Modular vision sortation teaching device
The modularly designed visual sorting teaching equipment integrates conveying, detection, calibration and sorting mechanisms, solving the problems of existing equipment's inability to quickly switch materials and low integration of functional modules, and realizing the flexible needs of multi-material sorting and teaching training.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GUANGDONG COMM POLYTECHNIC
- Filing Date
- 2026-03-19
- Publication Date
- 2026-06-12
Smart Images
Figure CN122201075A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of sorting technology, and more specifically to modular visual sorting teaching equipment. Background Technology
[0002] In the field of intelligent manufacturing teaching and training, material sorting is one of the core skills. With the continuous development of machine vision technology, automated sorting equipment powered by vision has largely replaced manual sorting operations. Therefore, mastering vision sorting technology has become an important skill for manufacturing professionals. Currently, the sorting teaching equipment used in educational institutions mainly falls into the following two categories: The first category is basic demonstration-type sorting teaching equipment. For example, the "Visual Sorting Training Platform" (publication number CN211277U) includes an inbound conveyor belt, an outbound conveyor belt, a U-shaped rotary conveyor belt, and an industrial robot. A vision support and camera are installed on the outbound conveyor belt. Another example is the "Visual Sorting Teaching Training Platform" (publication number CN211149929U), which includes a robotic arm, a feeding conveyor belt, a sorting conveyor belt, a packaging conveyor belt, a return conveyor belt, and a vision inspection mechanism, simulating a production line process through multiple conveyor belts. Yet another example is the "Visual Recognition-Based Sorting Training Platform" (publication number CN216596672U), which includes an aluminum profile base plate, a pill output module, a first conveyor belt, a vision recognition module, and a rejection module. Based on visual recognition signals, pills that do not conform to a preset color are rejected from the conveyor belt. The common characteristics of this type of equipment are: fixed feeding and sorting outlets, and the ability to demonstrate the classification process for a single material only, making it impossible to simulate and record flexible industrial production scenarios involving rapid switching between multiple materials.
[0003] The second category is industrial-grade integrated sorting teaching equipment. For example, the "Modular Vision Sorting Teaching Platform for Industrial Robots" (publication number CN804U) includes a robot, a basic module, a handling and palletizing module, a vision inspection module, a transmission module, and a storage module. The transmission module is used to adjust the interval time of material transmission. Another example is the "Machine Vision Material Sorting Teaching Platform" (publication number CN217982597U), which includes a transport component, an identification component, and a sorting component. Materials are fed into corresponding material boxes by controlling the lifting and lowering of baffles using cylinders. While these devices can achieve a certain degree of flexible sorting functionality, their structure is relatively closed, lacking detachable and debuggable interfaces designed for teaching, and they are also relatively expensive.
[0004] The common limitations of existing technologies are: (1) The mechanical structure is simple and only supports the sorting of single materials. It cannot adapt to the sorting needs of different materials (such as block materials and plate materials) through rapid hardware configuration switching; (2) The functional modules have low integration and fail to compactly integrate the hardware structure required for the complete process of visual recognition, posture adjustment, information traceability and multi-way sorting on a single platform; (3) The human-computer interaction interface is simple and mostly closed "observation and demonstration". It is not convenient for students to carry out comprehensive practical training such as mechanical disassembly and assembly, electrical wiring and control program debugging. It cannot meet the practical training needs of the intelligent manufacturing flexible production teaching scenario for equipment that is "disassembleable, debuggable and expandable". Summary of the Invention
[0005] This invention provides a modular visual sorting teaching device to solve the above-mentioned problems.
[0006] This invention provides a modular visual sorting teaching device, comprising: Platform substrate; A conveying mechanism is disposed on the platform base, the conveying mechanism has a conveyor belt, and a first feeding station and a second feeding station are provided at the starting end of the conveyor belt; A visual inspection mechanism is disposed above the middle section of the conveyor belt. The visual inspection mechanism includes an industrial camera and a two-dimensional position adjustment frame that supports the industrial camera. An attitude correction mechanism is provided downstream of the vision inspection mechanism. The attitude correction mechanism includes a lifting cylinder and a rotating gripper mounted on the piston rod end of the lifting cylinder. The sorting execution mechanism is located at the end of the conveyor belt and includes a three-dimensional motion platform and a pneumatic centering gripper mounted on the three-dimensional motion platform. A control cabinet, wherein a programmable controller is installed inside the control cabinet, and the programmable controller is electrically connected to the conveying mechanism, the vision inspection mechanism, the posture correction mechanism, and the sorting execution mechanism respectively. The operation panel is located at the front end of the platform base. The operation panel is equipped with a touch screen, a button group, and a three-color status indicator light. The touch screen, button group, and three-color status indicator light are electrically connected to the programmable controller.
