Workpiece type identifying and sorting device and method based on line laser scanning

Abstract

The invention relates to the technical field of machine vision and intelligent sorting, and discloses a workpiece type recognizing and sorting device and method based on line laser scanning, the workpiece type recognizing and sorting device comprises a conveying module, a detection module, a transmission module and a collection module, the transmission module comprises a bottom plate, and the top of the bottom plate is fixedly connected with a second motor and a limiting sleeve; an output shaft of the motor II is fixedly connected with a connecting rod II; compared with the prior art, the workpiece type identifying and sorting device has the advantages that the workpieces can be rotated to different angles by the rotating disc according to identification results, then the workpieces are accurately conveyed to the positions of the corresponding appropriate collecting modules, and the sorting flexibility of the workpiece type identifying and sorting device based on line laser scanning is improved; according to the workpiece type identifying and sorting device based on line laser scanning, the workpieces can slide in the containing plate more easily and enter the corresponding collecting modules smoothly, the blocking phenomenon caused by too large friction force between the workpieces and the containing plate is avoided, and the sorting efficiency of the workpiece type identifying and sorting device based on line laser scanning is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machine vision and intelligent sorting, and in particular to a workpiece type recognition and sorting device and a sorting method based on line laser scanning. Background Art

[0002] With the continuous development of modern manufacturing industry, the scale of production is expanding, the variety of products is becoming more and more diverse, and the requirements for automation and intelligence in the production process are also increasing. Line laser scanning can quickly and accurately obtain the three-dimensional contour information of the workpiece surface. By emitting a linear laser beam to illuminate the surface of the workpiece, and then using the receiver to receive the reflected laser signal, the height information of each point on the workpiece surface can be calculated according to the laser flight time or triangulation principle. In this way, the precise dimensions of the workpiece can be obtained, including length, width, height, and curved surface shape. In addition to the dimensions, line laser scanning can also detect the features of the workpiece surface, such as texture, roughness, scratches, etc. These surface features are very important for the identification of certain types of workpieces. Compared with traditional contact measurement methods, line laser scanning is a non-contact measurement technology that does not physically contact the workpiece. This is very important for some workpieces with high surface accuracy requirements and easy to be damaged, which can avoid scratches, deformation and other damage to the workpiece during the measurement process. And line laser scanning has high repeatability and stability, and can provide consistent measurement results under different measurement environments and conditions. This is very important for workpiece type identification and sorting, because only by ensuring the reliability of the measurement results can the workpiece type be accurately identified and correctly sorted.

[0003] Existing workpiece type identification and sorting devices based on line laser scanning are generally transmitted to different collection boxes through conveyor belts during transmission. It is not convenient to change the position, cannot adapt to various site conditions and box arrangement methods, and has low flexibility. Moreover, when the workpiece is transported to the corresponding collection box, the workpiece is prone to jamming due to the large friction between the workpiece and the placement plate, thereby reducing the sorting efficiency. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings existing in the prior art and to propose a workpiece type identification and sorting device and a sorting method based on line laser scanning.

[0005] In order to achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a workpiece type identification and sorting device based on line laser scanning, comprising a transmission module, a detection module, a transmission module and a collection module, the transmission module comprising a base plate, a motor 2 and a limit sleeve are fixedly connected to the top of the base plate, the output shaft of the motor 2 is fixedly connected to a connecting rod 2, one end of the connecting rod 2 is fixedly connected to a turntable, a slide groove is provided inside the limit sleeve, a slide plate is slidably connected inside the slide groove, one end of the slide plate is fixedly connected to the bottom of the transmission module, a connecting plate is fixedly connected to the outside of the turntable, and the connecting plate is provided with two groups, one group of connecting plates is fixedly connected to the outside of the connecting plate with a motor 3, the output shaft of the motor 3 passes through the connecting plate and is fixedly connected to a fixing rod, one end of the fixing rod rotates inside the connecting plate, a connecting block is fixedly sleeved outside the fixed rod, and one end of the connecting block is fixedly connected to a placement plate.

[0006] As a further description of the above technical solution:

[0007] The detection module comprises a fixing frame, a linear laser transmitter body and an industrial digital camera body are connected to the top of the fixing frame, and a receiver body is connected to the outside of the fixing frame.

