A method of calibrating a picker nozzle, a device and a picker transfer assembly

Abstract

This invention discloses a method, apparatus, and conveying assembly for calibrating a sorting machine nozzle, relating to the field of sorting machine technology. The calibration method includes: acquiring a detection image captured by a vision system, wherein the vision system is located below the nozzle; comparing the difference between specific parameters of the detection image and corresponding preset benchmarks; and determining whether the nozzle meets preset assembly standards based on the comparison results. Specifically, if at least one specific parameter differs from the corresponding preset benchmark, the nozzle does not meet the preset assembly standards; otherwise, the nozzle meets the preset assembly standards. In this method, by using the detection image of the nozzle captured by the vision system and performing data analysis, the spatial position or angle of the nozzle can be accurately and conveniently determined to ensure it conforms to the preset assembly standards, improving the accuracy of nozzle position or angle determination and providing an accurate reference for subsequent adjustment of the nozzle's spatial position or angle.

Description

Technical Field

[0001] This invention relates to the field of sorting machine technology, and in particular to a sorting machine nozzle calibration method, apparatus, and sorting machine conveying assembly. Background Technology

[0002] In an existing chip sorting machine, chips and other workpieces are picked up from the loading station by a suction nozzle on the sorting machine. The accuracy of the installation of the suction nozzle on the sorting machine will affect the position or area of ​​its adsorption on the workpiece, thus affecting the stability of the adsorption on the workpiece.

[0003] However, the current operation of adjusting the assembly position of the suction nozzle on the sorting machine usually relies on manual identification, and then the position or angle of the suction nozzle is adjusted. This is greatly affected by the differences in the skills and experience of the technicians, making it difficult to guarantee the accuracy of the judgment of the position or angle of the suction nozzle, and reducing the efficiency and accuracy of the adjustment.

[0004] Therefore, improving the accuracy of judging the position or angle of the suction nozzle is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method, apparatus and conveying component for calibrating a sorting machine nozzle, which can improve the accuracy of judging the position or angle of the nozzle.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A method for calibrating a sorting machine nozzle includes: acquiring a detection image captured by a vision system, wherein the vision system is located below the nozzle; comparing the difference between a specific parameter of the detection image and a corresponding preset benchmark; and determining whether the nozzle meets a preset assembly standard based on the comparison result, wherein when at least one of the specific parameters differs from the corresponding preset benchmark, the nozzle does not meet the preset assembly standard; otherwise, the nozzle meets the preset assembly standard.

[0008] Preferably, the detection image includes a nozzle shape image, which is a two-dimensional image obtained by parallel projection of the nozzle along the height direction; specific parameters of the nozzle shape image include the position and / or angle of the nozzle shape image.

[0009] Preferably, in the comparison results, if the position and / or angle of the nozzle shape image differs from the corresponding preset benchmark: adjust the position of the nozzle in the direction perpendicular to the height direction and / or the angle around an axis in the height direction until the position and / or angle of the nozzle shape image is consistent with the corresponding preset benchmark.

[0010] Preferably, comparing the differences between specific parameters of the detected image and the corresponding preset benchmark, comparing the differences between the position of the nozzle shape image and the corresponding preset benchmark includes comparing the differences between the center position of the nozzle shape image and the center position of the preset benchmark.

[0011] Preferably, the vision system includes a 3D camera capable of detecting the height of the nozzle; the detected image includes a nozzle height image, and a specific parameter of the nozzle height image includes the height of the nozzle height image in a preset direction.

[0012] Preferably, in the comparison results, if the height of the nozzle height image in the preset direction differs from the preset working height: the height deviation between the nozzle and the preset working height is determined based on the nozzle height image.

[0013] Preferably, the suction nozzle is connected to the lifting drive mechanism. After determining the height deviation between the suction nozzle and the preset working height, the method further includes: updating the actual downward stroke of the suction nozzle along the height direction during the suction operation. The actual downward stroke includes a reference downward stroke plus the height deviation. The reference downward stroke is the distance the suction nozzle travels from the preset working height to the preset material handling height. In the suction nozzle height image, when the suction nozzle is below the preset working height, the height deviation is negative; otherwise, it is positive.