[0007] The modular visual sorting teaching equipment of this invention integrates modules such as a conveying mechanism, a visual inspection mechanism, a posture correction mechanism, a sorting execution mechanism, a control cabinet, and an operation panel onto a unified platform, forming a compact and fully functional sorting teaching and training platform. Its two independent material feeding stations allow the equipment to quickly adapt to the sorting needs of different materials through software selection without hardware modifications, simulating flexible production scenarios in industrial settings. Furthermore, each mechanism can be independently disassembled and debugged, providing students with excellent hands-on operating conditions.
[0008] In one optional embodiment, the first feeding station includes a first material support and a first pushing cylinder, wherein the piston rod of the first pushing cylinder is disposed toward the conveyor belt; The second feeding station includes a second material support and a second pushing cylinder, with the piston rod of the second pushing cylinder facing the conveyor belt.
[0009] In one optional embodiment, the two-dimensional position adjustment frame includes: A support frame, which is fixed to the platform base and spans over the conveyor belt; A transverse slide, which is mounted on the crossbeam of the upright; A longitudinal slide table, which is mounted on the transverse slide table; The industrial camera is mounted on the longitudinal slide, and both the transverse slide and the longitudinal slide have manual or automatic displacement adjustment structures.
[0010] In one optional embodiment, the cylinder body of the lifting cylinder is fixed to the platform base by a first mounting bracket, and the piston rod of the lifting cylinder is set vertically downward. The rotating gripper includes a pneumatic gripper and a rotary drive component. The pneumatic gripper is installed at the output end of the rotary drive component, and the housing of the rotary drive component is fixedly connected to the piston rod end of the lifting cylinder.
[0011] In one optional implementation, the three-dimensional motion platform includes: X-axis linear module; The Y-axis linear module, wherein the X-axis linear module is mounted on the slide of the Y-axis linear module; Z-axis linear module, the Z-axis linear module is mounted on the slide of the X-axis linear module; The pneumatic centering gripper is mounted on the slide of the Z-axis linear module.
[0012] In one optional embodiment, an RFID reader bracket is fixedly provided on the side of the conveyor belt, and an RFID reader antenna is installed on the RFID reader bracket. The RFID reader antenna is located downstream of the visual inspection mechanism, and the sensing surface of the RFID reader antenna faces the conveying surface of the conveyor belt. The RFID reader is electrically connected to the programmable controller.
[0013] In one optional implementation, the sorting actuator further includes: At least one baffle assembly is disposed on the end side of the conveyor belt. The baffle assembly includes a baffle drive and a baffle body, and the baffle body is connected to the output end of the baffle drive. At least one pushing assembly is provided at the end side of the conveyor belt and upstream of the baffle assembly. The pushing assembly includes a pushing cylinder and a pushing plate, and the pushing plate is installed at the end of the piston rod of the pushing cylinder. A plurality of collection bins are provided, each of which is respectively located at the end outlet of the conveyor belt and / or on the pushing path of the pushing component.
[0014] In one optional implementation, the three-color status indicator light includes a yellow indicator light, a green indicator light, and a red indicator light; The yellow, green, and red indicator lights are electrically connected to different output ports of the programmable controller, one by one. The operation panel is also equipped with an emergency stop button, which is electrically connected to an interrupt input port of the programmable controller.
[0015] In one alternative implementation, the platform base includes: Aluminum profile frame; A plurality of casters, each caster being mounted on the bottom of the aluminum profile frame; The table body, the aluminum profile frame is fixed to the top of the table body, and the control cabinet is located inside the table body; The crossbeams and columns of the aluminum profile frame are provided with several T-slots arranged at equal intervals. The conveying mechanism, vision inspection mechanism, posture correction mechanism, and sorting execution mechanism are detachably fixed in the T-slots by T-bolts.
[0016] In one optional embodiment, a display terminal is also included, which is disposed on the platform substrate or disposed independently of the platform substrate; The display terminal is connected to the programmable controller via a communication cable or a wireless communication module; The display terminal has a pre-stored three-dimensional digital model corresponding to the physical structure of the modular visual sorting teaching equipment. The display terminal is configured to receive the status data output by the programmable controller and drive the three-dimensional digital model to generate a motion response synchronized with the physical equipment. Attached Figure Description
[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0018] Figure 1 This is a schematic diagram of the overall structure of a modular visual sorting teaching device according to an embodiment of the present invention; Figure 2 for Figure 1 The diagram shows the structure of the conveying mechanism. Figure 3 for Figure 1 The diagram shows the structure of the visual inspection mechanism and the posture correction mechanism. Figure 4 for Figure 1 The diagram shows the structure of the sorting mechanism. Figure 5 for Figure 1 The diagram shows a specific structural schematic of the sorting execution mechanism.
