base plate 231, a front limit block is arranged at the front end of the linear rail 232, and a rear limit block is arranged at the rear end of the linear rail 232, which is not shown in the figure. A slide plate 233 is arranged on the linear rail 232 to cooperate with it, and an oily mud frame 234 is arranged on the slide plate 233.

[0045] Furthermore, the oil mud processing mechanism also includes a pressure roller mounting frame 235, which is fixed on the table surface of the oil mud stamping table 2, and the pressure roller mounting frame 235 is horizontally mounted on the bottom plate 231, and a pressure roller 236 is rotatably provided on the pressure roller mounting frame 235.

[0046] Furthermore, the oil mud processing mechanism also includes a cylinder 237, which is fixed on the table top of the oil mud imprinting table 2, and the cylinder 237 is located on the rear side of the base plate 231. The output end of the cylinder 237 is connected to the slide 233 through a connecting plate. The cylinder 237 drives the slide 233 and drives the oil mud frame 234 to slide back and forth on the linear rail 232, and the reciprocating sliding process of the oil mud frame 234 is limited by the front limit block and the rear limit block.

[0047] Preferably, in this embodiment, the cylinder 237 is electrically connected to the control robot 1 .

[0048] In this case, a mud stamping system for identifying and sorting transparent products 9 has the following working process in actual working conditions:

[0049] 1) When in use, select a suitable gripping fixture 12 and install it on the control robot 1;

[0050] 2) The cylinder 237 in the sludge processing mechanism is activated, and the cylinder 237 drives the slide plate 233 and drives the sludge frame 234 to slide back and forth on the linear rail 232. The circumferential surface of the pressure roller 236 contacts the sludge in the sludge frame 234, and the pressure roller 236 flattens the sludge in the sludge frame 234.

[0051] 3) The product 9 to be inspected placed on the first conveyor belt 3 is transferred to the grabbing station of the control robot 1. The grabbing fixture 12 on the control robot 1 grabs the product 9 to be inspected, and the oil mud in the oil mud frame 234 of the product 9 to be inspected is flattened by the pressing roller 236 to emboss a characteristic imprint pattern (the characteristic imprint pattern is a front imprint pattern including the front features of the product 9 or a back imprint pattern including the back features of the product 9. The front imprint pattern and the back imprint pattern have different features. The front and back of the product 9 can be distinguished according to the different features of the front imprint pattern or the back imprint pattern).

[0052] 4) The visual camera 222 takes a picture of the characteristic imprint pattern on the clay, and with the help of an external visual system (not shown), the front and back of the product 9 can be identified. The visual system transmits the front and back signals to the control robot 1.

[0053] 5) Control the robot 1 to sort the products 9 in different postures (front or back) and place them on the second conveyor belt 4 or the third conveyor belt 5 respectively. At this point, the entire process of distinguishing the front and back sides of the transparent products 9 and sorting them is completed.

[0054] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A mud stamping system for transparent product identification and sorting, characterized by: It comprises a control robot (1), an oil clay imprinting platform (2) arranged face to face, a first conveyor belt (3) arranged on one side of the oil clay imprinting platform (2), and a second conveyor belt (4) and a third conveyor belt (5) arranged on the other side of the oil clay imprinting platform (2); The articulated arm of the control robot (1) is provided with a detachable grasping fixture (12); The oil mud stamping platform (2) is provided with a light source mechanism, an imaging mechanism and an oil mud processing mechanism; The light source mechanism includes a light source facing the surface of the oil clay imprinting table (2); The imaging mechanism includes a visual camera (222) facing the surface of the oil clay imprinting table (2); The oil sludge processing mechanism comprises a bottom plate (231), a linear rail (232) is provided on the bottom plate (231), a slide plate (233) slidably engaged with the linear rail (232) is provided on the linear rail (232), and an oil sludge frame (234) is provided on the slide plate (233); the oil sludge processing mechanism further comprises a pressure roller mounting frame (235), a pressure roller (236) is mounted on the pressure roller mounting frame (235); the oil sludge processing mechanism further comprises a cylinder (237), the output end of the cylinder (237) is connected to the slide plate (233); By utilizing the plasticity of the clay, a characteristic imprint pattern of the product is embossed on the clay, and then a visual camera (222) is used to take a photo and identify the front and back of the product.

2. The oil mud imprinting system for transparent product identification and sorting according to claim 1, characterized in that: The light source mechanism comprises a support bracket (211) fixedly erected on the oil clay stamping table (2), a mounting block (212) being provided on the support bracket (211), a first cross (213) being vertically mounted on the mounting block (212), a pair of light source mounting plates (214) being horizontally mounted on the first cross (213) via a first connecting rod, and the light source being mounted on the light source mounting plates (214).

3. The oil mud imprinting system for transparent product identification and sorting according to claim 2, characterized in that: The imaging mechanism comprises an imaging bracket (221) connected to the first cross (213), the imaging bracket (221) is arranged horizontally, and the visual camera (222) is installed at the end of the imaging bracket (221).

4. The oil mud imprinting system for transparent product identification and sorting according to claim 1, characterized in that: A front limit block is provided at the front end of the linear rail (232), and a rear limit block is provided at the rear end of the linear rail (232).

5. The oil mud imprinting system for transparent product identification and sorting according to claim 1, characterized in that: The pressing roller mounting frame (235) is fixed on the table surface of the oil mud stamping table (2), and the pressing roller mounting frame (235) is horizontally mounted on the bottom plate (231).

6. The oil mud imprinting system for transparent product identification and sorting according to claim 1, characterized in that: The cylinder (237) is fixed on the table surface of the oil mud stamping table (2).

7. The oil mud imprinting system for transparent product identification and sorting according to claim 1, characterized in that: The visual camera (222) is electrically connected to the control robot (1); the cylinder (237) is electrically connected to the control robot (1).

8. The oil mud imprinting system for transparent product identification and sorting according to claim 1, characterized in that: The control robot (1) is mounted on a robot base (11).

9. The oil mud imprinting system for transparent product identification and sorting according to claim 1, characterized in that: The second conveyor belt (4) and the third conveyor belt (5) are arranged side by side.

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