[0014] A sorting machine nozzle calibration device includes: a receiving module for acquiring a detection image captured by a vision system, wherein the vision system is located below the nozzle; a comparison module for comparing the difference between a specific parameter of the detection image and a corresponding preset benchmark; and an analysis module for determining whether the nozzle meets a preset assembly standard based on the comparison result, wherein when at least one of the specific parameters differs from the corresponding preset benchmark, the nozzle does not meet the preset assembly standard; otherwise, the nozzle meets the preset assembly standard.

[0015] A sorting machine conveying assembly applies the above-mentioned sorting machine nozzle calibration method; the sorting machine conveying assembly includes a turntable, and a plurality of the nozzles are sequentially connected to the turntable around the axis of the turntable.

[0016] Preferably, each of the suction nozzles is connected to the turntable via a corresponding lifting drive mechanism.

[0017] The present invention provides a method for calibrating a sorting machine nozzle, comprising: acquiring a detection image captured by a vision system, wherein the vision system is located below the nozzle; comparing the difference between a specific parameter of the detection image and a corresponding preset benchmark; and determining whether the nozzle meets a preset assembly standard based on the comparison result, wherein when at least one specific parameter differs from the corresponding preset benchmark, the nozzle does not meet the preset assembly standard; otherwise, the nozzle meets the preset assembly standard.

[0018] This method utilizes images of the suction nozzle captured by a vision system for data analysis. This allows for accurate and convenient determination of whether the nozzle's spatial position or angle conforms to preset assembly standards, improving the accuracy of nozzle position or angle assessment and providing a precise reference for subsequent nozzle position or angle adjustments. Furthermore, since the nozzle picks up and places workpieces from below, the vision system captures images directly from below the nozzle. This eliminates the need for structural adjustments to the sorting machine; simply adding a vision system suffices for implementation, making it easy to operate and widely applicable to existing sorting machines. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of a specific embodiment of the sorting machine conveying component provided by the present invention. A is the working surface where the bottom of the suction nozzle is located in the initial state, B is the detection surface of the vision system, and h is the height difference between the bottom of the suction nozzle and the detection surface.

[0021] Figure 2 This is a schematic diagram illustrating the positional relationship between the nozzle and the vision system in a specific embodiment of the sorting machine nozzle calibration method provided by the present invention.

[0022] Figure 3 This is a view of the nozzle conforming to the preset assembly standard in a specific embodiment of the sorting machine nozzle calibration method provided by the present invention. H is the height difference between the bottom of the nozzle and the detection surface when the bottom of the nozzle is at the preset working height.

[0023] Figure 4 This is a view of the nozzle outline image in a specific embodiment of the sorting machine nozzle calibration method provided by the present invention when the center position of the nozzle outline image differs from the preset reference center position.

[0024] Figure 5 This is a view of the nozzle outline image in a specific embodiment of the sorting machine nozzle calibration method provided by the present invention when the angle of the nozzle outline image differs from the corresponding preset benchmark.

[0025] Figure 6 This is a view of the nozzle height image in a preset direction when the height of the nozzle in a preset direction differs from the preset working height in a specific embodiment of the nozzle calibration method for the sorting machine provided by the present invention. h is the height difference between the bottom of the nozzle and the detection surface.

[0026] Figure 7 The following is an assembly diagram of the suction nozzle connected to the lifting drive mechanism in a specific embodiment of the sorting machine suction nozzle calibration method provided by the present invention. The suction nozzle on the left is deviated from the preset working height in the initial state, while the suction nozzle on the right is at the preset working height in the initial state.

[0027] Figure 8 This is a flowchart of a specific embodiment of the sorting machine nozzle calibration method provided by the present invention.

[0028] Figure label:

[0029] Turntable 1, suction nozzle 2, suction nozzle opening 21, vision system 3, lifting drive mechanism 4;

[0030] Working surface A, inspection surface B. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] The core of this invention is to provide a method, device, and conveying component for calibrating the nozzle of a sorting machine, which can improve the accuracy of judging the position or angle of the nozzle.