[0019] Explanation of reference numerals in the attached figures: 1. Platform substrate; 2. Conveying mechanism; 21. Conveyor belt; 22. First material support; 23. First pusher cylinder; 24. Second material support; 25. Second pusher cylinder; 3. Visual inspection mechanism; 31. Industrial camera; 32. Two-dimensional position adjustment frame; 4. Attitude correction mechanism; 41. Lifting cylinder; 42. Rotating gripper; 43. First mounting bracket; 5. Sorting execution mechanism; 51. Three-dimensional motion platform; 52. Pneumatic centering gripper; 53. Baffle drive component; 54. Baffle body; 55. Pushing cylinder; 56. Push plate; 57. Collection bin; 61. Touchscreen; 62. Button group; 63. Tri-color status indicator light; 7. RFID reader bracket. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.
[0021] The following is combined Figures 1 to 5 The following describes embodiments of the present invention.
[0022] According to an embodiment of the present invention, a modular visual sorting teaching device is provided, including a platform base 1, a conveying mechanism 2, a visual inspection mechanism 3, a posture correction mechanism 4, a sorting execution mechanism 5, a control cabinet, and an operation panel. The conveying mechanism 2 is disposed on the platform base 1 and has a conveyor belt 21. A first feeding station and a second feeding station are provided at the beginning of the conveyor belt 21. The visual inspection mechanism 3 is disposed above the middle section of the conveyor belt 21 and includes an industrial camera 31 and a two-dimensional position adjustment frame 32 supporting the industrial camera 31. The posture correction mechanism 4 is disposed on the platform base 1 and includes a lifting cylinder 41 and a mounting bracket. A rotating gripper 42 is mounted on the piston rod end of the lifting cylinder 41; the sorting execution mechanism 5 is located at the end of the conveyor belt 21, and the sorting execution mechanism 5 includes a three-dimensional motion platform 51 and a pneumatic centering gripper 52 mounted on the three-dimensional motion platform 51; a programmable controller is installed in the control cabinet, and the programmable controller is electrically connected to the conveying mechanism 2, the vision inspection mechanism 3, the posture correction mechanism 4, and the sorting execution mechanism 5 respectively; the operation panel is located at the front end of the platform base 1, and the operation panel is equipped with a touch screen 61, a button group 62, and a three-color status indicator light 63, and the touch screen 61, the button group 62, and the three-color status indicator light 63 are electrically connected to the programmable controller respectively.
[0023] This embodiment provides a modular visual sorting teaching device. The device adopts a modular design as a whole, and all functional mechanisms are integrated on a unified platform base 1. It can be used to demonstrate the complete flexible sorting process and also facilitates students to carry out mechanical, electrical and control system assembly and adjustment training.
[0024] like Figure 1As shown, the modular visual sorting teaching equipment in this embodiment includes a platform base 1, a conveying mechanism 2, a visual inspection mechanism 3, a posture correction mechanism 4, a sorting execution mechanism 5, a control cabinet, and an operation panel. The platform base 1 serves as the supporting foundation for the entire equipment, used to install and fix the other mechanisms; the conveying mechanism 2 transports materials from upstream workstations to downstream processing workstations; the visual inspection mechanism 3 collects image information of the materials; the posture correction mechanism 4 adjusts the placement posture of the materials; the sorting execution mechanism 5 classifies and collects the materials; the control cabinet houses the control core; and the operation panel allows users to operate and monitor the equipment status.
[0025] Specifically, the platform base 1 adopts an aluminum profile frame structure, with an overall rectangular shape, measuring approximately 1mm × 800mm, suitable for standard laboratory layouts. Several casters are installed at the bottom of the platform base 1, facilitating overall equipment movement and allowing for stable grounding by adjusting the caster feet when needed. The upper frame of the platform base 1 has pre-set mounting holes and cable trays for installing various functional mechanisms and arranging electrical wiring. Its modular design supports quick assembly, disassembly, and repositioning of each mechanism. An equipment table is located in the lower center of the platform base 1, housing the control cabinet, resulting in a clean overall appearance and easy maintenance of the control cabinet.
[0026] The conveying mechanism 2 is located on the upper part of the platform base 1, specifically arranged along the length of the platform base 1. The conveying mechanism 2 includes a conveyor belt 21, which is driven by a servo motor, enabling precise speed control and position start / stop. A first feeding station and a second feeding station are located at the starting end of the conveyor belt 21 (i.e., the end where materials are input). The first and second feeding stations are independent of each other and are used to place different types of materials. For example, the first feeding station can be used to place PCB board materials, and the second feeding station can be used to place cylindrical material blocks. The independent setting of the two feeding stations allows the equipment to selectively activate one of the feeding stations according to different sorting modes, quickly adapting to the sorting needs of different materials without requiring hardware modifications to the main structure of the equipment. Each feeding station is equipped with a material arrival sensor to detect whether the material has been placed at the feeding position.