[0008] As a further description of the above technical solution:

[0009] The transmission module includes a support frame, a motor 1 is fixedly connected to the outer side of the support frame, the output shaft of the motor 1 passes through the support frame and is fixedly connected to a pulley 1, one end of the support frame is internally rotatably connected to a connecting rod 1, one end of the connecting rod 1 is fixedly connected to a pulley 2, a belt body is installed outside the pulleys 1 and 2, one end of the belt body is fixedly connected to a connecting shaft, the connecting shaft is provided with two groups, and a conveyor belt body is installed outside the two groups of connecting shafts.

[0010] As a further description of the above technical solution:

[0011] The collection module includes collection box one, collection box two and collection box three.

[0012] As a further description of the above technical solution:

[0013] The support frames are provided with two groups, and the sides of the two groups of support frames close to each other are fixedly connected with a fixing plate one, and the bottom of the fixing frame is fixedly connected to the top of the fixing plate one.

[0014] As a further description of the above technical solution:

[0015] The front end of the support frame is fixedly connected with a fixing plate 2, and the fixing plate 2 is provided with two groups, and one end of the two groups of fixing plates 2 is fixedly connected to the rear end of the bottom plate.

[0016] As a further description of the above technical solution:

[0017] The line laser transmitter body, the industrial digital camera body, the motor one, the motor two and the motor three are all electrically connected to the receiver body.

[0018] The present invention also provides a workpiece type identification and sorting method based on line laser scanning, comprising the following steps:

[0019] Step 1: Place the workpiece to be sorted at a suitable starting position on the conveyor belt body and transport it to the bottom of the fixed frame through the conveyor belt body;

[0020] Step 2: Project a line laser stripe onto the surface of the workpiece through the line laser transmitter body, and scan the surface of the object to be measured at a suitable speed. When the laser irradiates the surface of the workpiece, the laser will be reflected due to the different shapes, heights and other features of the workpiece surface.

[0021] Step 3: The industrial digital camera body collects the line laser stripe image modulated due to the height change of the workpiece, and transmits it to the receiver body after the collection is completed. The receiver body processes and calculates the image collected by the industrial digital camera body, and compares it with the image already in the database to determine the type of the workpiece;

[0022] Step 4: Then transport the inspected workpieces to be sorted, and the inspected workpieces fall into the placement plate, and the placement plate drives the workpieces to the top of the appropriate collection module;

[0023] Step 5: The placement plate is adjusted to an inclination angle so that the workpieces fall into the collection module to complete the workpiece sorting operation;

[0024] The present invention has the following beneficial effects:

[0025] 1. In the present invention, the second motor is started, and the second motor drives the turntable to rotate through the second connecting rod, and the turntable drives the slide plate to slide inside the slide groove. At the same time, the turntable drives the placement plate to rotate through the connecting plate, the fixing rod and the connecting block. The turntable can be rotated to different angles according to the recognition result, and then the workpiece can be accurately transported to the corresponding suitable collection module position, which can adapt to various site conditions and box arrangement methods, and improve the sorting flexibility of the workpiece type recognition and sorting device based on line laser scanning.

[0026] 2. In the present invention, motor three is started, and motor three drives the connecting block to rotate through the fixed rod, and the connecting block drives the placement plate to rotate. By adjusting the inclination of the placement plate, the workpiece can slide more easily inside the placement plate and smoothly enter the corresponding collection module, thereby avoiding the jamming phenomenon caused by excessive friction between the workpiece and the placement plate, and improving the sorting efficiency of the workpiece type recognition and sorting device based on line laser scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall structure of the workpiece type identification and sorting device based on line laser scanning proposed by the present invention;

[0028] Figure 2 Schematic diagram of the partial structure of the workpiece type recognition and sorting device based on line laser scanning proposed by the present invention Figure 1 ;

[0029] Figure 3 Schematic diagram of the partial structure of the workpiece type recognition and sorting device based on line laser scanning proposed by the present invention Figure 2 ;

[0030] Figure 4 Schematic diagram of the partial structure of the workpiece type recognition and sorting device based on line laser scanning proposed by the present invention Figure 3 ;

[0031] Figure 5 for Figure 2 A schematic diagram of the enlarged structure of part A;

[0032] Figure 6 Flowchart of the workpiece type recognition and sorting method based on line laser scanning.