[0033] For a specific embodiment of the sorting machine nozzle calibration method provided by this invention, please refer to the following: Figures 1 to 8 This includes the following steps:

[0034] S1: Acquire the detection image Q captured by vision system 3.

[0035] The suction nozzle 2 is used to pick up the workpiece below it. The suction nozzle 2 is usually located below the turntable 1 in the sorting machine. The turntable 1 rotates around its axis in the height direction, and multiple suction nozzles 2 are sequentially installed on the turntable 1 around this axis. The turntable 1 is specifically a flange.

[0036] The vision system 3 specifically includes a 3-dimensional camera, which is capable of detecting the height of the nozzle 2, as well as the position of the nozzle 2 in the direction perpendicular to the height direction and the angle around an axis extending along the height direction. It has strong detection capabilities and can acquire all the necessary information at once through a single device.

[0037] Among them, such as Figure 2 As shown, during detection, the vision system 3 is positioned below the suction nozzle 2, and each suction nozzle 2 can move sequentially above the vision system 3 to take pictures. At this time, the position of the vision system 3 is fixed, so the coordinate position of the vision system 3 relative to the movable suction nozzle 2 can be regarded as a non-variable, and thus can be used as a detection reference. The turntable 1 drives each suction nozzle 2 to move sequentially above the vision system 3 for detection.

[0038] S2: Compare the difference between a specific parameter of the detected image Q and the corresponding preset benchmark.

[0039] Before S2, specific parameters of the nozzle 2 are calibrated to set preset references corresponding to each specific parameter.

[0040] It should be noted that the preset reference corresponds to each specific parameter. For example, if the specific parameter is a height value, the corresponding preset reference is a selected height value; if the specific parameter is a position or position coordinate, the corresponding preset reference is a selected position or position coordinate; if the specific parameter is an angle, the corresponding preset reference is a selected angle.

[0041] S3: Based on the comparison results, determine whether nozzle 2 meets the preset assembly standards.

[0042] Specifically, when at least one specific parameter differs from the corresponding preset benchmark, the nozzle 2 does not meet the preset assembly standard; otherwise (i.e., all specific parameters are consistent with the corresponding preset benchmarks respectively), the nozzle 2 meets the preset assembly standard.

[0043] Specifically, by comparing the specific parameters measured by the vision system 3 for each nozzle 2 with the corresponding preset benchmark, the spatial position or angular difference of each nozzle 2 can be determined, thereby determining whether the assembly position or angular related parameters of the nozzle 2 are within the allowable range. If they are within the corresponding allowable range, the specific parameters of the nozzle 2 can be considered to be consistent with the corresponding preset benchmark; otherwise, they are considered to be different.

[0044] After determining whether nozzle 2 meets the preset assembly standards, alarms and comparison results can be displayed to facilitate the acquisition of judgment results by staff. Furthermore, since there are multiple nozzles 2, subsequent alarm and comparison result displays can be performed uniformly after all nozzles 2 have been determined to meet the preset assembly standards.

[0045] In this embodiment, data analysis of the detection image Q of the suction nozzle 2 captured by the vision system 3 can accurately and conveniently determine whether the spatial position or angle of the suction nozzle 2 meets the preset assembly standards, improving the accuracy of the suction nozzle position or angle judgment and providing an accurate reference for subsequent adjustment of the spatial position or angle of the suction nozzle 2. Furthermore, since the suction nozzle 2 picks up and places workpieces from below, the vision system 3 directly captures images from below the suction nozzle 2, eliminating the need for structural adjustments to the sorting machine. This method can be implemented simply by adding the vision system 3, simplifying operation.

[0046] Furthermore, such as Figures 3 to 6 As shown, where, Figure 3 The detection image Q is defined as the image where all specific parameters are consistent with the corresponding preset benchmarks. Figures 4 to 6 The detection images Q are respectively the detection images when a specific parameter is inconsistent with the corresponding preset benchmark. The detection image Q includes the nozzle shape image Q1 and the nozzle height image Q2, and in other embodiments, only one of them may be included.

