Material large and small surface overturning control system based on 2D visual identification and method thereof

Abstract

The invention discloses a material large and small surface overturning control system and method based on 2D visual identification, and relates to the technical field of metallurgical material transfer application, the system comprises a front chain plate line, a rear chain plate line, a waste lifting chain plate line, a 2D visual system, an overturning mechanism and an electrical control cabinet; the front chain plate line is responsible for conveying raw materials and providing a 2D visual identification position; the rear chain plate line is responsible for receiving the raw materials conveyed by the turnover mechanism; the waste lifting chain plate line is located under the turnover mechanism and is responsible for collecting the damaged raw materials subjected to visual recognition and conveying the damaged raw materials into a waste frame. According to the material large and small surface overturning control system based on 2D visual identification and the method thereof, antimony ingot raw materials are sorted through a chain plate line, and a set of 2D visual system is arranged at the front part of the overturning device, so that not only can the large and small surfaces of normal materials be identified, but also bad materials can be eliminated, the labor intensity of workers is greatly reduced, and the working efficiency is improved. And a key link is also opened for automatic stacking of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of metallurgical material transfer applications, and in particular to a material large and small surface flipping control system and method based on 2D visual recognition. Background Art

[0002] Antimony (Sb) is a chemical element whose metallic form has unique physical and chemical properties, which makes it widely used in many industrial fields. In the production process of antimony, the first step is to extract antimony from the ore, which usually involves a series of complex smelting processes, including ore crushing, grinding, flotation, refining and other steps, in order to separate antimony from the ore and obtain higher purity antimony metal or antimony compounds. Antimony ingot semi-finished products are produced at a certain stage of this smelting process, specifically referring to antimony metal materials that have undergone preliminary smelting or processing but have not yet reached the final product form.

[0003] Antimony ingot semi-finished products play an important role in the antimony production chain. They are not only the basis of the final product, but also provide the necessary raw materials for downstream deep processing. At the same time, since antimony ingot semi-finished products have certain flexibility in form and purity, they can be customized according to the specific needs of customers. In the metallurgical industry, the transportation of antimony ingot semi-finished products is a vital link, which is directly related to production efficiency, cost and safety. At present, for refineries in the metallurgical industry, the raw materials are generally placed manually on wooden pallets with the large surface facing up through manual identification, and the transportation is completed by stacking by manual forklifts. However, this method has the following two obvious disadvantages:

[0004] 1. The manual identification and manual clamping methods are very labor-intensive. 3,500 pieces of raw materials need to be manually processed in one factory every day.

[0005] 2. It cannot flow to the next process and can only be handled by manual forklift transportation.

[0006] Therefore, it is urgent to improve this shortcoming. The present invention studies and improves the existing technology and its shortcomings, and provides a material large and small surface flipping control system and method based on 2D visual recognition. Summary of the invention

[0007] The purpose of the present invention is to provide a material large and small surface flipping control system and method based on 2D visual recognition to solve the problems raised in the above background technology.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] In the first aspect, a material large and small face turning control system based on 2D visual recognition includes a front chain plate line, a rear chain plate line, a waste lifting chain plate line, a 2D visual system, a turning mechanism and an electrical control cabinet;

[0010] The front chain plate line is responsible for conveying raw materials and providing 2D visual recognition position;

[0011] The rear chain plate line is responsible for receiving the raw materials conveyed by the turning mechanism;

[0012] The scrap lifting chain plate line is located directly below the flipping mechanism and is responsible for collecting the damaged raw materials after visual identification and transporting them to the scrap frame;

[0013] The 2D vision system is installed on the front chain plate line, responsible for identifying the size and damaged materials of the raw materials, and transmitting the results to the PLC;

[0014] The electrical control cabinet is the control center of the system, including a PLC control system;

[0015] The turning mechanism is installed at the junction of the front chain plate line and the rear chain plate line, and is responsible for turning over the raw materials with the small surface facing upward, so that all the raw materials except the broken pieces have the large surfaces facing upward.

[0016] Furthermore, the turning mechanism includes a motorized roller, a lifting device, a pressing device, and a turning device;

[0017] The electric roller is responsible for providing power for conveying raw materials inside the turning mechanism;

[0018] The lifting device is responsible for providing the lifting and lowering functions of the flip mechanism;

[0019] The clamping device is responsible for preventing the raw material from slipping out of the flipping mechanism when flipping. The clamping device presses down to hold the raw material before flipping, and releases after flipping is completed.