[0033] Legend:

[0034] 1. Transmission module; 101. Support frame; 102. Motor 1; 103. Pulley 1; 104. Connecting rod 1; 105. Pulley 2; 106. Belt body; 107. Connecting shaft; 108. Conveyor belt body; 109. Fixed plate 1; 110. Fixed plate 2; 2. Detection module; 201. Fixed frame; 202. Line laser transmitter body; 203. Industrial digital camera body; 204. Receiver body; 3. Transmission module; 301. Bottom plate; 302. Motor 2; 303. Limit sleeve; 304. Connecting rod 2; 305. Turntable; 306. Slide; 307. Slide plate; 4. Connecting plate; 5. Motor 3; 6. Fixed rod; 7. Connecting block; 8. Placement plate; 9. Collection module; 901. Collection box 1; 902. Collection box 2; 903. Collection box 3. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Reference Figure 1-Figure 5, an embodiment of the present invention: a workpiece type identification and sorting device based on line laser scanning, comprising a conveying module 1, a detection module 2, a transmission module 3 and a collection module 9, the transmission module 3 comprising a bottom plate 301, a motor 2 302 and a limiting sleeve 303 are fixedly connected to the top of the bottom plate 301, the output shaft of the motor 2 302 is fixedly connected to a connecting rod 2 304, one end of the connecting rod 2 304 is fixedly connected to a turntable 305, a slide groove 306 is provided inside the limiting sleeve 303, a slide plate 307 is slidably connected inside the slide groove 306, one end of the slide plate 307 is fixedly connected to the bottom of the transmission module 3, a connecting plate 4 is fixedly connected to the outside of the turntable 305, the connecting plate 4 is provided with two groups, one group of connecting plates 4 is fixedly connected to the outside of the motor 3 5, the output shaft of the motor 3 5 passes through the connecting plate 4 and is fixedly connected to a fixing rod 6, one end of the fixing rod 6 rotates inside the connecting plate 4, the outside of the fixing rod 6 is fixedly sleeved with a connecting block 7, and one end of the connecting block 7 is fixedly connected to a placing plate 8.

[0037] The detection module 2 includes a fixed frame 201, and a line laser transmitter body 202 and an industrial digital camera body 203 are connected to the top of the fixed frame 201. The industrial digital camera body 203 can use image processing technology to extract the features of the workpiece, and merge them with the features obtained by line laser scanning to improve the accuracy and reliability of workpiece type recognition. A receiver body 204 is connected to the outside of the fixed frame 201. After the received laser reflection signal is converted into an electrical signal, it is necessary to transmit these electrical signals to the data processing unit for further analysis and processing. The transmission module 1 includes a support frame 101, and a motor 102 is fixedly connected to the outside of the support frame 101. The output shaft of the motor 102 passes through the support frame 101 and is fixedly connected to a pulley 103. One end of the support frame 101 is internally rotatably connected to a connecting rod 104, so that the pulley 2 105 remains in a stable state when rotating. One end of the connecting rod 104 is fixedly connected to the pulley 2 105. The outside of the pulley 103 and the pulley 2 105 A belt body 106 is installed, one end of the belt body 106 is fixedly connected to a connecting shaft 107, two groups of connecting shafts 107 are provided, and a conveyor belt body 108 is installed outside the two groups of connecting shafts 107, which can realize the continuous flow of workpieces. The collection module 9 includes a collection box 1 901, a collection box 2 902 and a collection box 3 903, which can receive different types of workpieces for easy management and search. There are two groups of support frames 101 to improve stability. A fixing plate 109 is fixedly connected to the side close to the two groups of support frames 101. The bottom of the fixing frame 201 is fixedly connected to the top of the fixing plate 109. The front end of the support frame 101 is fixedly connected to a fixing plate 2 110. Two groups of fixing plates 2 110 are provided for connecting to the bottom plate 301 to ensure integrity. One end of the two groups of fixing plates 2 110 are fixedly connected to the rear end of the bottom plate 301. The line laser transmitter body 202, the industrial digital camera body 203, the motor 1 102, the motor 2 302 and the motor 3 5 are all electrically connected to the receiver body 204.