[0047] For the nozzle shape image Q1, such as Figure 3 As shown, it includes a two-dimensional image obtained by parallel projection of the suction nozzle 2 along the height direction, which is equivalent to a bottom view of the suction nozzle 2. Based on the suction nozzle shape image Q1, its specific parameters include the position and angle of the suction nozzle shape image Q1, specifically referring to the position and angle of the suction nozzle shape image Q1 in a preset coordinate system, which is a planar coordinate system. Of course, in other embodiments, the specific parameters may only include one of the position and angle of the suction nozzle shape image Q1.

[0048] To facilitate comparison of the position of the nozzle outline image Q1 with the corresponding preset reference, specifically, the difference between the center position of the nozzle outline image Q1 and the center position of the preset reference can be compared. For example... Figure 3 and Figure 4 As shown, the center line of the nozzle 2 in the height direction is usually the center line of the circular nozzle opening at the bottom of the nozzle 2. The center position of the nozzle opening in the nozzle shape image Q1 can be regarded as the center position of the nozzle shape image Q1. When the center position is consistent with the preset reference center position in the preset coordinate system, the position of the nozzle shape image Q1 is consistent with the corresponding preset reference; otherwise, there is a difference.

[0049] To facilitate determining the preset reference center position, at least a portion of the preset coordinate system can be located on a preset viewing area, which can be the space defined by a view of the vision system. The preset viewing area can be a rectangular region with its center point as the preset reference center position. Additionally, the 0 point of the preset coordinate system can also be located at this preset reference center.

[0050] Of course, in other embodiments, it is also possible to determine whether the position of the nozzle shape image Q1 is consistent with the corresponding preset reference by directly judging whether the preset reference points corresponding to multiple points on the edge image of the nozzle opening in the nozzle shape image Q1 are consistent.

[0051] To compare the angle of the nozzle outline image Q1 with the corresponding preset reference, the image of the non-circular structure on the nozzle 2 corresponding to the nozzle outline image Q1 can be compared with the preset reference image. For example... Figure 3 and Figure 5 As shown, the nozzle 2 has a rectangular outer shell, and a rectangular image is displayed in the nozzle outline image Q1. By comparing the rectangular image with a preset reference image, if the angles of the two images are inconsistent, then the angle of the nozzle outline image Q1 is consistent with the corresponding preset reference; otherwise, they are consistent. It should be noted that determining whether the nozzle 2 has experienced an angular shift is particularly applicable to square nozzles.

[0052] For the nozzle height image Q2, it can display the height of the nozzle 2 relative to the vision system, specifically the height of a specific point on the nozzle 2 relative to the vision system (more specifically, the detection surface B of the vision system). Accordingly, specific parameters of the nozzle height image Q2 include the height of the nozzle height image Q2 in a preset direction, which corresponds to the height of the aforementioned specific point relative to the detection surface B.

[0053] like Figure 3 and Figure 6 As shown, a preset viewport area exists within the preset coordinate system. Within this preset viewport area, the nozzle shape image Q1 is located inside, and the nozzle height image Q2 is located outside. The nozzle height image Q2 specifically displays the distance between the bottom of the nozzle and the vision system, such as... Figure 1 and Figure 6 As shown, the outer edge of the preset viewing window area corresponds to the detection surface B of the vision system located directly below the nozzle 2 in the height direction, and the end of the nozzle height image Q2 that is far from the outer edge of the preset viewing window area corresponds to the bottom of the nozzle. Figure 1 The nozzle height image Q2 shows the image when nozzle 2 is at the preset working height. Figure 6 The nozzle height image Q2 is the image when nozzle 2 deviates from the preset working height.

[0054] Furthermore, in addition to the detection steps S1-S3, the calibration method may also include an adjustment step. Specifically, in the comparison results, if the position and / or angle of the nozzle shape image Q1 differs from the corresponding preset benchmark, then:

[0055] S4: Adjust the position of the nozzle 2 in the direction perpendicular to the height direction and / or the angle around an axis in the height direction until the position and / or angle of the nozzle outline image Q1 are consistent with the corresponding preset reference.