[0027] The vision inspection mechanism 3 is positioned above the middle section of the conveyor belt 21. Specifically, the vision inspection mechanism 3 includes an industrial camera 31 and a two-dimensional position adjustment frame 32 supporting the industrial camera 31. The two-dimensional position adjustment frame 32 allows for precise adjustment of the height and horizontal position of the industrial camera 31 relative to the conveyor belt 21, enabling the industrial camera 31 to adapt to the imaging needs of materials of different sizes and ensuring the clarity and accuracy of image acquisition. The vision inspection mechanism 3 also includes an adjustable light source and its controller. The adjustable light source is positioned adjacent to the industrial camera 31 to provide uniform, adjustable brightness illumination for image acquisition, adapting to the imaging needs of different ambient light and material surfaces. The adjustable light source and its controller can utilize existing equipment.
[0028] The attitude correction mechanism 4 is set on the platform base 1. The attitude correction mechanism 4 includes a lifting cylinder 41 and a rotating gripper 42 installed on the piston rod end of the lifting cylinder 41, which is used to adjust the attitude of the material.
[0029] The sorting execution mechanism 5 is located at the end of the conveyor belt 21 (i.e., the other end of the material output). The sorting execution mechanism 5 includes a three-dimensional motion platform 51 and a pneumatic centering gripper 52 mounted on the three-dimensional motion platform 51. The arrangement of the three-dimensional motion platform 51 allows the pneumatic centering gripper 52 to move flexibly in three-dimensional space, thereby accurately placing the gripped material at different collection positions.
[0030] The control cabinet houses a programmable logic controller (PLC). The PLC is electrically connected to the servo motors of the conveyor mechanism 2, the industrial camera 31 and light source controller of the vision inspection mechanism 3, the control solenoid valves of the lifting cylinder 41 and rotating gripper 42 of the attitude correction mechanism 4, and the control solenoid valves of the linear module motors and pneumatic centering gripper 52 of the sorting execution mechanism 5. It coordinates and controls the timing of the actions of each mechanism according to a preset control program. The control cabinet also contains power modules, drivers, relays, and other electrical components to provide power and drive signals to each mechanism.
[0031] The operation panel is located at the front of the platform base 1 (i.e., the side facing the operator), facilitating user operation and monitoring of equipment status. The operation panel includes a touchscreen 61, a button group 62, and three-color status indicator lights 63. The touchscreen 61 is communicatively connected to the programmable controller (PLC) and displays the equipment's operating status, parameter setting interface, sorting mode selection interface, etc., and receives user touch input commands. The button group 62 includes a start button, a stop button, a reset button, an emergency stop button, etc., each electrically connected to an input port of the PLC to send basic operation commands to the equipment. The three-color status indicator lights 63 include yellow, green, and red indicator lights, each electrically connected to a different output port of the PLC, visually displaying the equipment's current operating status (e.g., standby, running, fault, reset, etc.) through different colors and on / off combinations.
[0032] The modular visual sorting teaching equipment in this embodiment integrates modules such as the conveying mechanism 2, visual inspection mechanism 3, posture correction mechanism 4, sorting execution mechanism 5, control cabinet, and operation panel onto a unified platform base 1, forming a compact and fully functional sorting teaching and training platform. Its two independent material feeding stations allow the equipment to quickly adapt to the sorting needs of different materials through software selection without hardware modifications, simulating flexible production scenarios in industrial settings. Furthermore, each mechanism can be independently disassembled and debugged, providing students with excellent hands-on operating conditions.
[0033] In one embodiment, the first feeding station includes a first material support 22 and a first pushing cylinder 23, with the piston rod of the first pushing cylinder 23 facing the conveyor belt 21; the second feeding station includes a second material support 24 and a second pushing cylinder 25, with the piston rod of the second pushing cylinder 25 facing the conveyor belt 21.
[0034] like Figure 2 As shown, in this embodiment, the first feeding station includes a first material support 22 and a first pushing cylinder 23. The first material support 22 is fixed to the platform base 1 and located beside the beginning of the conveyor belt 21. The upper surface of the first material support 22 has a support groove adapted to the shape of the first type of material (e.g., a PCB board) for placing the material to be sorted. The cylinder body of the first pushing cylinder 23 is fixed to the platform base 1, and its piston rod is set towards the conveyor belt 21. When the material arrival sensor on the first material support 22 detects that the material has been placed in place, the first pushing cylinder 23 is activated, and its piston rod extends to push the material from the first material support 22 onto the conveyor belt 21, and the material is then conveyed downstream with the conveyor belt 21.
[0035] Similarly, the second feeding station includes a second material support 24 and a second pushing cylinder 25. The second material support 24 is fixed to the platform base 1 and is also located at the beginning of the conveyor belt 21. The upper surface of the second material support 24 has a support structure adapted to the shape of the second type of material (e.g., a cylindrical block). The cylinder body of the second pushing cylinder 25 is fixed to the platform base 1, and its piston rod is positioned towards the conveyor belt 21. When the material positioning sensor on the second material support 24 detects that the material has been placed in place, the second pushing cylinder 25 actuates to push the material onto the conveyor belt 21.