[0038] Reference Figure 6 The present invention also provides a workpiece type identification and sorting method based on line laser scanning, comprising the following steps:

[0039] Step 1: Place the workpiece to be sorted at a suitable starting position on the conveyor body 108 and transport it to the bottom of the fixed frame 201 through the conveyor body 108;

[0040] Step 2: Project a line laser stripe onto the surface of the workpiece through the line laser transmitter body 202, and scan the surface of the object to be measured at a suitable speed. When the laser irradiates the surface of the workpiece, the laser will be reflected due to the different shapes, heights and other features of the surface of the workpiece;

[0041] Step 3: The industrial digital camera body 203 collects the line laser stripe image modulated due to the height change of the workpiece, and transmits it to the receiver body 204 after the collection is completed. The receiver body 204 processes and calculates the image collected by the industrial digital camera body 203, and compares it with the image already in the database to determine the type of the workpiece;

[0042] Step 4: Then transport the inspected workpieces to be sorted, and the inspected workpieces fall into the placement plate 8, and the placement plate 8 drives the workpieces to the top of the appropriate collection module 9;

[0043] Step 5: The placement plate 8 is adjusted to an inclination angle so that the workpieces fall into the collecting module 9, thereby completing the workpiece sorting operation.

[0044] Working principle: first, place the workpiece to be detected on the conveyor belt body 108, start the motor 102, the motor 102 drives the pulley 103 to rotate, the pulley 103 drives the pulley 2 105 to rotate through the belt body 106, the pulley 2 105 drives the connecting shaft 107 to rotate, the connecting shaft 107 drives the conveyor belt body 108 to rotate, thereby driving the workpiece to be detected to move to the bottom of the fixed frame 201, and projecting line laser stripes to the surface of the workpiece through the line laser transmitter body 202, and scanning the surface of the workpiece to be detected at a suitable speed, the industrial digital camera body 203 collects the line laser stripe image and transmits it to the receiver body 204, then the workpiece continues to move and falls into the placement plate 8, the motor 2 302 starts after receiving the signal transmitted by the receiver body 204, the motor 2 302 drives the connecting rod 2 304 to rotate, the connecting rod 2 304 drives the turntable 305 to rotate, the turntable 305 carries The movable slide plate 307 slides inside the slide groove 306 to improve the stability of the turntable 305 during rotation. The turntable 305 drives the placement plate 8 to rotate to the top of the appropriate collection module 9 through the connecting plate 4, the fixed rod 6 and the connecting block 7. The motor three 5 is started, and the motor three 5 drives the fixed rod 6 to rotate. The fixed rod 6 drives the placement plate 8 to tilt through the connecting block 7, so that the workpiece inside the placement plate 8 slides into the collection module 9. Then the motor three 5 is started again, and the motor three 5 drives the placement plate 8 to rotate to a parallel state through the fixed rod 6 and the connecting block 7 to prevent the workpiece from slipping and causing damage during rotation. The motor two 302 is started again, and the motor two 302 drives the turntable 305 to rotate again through the connecting rod two 304. The turntable 305 drives the placement plate 8 to rotate through the connecting plate 4, the fixed rod 6 and the connecting block 7 to drive one end of the conveyor belt body 108. At this time, the next workpiece after detection falls into the placement plate 8, thereby improving the sorting efficiency.

[0045] The electrical components appearing in this article are all connected to an external main controller and 220V AC power, and the main controller can be a conventional known device that controls a computer, etc. The specific implementation method of the present disclosure omits the detailed description of known functions and known components. To ensure the compatibility of the equipment, the operating methods used are consistent with the parameters of marketed equipment.