[0056] In this embodiment, due to space constraints, the suction nozzle 2 is usually connected to the turntable by screws or by intermediate screws, and the position and angle of the suction nozzle 2 can be adjusted manually.

[0057] Additionally, in S4, since nozzle 2 is manually adjusted, the accuracy of the adjustment may be difficult to guarantee, necessitating the detection of the adjustment results. Therefore, S4 specifically includes:

[0058] S41: Based on the deviation between the position and / or angle of the nozzle shape image Q1 and the corresponding preset reference, adjust the position of the nozzle 2 in the direction perpendicular to the height direction and / or the angle around an axis in the height direction, and enter S1 again until the position and / or angle of the nozzle shape image Q1 in the comparison result is consistent with the corresponding preset reference.

[0059] Of course, in other embodiments, the suction nozzle 2 can also be connected to the turntable through the first drive component. The first drive component can drive the suction nozzle 2 to adjust its position in the direction perpendicular to the height direction and / or its angle around an axis in the height direction. It has a high degree of automation and can achieve adjustment in one step.

[0060] Additionally, regarding the height of nozzle 2, in the comparison results, if the height of nozzle height image Q2 in the preset direction differs from the preset working height:

[0061] S5: Determine the height deviation between nozzle 2 and the preset working height based on the nozzle height image Q2.

[0062] In the nozzle height image Q2, when the nozzle 2 is below the preset working height, the corresponding determined height deviation is negative; otherwise, it is positive.

[0063] In this embodiment, the suction nozzle 2 is connected to the lifting drive mechanism 4, which controls the up-and-down movement of the suction nozzle 2 during material handling. The lifting drive mechanism 4 may include a servo motor and a transmission rod connected between the servo motor and the suction nozzle 2. In other embodiments, it may also be a hydraulic cylinder or a pneumatic cylinder.

[0064] When nozzle 2 is working, it descends from its initial height or flight height to the preset pick-and-place height each time to pick up or place workpieces such as chips. In the nozzle height image Q2, nozzle 2 is at its initial height. When the initial height is the preset working height, the downward travel of the reference stroke reaches the preset pick-and-place height. If there is a deviation in the initial height, the initial height does not need to be adjusted; instead, the actual downward travel is adjusted and updated.

[0065] Specifically, after determining the height deviation between nozzle 2 and the preset working height, then:

[0066] S6: Update the actual downward travel of nozzle 2 along the height direction during suction operation. The actual downward travel includes the baseline downward travel plus the height deviation. Specifically, when nozzle 2 is initially located below the preset working height, the corresponding determined height deviation is a negative value; otherwise, it is a positive value.

[0067] At this time, the downward stroke of the suction nozzle 2 is compensated by the obtained height deviation, so that the actual downward stroke corresponding to each downward stroke from the initial height during the operation of the suction nozzle 2 can reach the preset material pick-up and drop height.

[0068] In addition, during S4, the relative position of the nozzle 2 and the lifting drive mechanism 4 or the relative position of the lifting drive mechanism 4 and the turntable can be adjusted.

[0069] Of course, in other embodiments, after determining the height deviation, instead of performing downward compensation, an adjustment step can be performed, that is, adjusting the height of the nozzle 2 until the height of the nozzle height image Q2 in the preset direction is consistent with the preset reference height.

[0070] In addition to the above-mentioned method for calibrating the nozzle of a sorting machine, the present invention also provides a device for calibrating the nozzle of a sorting machine. This device applies the above-mentioned method for calibrating the nozzle of a sorting machine, and the beneficial effects can be referred to the above embodiments accordingly.

[0071] The nozzle calibration device for the sorting machine specifically includes:

[0072] A receiving module is used to acquire the detection image Q captured by the vision system 3, wherein the vision system 3 is located below the suction nozzle 2;

[0073] The comparison module is used to compare the differences between specific parameters of the detected image Q and the corresponding preset benchmark;

[0074] The analysis module is used to determine whether the nozzle 2 meets the preset assembly standard based on the comparison results. When at least one of the specific parameters differs from the corresponding preset benchmark, the nozzle 2 does not meet the preset assembly standard; otherwise, the nozzle 2 meets the preset assembly standard.