[0036] In one embodiment, the two-dimensional position adjustment frame 32 includes a vertical frame, a transverse slide, and a longitudinal slide. The vertical frame is fixed to the platform base 1 and spans above the conveyor belt 21. The transverse slide is mounted on the crossbeam of the vertical frame, and the longitudinal slide is mounted on the transverse slide. The industrial camera 31 is mounted on the longitudinal slide, and each of the transverse slide and the longitudinal slide has a manual or automatic displacement adjustment structure.
[0037] like Figure 3 As shown, the uprights are fixed to the platform base 1, specifically using an aluminum profile or steel plate welded structure, providing sufficient rigidity and stability. The uprights consist of four columns and crossbeams connected to the four columns, with the four crossbeams connected end to end to form a frame.
[0038] The transverse slide is mounted on the crossbeam of the upright and can move along the conveyor belt 21 on the crossbeam. It can be driven manually or automatically, for example, by a motor driving a lead screw or synchronous belt. The longitudinal slide is mounted on the four columns of the upright and can move on the columns.
[0039] The industrial camera 31 is fixedly mounted on the transverse slide. By adjusting the transverse slide, the detection position of the industrial camera 31 in the width direction of the conveyor belt 21 can be changed. By adjusting the longitudinal slide, the height of the industrial camera 31 relative to the conveyor belt 21 can be changed, thereby adjusting the shooting field of view and focal length.
[0040] In one embodiment, the cylinder body of the lifting cylinder 41 is fixed to the platform base 1 by a first mounting bracket 43, and the piston rod of the lifting cylinder 41 is set vertically downward; the rotating gripper 42 includes a pneumatic gripper and a rotary drive component, the pneumatic gripper is installed at the output end of the rotary drive component, and the housing of the rotary drive component is fixedly connected to the end of the piston rod of the lifting cylinder 41.
[0041] like Figure 4As shown, in this embodiment, the attitude correction mechanism 4 includes a lifting cylinder 41 and a rotating gripper 42. The cylinder body of the lifting cylinder 41 is fixed to the platform base 1 via a first mounting bracket 43. The first mounting bracket 43 has four vertically arranged columns and a top plate fixed to the top of the columns. The bottoms of the four columns are fixedly connected to the platform base 1. The cylinder body of the lifting cylinder 41 is fixedly connected to the top plate. The piston rod of the lifting cylinder 41 is vertically downward, meaning its extension / retraction direction is perpendicular to the conveying plane of the conveyor belt 21. The rotating gripper 42 is fixed to a plate-shaped platform, which is fixed to the piston rod of the lifting cylinder 41 and slidably connected to the four vertically arranged columns, allowing the lifting cylinder 41 to drive the rotating gripper 42 to move vertically.
[0042] The rotary gripper 42 includes a pneumatic gripper and a rotary drive component. The pneumatic gripper has two or three parallel opening and closing pneumatic fingers, and corresponding gripping pads can be installed on its gripping fingers according to the shape of the material to increase the stability and adaptability of the gripping. The cylinder of the pneumatic gripper is provided with an air inlet and an air outlet, which are connected to a solenoid valve through an air pipe, and its clamping and releasing actions are controlled by a programmable controller.
[0043] The rotary drive can be a rotary cylinder, an electric rotary actuator, or a rack and pinion rotary mechanism. In this embodiment, a rotary cylinder is preferred to achieve precise angle control. The cylinder body of the pneumatic gripper is mounted on the output flange of the rotary drive, and the two are fixedly connected. The housing of the rotary drive is fixedly connected to the plate platform. When the piston rod of the lifting cylinder 41 extends, it drives the entire rotary gripper 42 to descend to the working position. After the pneumatic gripper picks up the material, the rotary drive drives the material to rotate around its geometric axis to a predetermined angle (e.g., 90 degrees or 180 degrees) according to the instructions of the programmable controller to correct the posture of the material. After correction, the pneumatic gripper releases the material, the piston rod of the lifting cylinder 41 retracts, and the rotary gripper 42 rises to reset.
[0044] In one embodiment, the three-dimensional motion platform 51 includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. The X-axis linear module is mounted on the slide of the Y-axis linear module, and the Z-axis linear module is mounted on the slide of the X-axis linear module. The pneumatic centering gripper 52 is mounted on the slide of the Z-axis linear module.
[0045] like Figure 5 As shown, in this embodiment, the three-dimensional motion platform 51 includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module. Each linear module adopts a ball screw drive and is driven by a servo motor to achieve high-precision position control.
[0046] The X-axis linear module is arranged parallel to the conveying direction of conveyor belt 21 (i.e., the X-axis direction) and located on one side of the end of conveyor belt 21. The X-axis linear module includes an X-axis guide rail, an X-axis lead screw, an X-axis slide, and an X-axis drive motor. The X-axis guide rail is fixed to the module base. The X-axis slide is slidably fitted with the X-axis guide rail. The X-axis lead screw is fitted with a nut pair inside the X-axis slide. The output shaft of the X-axis drive motor is connected to one end of the X-axis lead screw via a coupling. When the X-axis drive motor rotates, it drives the X-axis lead screw to rotate, thereby causing the X-axis slide to perform linear reciprocating motion along the X-axis guide rail.