[0020] The flipping device is responsible for visually identifying the raw materials that need to be flipped, and after the raw materials are delivered to the right place, flipping them to keep the larger surface of the delivered raw materials facing upwards.

[0021] Furthermore, the original position of the lifting device is at the upper part so that the damaged raw materials can be thrown away, and the lifting device is lowered only when the complete raw materials that need to flow to the end of the chain plate line are visually identified.

[0022] In a second aspect, a material size flipping control method based on 2D visual recognition is applied to the material size flipping control system based on 2D visual recognition as described above, comprising the following steps:

[0023] S1. When the system runs automatically, the raw materials are transported into the 2D visual recognition section via the front chain line and the camera is triggered;

[0024] S2, 2D vision system distinguishes the size of the raw material according to the photo results. There are three types of distinction results: large face up, small face up, and broken piece;

[0025] S3, 2D vision system transmits the identification result to PLC in digital form. PLC performs corresponding processing on the raw materials at the end of the photographing section after logical identification, as follows:

[0026] For result 1, i.e., the raw material is judged to be facing upward with the large surface, the raw material is not flipped and directly passes through the flipping mechanism;

[0027] For result 2, i.e., the judgment result that the raw material is facing upward, the flipping is performed;

[0028] For result 3, that is, the judgment result that the raw material is a damaged block, discard is executed.

[0029] Furthermore, in step S3, the flipping mechanism transports the result 1 and result 2 raw materials to the rear chain plate line, and the rear chain plate line transports the raw materials to the end of the chain plate line, and the flipping mechanism discards the result 3 raw materials, and the discarded raw materials fall to the waste lifting chain plate machine at the bottom, and the waste is transported to the waste frame.

[0030] Furthermore, in step S3, the specific operation performed by the flipping mechanism on the result 1 raw material is as follows: the lifting device controls the flipping mechanism to descend, and then the electric roller runs to provide power for conveying the raw materials and control the entry and output of the raw materials. Finally, the flipping mechanism rises and returns to its original position under the control of the lifting device.

[0031] Furthermore, in step S3, the specific operation process performed by the flipping mechanism on the result 2 raw material is as follows:

[0032] The lifting device controls the turning mechanism to descend, the electric roller runs, and the raw materials enter the turning mechanism;

[0033] The pressing device presses down the raw material, and after the raw material is pressed, the flipping device rotates 180 degrees, and the large surface of the raw material faces upward;

[0034] Release the clamping device, the electric roller runs, the raw materials come out, and the raw materials flow into the next chain plate line;

[0035] The flipping mechanism rises and returns to its original position under the control of the lifting device.

[0036] Furthermore, in step S3, the specific operation performed by the flipping mechanism on the raw material of result 3 is as follows: the flipping mechanism does not move, and the raw material is directly thrown from the bottom of the flipping mechanism to the bottom waste lifting chain plate line for collecting damaged materials.

[0037] The present invention provides a material large and small face flipping control system and method based on 2D visual recognition, which has the following beneficial effects:

[0038] The present invention sorts the antimony ingot raw materials through the chain plate line, uses the narrow chain plate to limit the distribution of the raw materials one by one on the chain plate, and sets a 2D visual system in front of the flipping device, uses 2D vision to identify the size of the raw materials, sends the obtained information to the PLC for logical judgment, and controls the flipping mechanism to transport all the raw materials to the end of the chain plate with the large surface facing up, so that the robot can automatically grab and stack them. This design can not only identify the size of the normal material through 2D visual recognition, but also eliminate bad materials, greatly reducing the labor intensity of workers, and also opening up a key link for the robot's automatic stacking.