[0075] The sorting machine nozzle calibration device can be integrated into the vision system 3. By adding an inspection function to the vision system 3, it can integrate the ability to check the parameters of all nozzles 2 with one click, and can output the test results of different parameters at the same time, thereby improving the detection accuracy, increasing the convenience of detection, improving the detection efficiency, and improving the automation capability of the sorting machine.

[0076] In addition to the above-mentioned method and apparatus for calibrating the nozzle of a sorting machine, the present invention also provides a sorting machine conveying component. This sorting machine conveying component applies the above-mentioned method or apparatus for calibrating the nozzle of a sorting machine, and the beneficial effects can be referred to the above embodiments accordingly.

[0077] Specifically, the sorting machine conveying component may include a controller. The controller implements the above-mentioned sorting machine nozzle calibration method and device. It can automatically detect the flight height, angle and center position of the nozzle 2 with one click through the software built into the controller, thereby increasing the convenience of detection and improving the detection efficiency.

[0078] The sorting machine conveying assembly includes a turntable 1, with multiple suction nozzles 2 sequentially connected to the turntable 1 around its axis. Up to 30 suction nozzles 2 can be used. The turntable 1 rotates around its axis, causing the suction nozzles 2 to move circumferentially and sequentially above the vision system 3.

[0079] Each nozzle 2 is connected to the turntable 1 via a corresponding lifting drive mechanism 4 to adjust the height of the nozzle 2.

[0080] The specific steps for applying the above calibration method to the conveyor assembly of the sorting machine include:

[0081] Calibrate the standard flight altitude, angle, and center position of nozzle 2;

[0082] One-click start of the detection function to enter the detection process;

[0083] The vision system 3 automatically detects the current height, angle, and center position of each nozzle 2;

[0084] The sorting machine records the differences between the height, angle, and center position of each nozzle 2 and the corresponding reference value;

[0085] The sorting machine software pops up an alarm indicating an abnormal suction nozzle;

[0086] Use a tool to correct the angle and center position of the abnormal suction nozzle 2;

[0087] Repeat the automatic detection process until the angle and center position of nozzle 2 meet the corresponding reference values, thus completing the calibration of the angle and center position of nozzle 2;

[0088] The sorting machine software automatically adjusts the actual downward stroke of each nozzle 2 during operation based on the height difference between the actual height of the nozzle 2 and the corresponding reference value, so that different nozzles 2 have an automatic compensation adjustment function within the allowable range of stroke in the height direction.

[0089] It should be noted that when an element is referred to as "fixing" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as "connecting" another element, it can be directly connected to the other element or there may be an intervening element. Furthermore, in the description of this invention, unless otherwise stated, "multiple," "multiple roots," and "multiple groups" mean two or more.

[0090] The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0091] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0092] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0093] The above provides a detailed description of the sorting machine nozzle calibration method, apparatus, and sorting machine conveying assembly provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A method of calibrating a sorter nozzle, the method comprising: include: Acquire a detection image (Q) captured by a vision system (3), wherein the vision system (3) is located below the nozzle (2), the vision system (3) includes a three-dimensional camera to detect the height of the nozzle (2), the detection image (Q) includes a nozzle shape image (Q1), the nozzle shape image (Q1) includes a two-dimensional image obtained by parallel projection of the nozzle (2) along the height direction, the detection image (Q) includes a nozzle height image (Q2), the nozzle shape image (Q1) is located inside a preset window area, the nozzle height image (Q2) is located outside the preset window area, the outer edge of the preset window area corresponds to the detection surface of the vision system located directly below the nozzle (2) in the height direction, and the end of the nozzle height image (Q2) away from the outer edge of the preset window area corresponds to the bottom end of the nozzle; The difference between specific parameters of the detection image (Q) and the corresponding preset benchmark is compared. The specific parameters of the nozzle shape image (Q1) include the position and / or angle of the nozzle shape image (Q1), and the specific parameters of the nozzle height image (Q2) include the height of the nozzle height image (Q2) in a preset direction. Based on the comparison results, it is determined whether the suction nozzle (2) meets the preset assembly standard. When at least one of the specific parameters differs from the corresponding preset benchmark, the suction nozzle (2) does not meet the preset assembly standard; otherwise, the suction nozzle (2) meets the preset assembly standard.