[0047] The Y-axis linear module is mounted on the platform base 1 along the direction perpendicular to the conveyor belt 21 (i.e., the Y-axis direction). The structure of the Y-axis linear module is similar to that of the X-axis linear module, including a Y-axis guide rail, a Y-axis lead screw, a Y-axis slide, and a Y-axis drive motor. The base of the X-axis module is fixedly connected to the Y-axis slide.
[0048] The Z-axis linear module is mounted vertically (i.e., along the Z-axis direction) on the X-axis slide of the X-axis linear module. The Z-axis linear module includes a Z-axis guide rail, a Z-axis lead screw, a Z-axis slide, and a Z-axis drive motor. The base of the Z-axis module is fixedly connected to the X-axis slide, allowing the entire Z-axis linear module to move along the X-axis direction with the X-axis slide. Driven by the Z-axis drive motor, the Z-axis slide can move vertically along the Z-axis direction.
[0049] The pneumatic centering gripper 52 is mounted on the Z-axis slide of the Z-axis linear module via a connecting plate. The pneumatic centering gripper 52 has at least three circumferentially distributed gripping fingers, the movement trajectories of which intersect at the same central axis, thus enabling stable gripping of cylindrical, spherical, and other rotating materials through geometric center positioning. The cylinder of the pneumatic centering gripper 52 is equipped with an air inlet and an air outlet, connected to a solenoid valve via an air pipe, and its clamping and releasing actions are controlled by a programmable controller. The gripping fingers can be fitted with appropriate gripping pads according to the material diameter to accommodate materials of different sizes.
[0050] In one embodiment, an RFID reader bracket 7 is fixedly provided on the side of the conveyor belt 21, and an RFID reader antenna is installed on the RFID reader bracket 7; the RFID reader antenna is located downstream of the visual inspection mechanism 3, and the sensing surface of the RFID reader antenna faces the conveying surface of the conveyor belt 21; the RFID reader is electrically connected to the programmable controller.
[0051] In this embodiment, an RFID reader / writer bracket 7 is fixedly installed on the side of the conveyor belt 21. The RFID reader / writer bracket 7 is made of an L-shaped metal plate, and its bottom is fixed to the platform base 1 by bolts. It is located on one side of the conveyor belt 21 and maintains a certain distance from the side edge of the conveyor belt 21 to avoid interference with the moving parts of the conveyor belt 21. An RFID reader / writer antenna is installed on the RFID reader / writer bracket 7. The RFID reader / writer antenna is fixed to the upper part of the RFID reader / writer bracket 7 and is plate-shaped or strip-shaped, with an internal radio frequency transceiver coil. The RFID reader / writer antenna is located downstream of the visual inspection mechanism 3, that is, along the conveying direction of the conveyor belt 21. After the material passes through the visual inspection mechanism 3 and completes image acquisition, it continues to be conveyed forward and will then pass the location of the RFID reader / writer antenna.
[0052] When materials with RFID tags (such as PCB boards or material bases embedded with RFID tags) are conveyed by conveyor belt 21 past the location of the RFID reader antenna, the radio frequency signal emitted by the RFID reader antenna activates the electronic tag. The tag then transmits its stored identification information (such as material ID, production batch, specifications, etc.) back to the RFID reader antenna via backscatter modulation. The RFID reader host demodulates and decodes the transmitted signal to obtain the tag information of the material and sends this information to the programmable controller. The programmable controller associates and stores this tag information with data such as image information collected by the vision inspection mechanism 3 and execution results of the sorting execution mechanism 5 to form a complete material sorting traceability record.
[0053] In one embodiment, the sorting execution mechanism 5 further includes at least one baffle assembly, at least one pushing assembly, and a plurality of collection bins 57. The baffle assembly is disposed on the end side of the conveyor belt 21, and includes a baffle drive 53 and a baffle body 54. The baffle body 54 is connected to the output end of the baffle drive 53. The pushing assembly is disposed on the end side of the conveyor belt 21 and is located upstream of the baffle assembly. The pushing assembly includes a pushing cylinder 55 and a pushing plate 56. The pushing plate 56 is mounted on the piston rod end of the pushing cylinder 55. Each collection bin 57 is respectively disposed at the end outlet of the conveyor belt 21 and / or on the pushing path of the pushing assembly.
[0054] like Figure 4 and Figure 5 As shown, in this embodiment, the sorting execution mechanism 5 includes a three-dimensional motion platform 51 and a pneumatic centering gripper 52 mounted thereon, as well as a baffle assembly, a pushing assembly, and several collection bins 57. These components cooperate with each other to achieve the function of sorting and collecting different materials.