[0039] At the same time, the flexible flipping device adopts the rapid movement of the cylinder and the electric roller to realize the material in and out, and a stopper is made in the front section of the flipped material. There is no risk of material falling during the flipping process, ensuring that the material flows intact and smoothly into the next process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A logic schematic diagram of a material large and small face flipping control system and method based on 2D visual recognition according to the present invention;

[0041] Figure 2 The present invention is a schematic flow chart of the steps of a material large and small surface flipping control method based on 2D visual recognition. DETAILED DESCRIPTION

[0042] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0043] like Figure 1-Figure 2 As shown, a material large and small face turning control system based on 2D visual recognition includes a front chain plate line, a rear chain plate line, a waste lifting chain plate line, a 2D visual system, a turning mechanism and an electrical control cabinet;

[0044] Front chain plate line: responsible for conveying raw materials and providing 2D visual identification position;

[0045] Rear chain plate line: responsible for receiving the raw materials conveyed by the flipping mechanism;

[0046] Scrap lifting chain plate line: located directly below the flipping mechanism, it is responsible for collecting the damaged raw materials after visual identification and transporting them to the scrap frame;

[0047] 2D vision system: installed on the front chain plate line, responsible for identifying the size and damaged materials of the raw materials, and transmitting the results to the PLC;

[0048] Electrical control cabinet: including PLC control system;

[0049] Turnover mechanism: Installed at the junction of the front chain plate line and the rear chain plate line, it is responsible for turning over the raw materials with the small surface facing upward, so that all raw materials except the damaged pieces have the large surface facing upward. The turning mechanism includes the following components:

[0050] Electric roller: responsible for providing power for material transportation inside the turning mechanism;

[0051] Lifting device: responsible for providing the lifting and lowering functions of the flipping mechanism; in this embodiment, the original position of the lifting device is at the top so that the damaged raw materials can be thrown away, and the lifting device will only be lowered when the complete raw materials that need to flow to the end of the chain plate line are visually identified;

[0052] Clamping device: responsible for preventing the raw material from slipping out of the flipping mechanism when flipping. The clamping device presses down to hold the raw material before flipping, and releases after flipping is completed;

[0053] Flipping device: responsible for visually identifying the raw materials that need to be flipped, and flipping them after the raw materials are delivered to the place, keeping the large surface of the delivered raw materials facing upwards.

[0054] A material size flip control method based on 2D visual recognition is applied to the material size flip control system based on 2D visual recognition as described above, comprising the following steps:

[0055] S1. When the system runs automatically, the raw materials are transported into the 2D visual recognition section via the front chain line and the camera is triggered;

[0056] S2, 2D vision system distinguishes the size of the raw materials according to the photo results. There are three types of judgment results: large surface facing up, small surface facing up, and broken pieces;

[0057] S3, 2D vision system transmits the identification result to PLC in digital form. PLC performs corresponding processing on the raw materials at the end of the photographing section after logical identification, as follows:

[0058] For result 1, that is, the raw material is judged to be facing upward with the large surface, it is executed without flipping, and directly passes through the flipping mechanism. The specific operation is: the lifting device controls the flipping mechanism to descend, and then the electric roller runs to provide raw material conveying power and control the raw material entry and output. Finally, the flipping mechanism rises and returns to its original position under the control of the lifting device;

[0059] For result 2, that is, the judgment result that the raw material is small-side up, perform flipping. The specific operation process is as follows:

[0060] The lifting device controls the turning mechanism to descend, the electric roller runs, and the raw materials enter the turning mechanism;

[0061] The pressing device presses down the raw material, and after the raw material is pressed, the flipping device rotates 180 degrees, and the large surface of the raw material faces upward;

[0062] Release the clamping device, the electric roller runs, the raw materials come out, and the raw materials flow into the next chain plate line;

[0063] The flipping mechanism rises and returns to its original position under the control of the lifting device;

[0064] For result 3, that is, the raw material is judged to be a damaged piece, the material is discarded. The specific operation is: the flip mechanism does not move, and the raw material is directly thrown from the bottom of the flip mechanism to the bottom waste lifting chain plate line for damaged material collection;

[0065] The flipping mechanism transports the result 1 and result 2 raw materials to the rear chain plate line, and the rear chain plate line transports the raw materials to the end of the chain plate line, and the flipping mechanism discards the result 3 raw materials, and the discarded raw materials fall to the waste lifting chain plate machine at the bottom, and the waste is transported to the waste frame.