2. The sorter nozzle calibration method of claim 1, wherein, In the comparison results, if the position and / or angle of the nozzle shape image (Q1) differs from the corresponding preset benchmark: Adjust the position of the nozzle (2) in the direction perpendicular to the height direction and / or the angle around an axis in the height direction until the position and / or angle of the nozzle outline image (Q1) are consistent with the corresponding preset reference.

3. The method for calibrating the nozzle of a sorting machine according to claim 1, characterized in that, The comparison of the differences between specific parameters of the detection image (Q) and the corresponding preset benchmark, including the comparison of the differences between the position of the nozzle shape image (Q1) and the corresponding preset benchmark, includes: Compare the center position of the nozzle shape image (Q1) with the center position of the preset reference.

4. The sorter nozzle calibration method of any of claims 1-3, wherein, In the comparison results, if the height of the nozzle height image (Q2) in the preset direction differs from the preset working height: Based on the nozzle height image (Q2), determine the height deviation between the nozzle (2) and the preset working height.

5. The sorter nozzle calibration method of claim 4, wherein, The suction nozzle (2) is connected to the lifting drive mechanism (4). After determining the height deviation between the suction nozzle (2) and the preset working height, the method further includes: Update the actual downward stroke of the nozzle (2) in the height direction during suction operation, the actual downward stroke including the reference downward stroke + height deviation; Wherein, the reference downward stroke is the distance from which the suction nozzle (2) descends from the preset working height to the preset material pick-up and drop-off height; In the nozzle height image (Q2), when the nozzle (2) is below the preset working height, the height deviation is negative; otherwise, it is positive.

6. A sorter nozzle calibration device characterized by, include: A receiving module is used to acquire a detection image (Q) captured by a vision system (3), wherein the vision system (3) is located below the nozzle (2), the vision system (3) includes a three-dimensional camera to detect the height of the nozzle (2), the detection image (Q) includes a nozzle shape image (Q1), the nozzle shape image (Q1) includes a two-dimensional image obtained by parallel projection of the nozzle (2) along the height direction, the detection image (Q) includes a nozzle height image (Q2), the nozzle shape image (Q1) is located inside a preset window area, the nozzle height image (Q2) is located outside the preset window area, the outer edge of the preset window area corresponds to the detection surface of the vision system located directly below the nozzle (2) in the height direction, and the end of the nozzle height image (Q2) away from the outer edge of the preset window area corresponds to the bottom end of the nozzle; The comparison module is used to compare the difference between specific parameters of the detection image (Q) and the corresponding preset benchmark, wherein the specific parameters of the nozzle shape image (Q1) include the position and / or angle of the nozzle shape image (Q1), and the specific parameters of the nozzle height image (Q2) include the height of the nozzle height image (Q2) in a preset direction; The analysis module is used to determine whether the suction nozzle (2) meets the preset assembly standard based on the comparison results. When at least one of the specific parameters differs from the corresponding preset benchmark, the suction nozzle (2) does not meet the preset assembly standard; otherwise, the suction nozzle (2) meets the preset assembly standard.

7. A sorter conveying assembly characterized by, The method for calibrating the nozzles of a sorting machine according to any one of claims 1 to 5 is applied; the sorting machine conveying assembly includes a turntable (1), and a plurality of nozzles (2) are sequentially connected to the turntable (1) around the axis of the turntable (1).

8. The sorter transport assembly of claim 7, wherein, Each of the suction nozzles (2) is connected to the turntable (1) via a corresponding lifting drive mechanism (4).

Images