[0055] The baffle assembly is located at the end side of the conveyor belt 21, specifically on one or both sides of the end area of the conveyor belt 21. The baffle assembly includes a baffle drive 53 and a baffle body 54. The baffle drive 53 can be driven by a rotary cylinder, a linear cylinder, or an electromagnet. The cylinder body of the baffle drive 53 is fixed to the platform base 1 by a bracket, and its output shaft is fixedly connected to one end of the baffle body 54. The baffle body 54 is made of metal plate or wear-resistant plastic plate and has a certain strength and rigidity. The baffle drive 53 is controlled by a programmable controller. When it receives a baffle action command, it drives the baffle body 54 to switch between a blocking position and a yielding position. In the blocking position, the baffle body 54 extends above the conveying path of the conveyor belt 21, preventing the material from continuing to move forward with the conveyor belt 21, forcing the material to stop or change direction; in the yielding position, the baffle body 54 retracts to the side of the conveyor belt 21, clearing the conveying path and allowing the material to pass smoothly.
[0056] The pushing assembly is located at the end side of the conveyor belt 21 and includes a pushing cylinder 55 and a pushing plate 56. The cylinder body of the pushing cylinder 55 is fixed to the platform base 1 by a mounting base, and its piston rod is positioned facing the conveyor belt 21, with the extension direction of the piston rod perpendicular to the conveying direction of the conveyor belt 21. The pushing plate 56 is installed at the end of the piston rod of the pushing cylinder 55. When material is conveyed to the corresponding position of the pushing assembly, the pushing cylinder 55 is activated, the piston rod extends, and the pushing plate 56 pushes the material off the conveyor belt 21, causing it to fall into the corresponding collection bin 57.
[0057] Several collection bins 57 are respectively disposed at the end outlet of the conveyor belt 21 and on the pushing path of the pushing component. Specifically, in this embodiment, a first collection bin 57 and a second collection bin 57 are provided. The first collection bin 57 is disposed directly below the end of the conveyor belt 21 and is used to receive materials that are not blocked by the baffle assembly and are not pushed by the pushing component. That is, the materials fall freely into the first collection bin 57 after the materials run to the end of the conveyor belt 21. This bin can be used to collect qualified products or sort materials by default. The second collection bin 57 is disposed on the extension line of the pushing path of the pushing component, that is, at the position directly opposite to the extension direction of the piston rod of the pushing cylinder 55, and is used to receive materials pushed off the conveyor belt 21 by the pushing component.
[0058] This embodiment, by adding a baffle assembly, a pushing assembly, and multiple collection bins 57, enables the sorting execution mechanism 5 to possess multi-outlet, multi-mode material sorting capabilities. The combination of the baffle assembly and the pushing assembly allows for both non-contact material flow guidance (such as baffle blocking to change the material path) and contact-based material pushing and transfer, enriching the sorting execution methods. The multiple collection bins 57 enable the equipment to simulate multi-category, multi-level sorting scenarios in industrial settings. By observing and debugging the operation of these components, students can gain a deeper understanding of the principles, applicable scenarios, and control logic of different sorting execution methods, laying a foundation for subsequent learning of more complex automated sorting systems.
[0059] In one embodiment, the three-color status indicator 63 includes a yellow indicator, a green indicator, and a red indicator; the yellow indicator, green indicator, and red indicator are electrically connected to different output ports of the programmable controller; the operation panel is also provided with an emergency stop button, which is electrically connected to an interrupt input port of the programmable controller.
[0060] In one embodiment, the crossbeams and columns of the aluminum profile frame are provided with several T-slots arranged at equal intervals, and the conveying mechanism 2, the vision inspection mechanism 3, the posture correction mechanism 4, and the sorting execution mechanism 5 are respectively detachably fixed in the T-slots by T-bolts.
[0061] In one embodiment, the modular visual sorting teaching device further includes a display terminal, which is disposed on the platform base 1 or independently of the platform base 1; the display terminal is connected to the programmable controller via a communication cable or a wireless communication module; the display terminal has a three-dimensional digital model pre-stored in it, corresponding to the physical structure of the modular visual sorting teaching device, and the display terminal is configured to receive status data output by the programmable controller and drive the three-dimensional digital model to generate a motion response synchronized with the physical device.
[0062] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.
Claims
1. A modular visual sorting teaching device, characterized in that, include: Platform substrate (1); The conveying mechanism (2) is set on the platform base (1). The conveying mechanism (2) has a conveyor belt (21). The first feeding station and the second feeding station are set at the beginning and middle front sections of the conveyor belt (21). A visual inspection mechanism (3) is located above the middle section of the conveyor belt (21). The visual inspection mechanism (3) includes an industrial camera (31) and a two-dimensional position adjustment frame (32) that carries the industrial camera (31). Attitude correction mechanism (4), the attitude correction mechanism (4) is disposed on the platform base (1), the attitude correction mechanism (4) includes a lifting cylinder (41) and a rotating gripper (42) installed on the piston rod end of the lifting cylinder (41). The sorting execution mechanism (5) is located at the end of the conveyor belt (21). The sorting execution mechanism (5) includes a three-dimensional motion platform (51) and a pneumatic centering gripper (52) mounted on the three-dimensional motion platform (51). The control cabinet is equipped with a programmable controller, which is electrically connected to the conveying mechanism (2), the vision inspection mechanism (3), the posture correction mechanism (4), and the sorting execution mechanism (5). The operation panel is located at the front end of the platform base (1). The operation panel is equipped with a touch screen (61), a button group (62) and a three-color status indicator (63). The touch screen (61), the button group (62) and the three-color status indicator (63) are electrically connected to the programmable controller.