[0046] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A workpiece type identification and sorting device based on line laser scanning, comprising a conveying module (1), a detection module (2), a transmission module (3) and a collection module (9), characterized in that: The transmission module (3) comprises a bottom plate (301), the top of the bottom plate (301) is fixedly connected to a second motor (302) and a limiting sleeve (303), the output shaft of the second motor (302) is fixedly connected to a second connecting rod (304), one end of the second connecting rod (304) is fixedly connected to a rotating disk (305), a sliding groove (306) is provided inside the limiting sleeve (303), a sliding plate (307) is slidably connected inside the sliding groove (306), and one end of the sliding plate (307) is fixedly connected to Connected to the bottom of the transmission module (3), the outer side of the turntable (305) is fixedly connected with a connecting plate (4), and the connecting plates (4) are provided with two groups. The outer side of one group of connecting plates (4) is fixedly connected with a motor three (5), and the output shaft of the motor three (5) passes through the connecting plate (4) and is fixedly connected with a fixing rod (6), one end of the fixing rod (6) rotates inside the connecting plate (4), and the outer side of the fixing rod (6) is fixedly sleeved with a connecting block (7), and one end of the connecting block (7) is fixedly connected with a placement plate (8).

2. The workpiece type identification and sorting device based on line laser scanning according to claim 1 is characterized in that: The detection module (2) comprises a fixing frame (201), a linear laser transmitter body (202) and an industrial digital camera body (203) are connected to the top of the fixing frame (201), and a receiver body (204) is connected to the outside of the fixing frame (201).

3. The workpiece type identification and sorting device based on line laser scanning according to claim 1 is characterized in that: The transmission module (1) comprises a support frame (101), the outer side of the support frame (101) is fixedly connected to a motor 1 (102), the output shaft of the motor 1 (102) passes through the support frame (101) and is fixedly connected to a pulley 1 (103), one end of the support frame (101) is internally rotatably connected to a connecting rod 1 (104), one end of the connecting rod 1 (104) is fixedly connected to a pulley 2 (105), a belt body (106) is installed outside the pulley 1 (103) and the pulley 2 (105), one end of the belt body (106) is fixedly connected to a connecting shaft (107), two groups of the connecting shafts (107) are provided, and a conveyor belt body (108) is installed outside the two groups of connecting shafts (107).

4. The workpiece type identification and sorting device based on line laser scanning according to claim 1 is characterized in that: The collection module (9) comprises a collection box one (901), a collection box two (902) and a collection box three (903).

5. The workpiece type identification and sorting device based on line laser scanning according to claim 1 is characterized in that: The support frame (101) is provided with two groups, and the adjacent sides of the two groups of support frames (101) are fixedly connected to a fixing plate 1 (109), and the bottom of the fixing frame (201) is fixedly connected to the top of the fixing plate 1 (109).

6. The workpiece type identification and sorting device based on line laser scanning according to claim 1 is characterized in that: The front end of the support frame (101) is fixedly connected to a second fixing plate (110), and the second fixing plate (110) is provided with two groups, and one end of the two groups of the second fixing plates (110) is fixedly connected to the rear end of the bottom plate (301).

7. The workpiece type identification and sorting device based on line laser scanning according to claim 1 is characterized in that: The line laser transmitter body (202), the industrial digital camera body (203), the motor one (102), the motor two (302) and the motor three (5) are all electrically connected to the receiver body (204).

8. A workpiece type identification and sorting method based on line laser scanning, characterized in that: The method comprises the following steps: Step 1: placing the workpiece to be sorted at a suitable starting position on the conveyor belt body (108), and transporting it to the bottom of the fixed frame (201) through the conveyor belt body (108); Step 2: projecting a line laser stripe onto the surface of the workpiece through the line laser transmitter body (202), and scanning the surface of the object to be measured at a suitable speed. When the laser is irradiated onto the surface of the workpiece, the laser will be reflected due to the different shapes, heights and other features of the surface of the workpiece; Step 3: The industrial digital camera body (203) collects the line laser stripe image modulated due to the height change of the workpiece, and transmits it to the receiver body (204) after the collection is completed. The receiver body (204) processes and calculates the image collected by the industrial digital camera body (203), and compares it with the image already existing in the database, so as to determine the type of the workpiece; Step 4: Then the workpieces to be sorted after the inspection are transported, and the workpieces after the inspection fall into the inside of the placement plate (8), and the placement plate (8) drives the workpieces to the top of the appropriate collection module (9); Step 5: The placement plate (8) is adjusted to an inclination angle so that the workpieces fall into the collection module (9), thereby completing the workpiece sorting operation.

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