[0066] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A material large and small face flipping control system based on 2D visual recognition, characterized in that: Including front chain plate line, rear chain plate line, scrap lifting chain plate line, 2D vision system, turning mechanism and electrical control cabinet; The front chain plate line is responsible for conveying raw materials and providing 2D visual recognition position; The rear chain plate line is responsible for receiving the raw materials conveyed by the turning mechanism; The scrap lifting chain plate line is located directly below the flipping mechanism and is responsible for collecting the damaged raw materials after visual identification and transporting them to the scrap frame; The 2D vision system is installed on the front chain plate line, responsible for identifying the size and damaged materials of the raw materials, and transmitting the results to the PLC; The electrical control cabinet is the control center of the system, including a PLC control system; The turning mechanism is installed at the junction of the front chain plate line and the rear chain plate line, and is responsible for turning over the raw materials with the small surface facing upward, so that all the raw materials except the broken pieces have the large surfaces facing upward.

2. According to the 2D visual recognition-based material large and small face flipping control system of claim 1, it is characterized in that: The turning mechanism includes a motorized roller, a lifting device, a pressing device, and a turning device; The electric roller is responsible for providing power for conveying raw materials inside the turning mechanism; The lifting device is responsible for providing the lifting and lowering functions of the flip mechanism; The clamping device is responsible for preventing the raw material from slipping out of the flipping mechanism when flipping. The clamping device presses down to hold the raw material before flipping, and releases after flipping is completed. The flipping device is responsible for visually identifying the raw materials that need to be flipped, and after the raw materials are delivered to the right place, flipping them to keep the larger surface of the delivered raw materials facing upwards.

3. According to the material large and small surface flipping control system based on 2D visual recognition according to claim 2, it is characterized in that: The original position of the lifting device is at the top so that the damaged raw materials can be thrown away. The lifting device will only be lowered when the complete raw materials that need to flow to the end of the chain plate line are visually identified.

4. A material large and small face flipping control method based on 2D visual recognition, applied to the material large and small face flipping control system based on 2D visual recognition as claimed in any one of claims 1 to 3, characterized in that: The following steps are involved: S1. When the system runs automatically, the raw materials are transported into the 2D visual recognition section via the front chain line and the camera is triggered; S2, 2D vision system distinguishes the size of the raw materials according to the photo results. There are three types of distinction results: large face up, small face up, and broken piece; S3, 2D vision system transmits the identification result to PLC in digital form. PLC performs corresponding processing on the raw materials at the end of the photographing section after logical identification, as follows: For result 1, i.e., the raw material is judged to be facing upward with the large surface, the raw material is not flipped and directly passes through the flipping mechanism; For result 2, i.e., the judgment result that the raw material is facing upward, the flipping is performed; For result 3, that is, the judgment result that the raw material is a damaged block, discard is executed.

5. The material large and small face flipping control method based on 2D visual recognition according to claim 4 is characterized in that: In step S3, the flipping mechanism transports the result 1 and result 2 raw materials to the rear chain plate line, and the rear chain plate line transports the raw materials to the end of the chain plate line, and the flipping mechanism discards the result 3 raw materials, and the discarded raw materials fall to the waste lifting chain plate machine at the bottom, and the waste is transported to the waste frame.

6. The material large and small face flipping control method based on 2D visual recognition according to claim 5 is characterized in that: In step S3, the specific operation performed by the flipping mechanism on the result 1 raw material is as follows: the lifting device controls the flipping mechanism to descend, and then the electric roller runs to provide power for the raw material transportation and control the entry and output of the raw material. Finally, the flipping mechanism rises and returns to its original position under the control of the lifting device.

7. The material large and small face flipping control method based on 2D visual recognition according to claim 5 is characterized in that: In step S3, the specific operation process performed by the flipping mechanism on the result 2 raw material is as follows: The lifting device controls the turning mechanism to descend, the electric roller runs, and the raw materials enter the turning mechanism; The pressing device presses down the raw material, and after the raw material is pressed, the flipping device rotates 180 degrees, and the large surface of the raw material faces upward; Release the clamping device, the electric roller runs, the raw materials come out, and the raw materials flow into the next chain plate line; The flipping mechanism rises and returns to its original position under the control of the lifting device.

8. The material large and small face flipping control method based on 2D visual recognition according to claim 5 is characterized in that: In step S3, the specific operation performed by the flipping mechanism on the result 3 raw material is as follows: the flipping mechanism does not move, and the raw material is directly thrown from the bottom of the flipping mechanism to the bottom waste lifting chain plate line for collecting damaged materials.

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