2. The modular visual sorting teaching equipment according to claim 1, characterized in that, The first feeding station includes a first material support (22) and a first pushing cylinder (23), with the piston rod of the first pushing cylinder (23) facing the conveyor belt (21); The second feeding station includes a second material support (24) and a second pushing cylinder (25), with the piston rod of the second pushing cylinder (25) facing the conveyor belt (21).
3. The modular visual sorting teaching equipment according to claim 1, characterized in that, The two-dimensional position adjustment frame (32) includes: The support frame is fixed to the platform base (1) and spans over the conveyor belt (21); A transverse slide, which is mounted on the crossbeam of the upright; A longitudinal slide table, which is mounted on the transverse slide table; The industrial camera (31) is mounted on the longitudinal slide, and the transverse slide and the longitudinal slide each have a manual or automatic displacement adjustment structure.
4. The modular visual sorting teaching equipment according to claim 1, characterized in that, The cylinder body of the lifting cylinder (41) is fixed to the platform base (1) by the first mounting bracket (43), and the piston rod of the lifting cylinder (41) is set vertically downward; The rotating gripper (42) includes a pneumatic gripper and a rotary drive. The pneumatic gripper is installed at the output end of the rotary drive. The housing of the rotary drive is fixedly connected to the piston rod end of the lifting cylinder (41).
5. The modular visual sorting teaching equipment according to claim 1, characterized in that, The three-dimensional motion platform (51) includes: X-axis linear module; The Y-axis linear module, wherein the X-axis linear module is mounted on the slide of the Y-axis linear module; Z-axis linear module, the Z-axis linear module is mounted on the slide of the X-axis linear module; The pneumatic centering gripper (52) is mounted on the slide of the Z-axis linear module.
6. The modular visual sorting teaching equipment according to claim 1, characterized in that, An RFID reader bracket (7) is fixedly installed on the side of the conveyor belt (21), and an RFID reader antenna is installed on the RFID reader bracket (7). The RFID reader antenna is located downstream of the visual inspection mechanism (3), and the sensing surface of the RFID reader antenna faces the conveying surface of the conveyor belt (21). The RFID reader is electrically connected to the programmable controller.
7. The modular visual sorting teaching equipment according to claim 1, characterized in that, The sorting execution mechanism (5) also includes: At least one baffle assembly is disposed on the end side of the conveyor belt (21), the baffle assembly includes a baffle drive (53) and a baffle body (54), the baffle body (54) is connected to the output end of the baffle drive (53); At least one pushing assembly is provided at the end side of the conveyor belt (21) and located upstream of the baffle assembly. The pushing assembly includes a pushing cylinder (55) and a pushing plate (56). The pushing plate (56) is installed at the piston rod end of the pushing cylinder (55). A plurality of collection bins (57) are respectively located at the end outlet of the conveyor belt (21) and / or on the pushing path of the pushing component.
8. The modular visual sorting teaching equipment according to claim 1, characterized in that, The three-color status indicator (63) includes a yellow indicator, a green indicator, and a red indicator; The yellow, green, and red indicator lights are electrically connected to different output ports of the programmable controller, one by one. The operation panel is also equipped with an emergency stop button, which is electrically connected to an interrupt input port of the programmable controller.
9. The modular visual sorting teaching equipment according to claim 1, characterized in that, The platform base (1) includes: Aluminum profile frame; A plurality of casters, each caster being mounted on the bottom of the aluminum profile frame; The table body, the aluminum profile frame is fixed to the top of the table body, and the control cabinet is located inside the table body; The crossbeams and columns of the aluminum profile frame are provided with several T-shaped grooves arranged at equal intervals. The conveying mechanism (2), vision inspection mechanism (3), posture correction mechanism (4), and sorting execution mechanism (5) are respectively detachably fixed in the T-shaped grooves by T-bolts.
10. The modular visual sorting teaching equipment according to claim 1, characterized in that, It also includes a display terminal, which is disposed on the platform base (1) or independently of the platform base (1); The display terminal is connected to the programmable controller via a communication cable or a wireless communication module; The display terminal has a pre-stored three-dimensional digital model corresponding to the physical structure of the modular visual sorting teaching equipment. The display terminal is configured to receive the status data output by the programmable controller and drive the three-dimensional digital model to generate a motion response synchronized with the physical equipment.