Visual sorting practical training platform

Abstract

The utility model discloses a visual sorting practical training platform, which comprises a rack, the top of the rack is provided with a feeding device, a feeding device, a visual device, a conveyor belt line body and a controller, the controller is used for controlling the feeding device, the feeding device, the visual device and the conveyor belt line body to work, the feeding device is used for moving materials to a feeding position, and the feeding device is used for moving the materials to a discharging position. The feeding device is used for moving materials at the feeding position to the conveyor belt line body and enabling the materials to be located under a photographing component of the visual device at the same time, and the visual device is used for identifying the types of the materials. The feeding device can accurately place the material at the feeding position on the conveyor belt line body, and when the position of the material deviates from the target position, the material cannot be placed on the conveyor belt line body, so that students can timely find program errors and correct the program errors, and the practical training quality is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot vision, and particularly relates to a visual sorting training bench. Background Art

[0002] A visual sorting training bench is a set of teaching experiment equipment for education and training, simulating the industrial field assembly line environment, and identifying, detecting and classifying materials through an intelligent vision system. For higher education institutions related to engineering and agronomy majors, it has become particularly important to train students to master machine vision sorting technology.

[0003] The existing visual sorting training bench generally consists of a feeding device, a visual device and a conveying device. The feeding device is used to place materials on the conveying device. At this time, the visual device performs visual analysis on the fed materials to judge the material type, and then controls the corresponding cylinder to work through a controller to eject the specified materials from the conveying device to achieve the sorting operation.

[0004] However, since the width of the conveying device is generally larger than the width of the material, sometimes even if the position of the material placed on the conveying device deviates due to a program error, the material can still be sorted. Although the material can be sorted in this case, in fact, the student has not made the correct program, and the teacher often cannot find the error in time to guide the student, resulting in poor training effect. Summary of the Utility Model

[0005] The main purpose of the utility model is to provide a visual sorting training bench. The feeding device can move the material to the feeding position, the feeding device can accurately place the material at the feeding position on the conveyor belt line body, and when the position of the material deviates from the target position, the material cannot be placed on the conveyor belt line body, which enables the student to find the program error in time, make corrections, and improve the training quality.

[0006] To achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A visual sorting training bench includes a bench frame. A feeding device, a feeding device, a visual device, a conveyor belt line body and a controller are arranged on the top of the bench frame. The controller is used to control the feeding device, the feeding device, the visual device and the conveyor belt line body to work. A limiting device is arranged on the conveyor belt line body. The feeding device is used to move the material to the feeding position. The feeding device is used to place the material at the feeding position through the limiting device on the conveyor belt line body and at the same time make the material located directly below the photographing component of the visual device. The visual device is used to identify the type of the material. The conveyor belt line body is used to convey the material and sort the material according to the result identified by the visual device.

[0008] Further, the feeding device includes a silo and a servo motor fixed to the bottom of the silo. A material pushing rod is arranged in the silo. The output shaft of the servo motor is located in the silo and fixedly connected to the material pushing rod. A through groove is formed on one side of the silo, and a material receiving trough body matching the through groove is fixedly arranged at the bottom of the through groove. A limiting plate is arranged in the material receiving trough body.

[0009] Further, the silo is fixed to the bench through a connecting frame.

[0010] Further, the loading device includes a support and a rotary cylinder fixed to the top of the support. A first cylinder is fixed to the rotating end of the rotary cylinder. A second cylinder is fixed to the output shaft of the first cylinder. The output shaft of the second cylinder faces the bench and is fixed with a pneumatic gripper.

[0011] Further, the vision device includes an industrial control computer and a rod body fixed to the top of the bench. A support is connected to the rod body. A camera is fixed to one side of the support. The lens of the camera points to the conveyor belt line body and the camera is connected to the industrial control computer through a cable.

[0012] Further, the conveyor belt line body includes a belt conveyor fixed to the top of the bench. At least one set of sorting components is arranged on the belt conveyor. The limiting device includes a positioning plate fixed to the top of the material inlet end of the belt conveyor. A positioning hole is formed in the top of the positioning plate. The positioning hole is directly below the lens of the camera.

[0013] Further, the sorting component includes a third cylinder and a material storage trough body. The third cylinder is fixed to one side of the belt conveyor. The material storage trough body is fixed to the other side of the belt conveyor and corresponds to the position of the third cylinder.

[0014] Further, the support includes at least one set of mounting plates sleeved on the outer periphery of the rod body. A first locking screw is threadedly connected to one side of the mounting plate for locking the mounting plate. A fixing rod is horizontally penetrated through the mounting plate. The camera is fixed to the fixing rod. A second locking screw is threadedly connected to the other side of the mounting plate for locking the fixing rod.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] The feeding device of the utility model can move the material to the loading position. The loading device can accurately place the material at the loading position on the conveyor belt line body. When the position where the material is placed deviates from the target position, the material cannot be placed on the conveyor belt line body, which enables students to promptly find program errors and make corrections, improving the training quality.

[0017] When the feeding device of the present utility model feeds materials, if the position of the materials does not deviate, the materials can fall through the positioning holes to the belt conveyor for normal transportation. However, if the position of the materials deviates, the materials cannot pass through the positioning holes and fall to the belt conveyor. At this time, the trainee will know that the program he wrote is incorrect and needs to be modified.

[0018] The bracket of the present utility model can adjust the installation position of the vision device, so as to ensure that the lens of the camera of the vision device is aligned with the positioning hole. Brief Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the overall structure of a vision sorting training bench of the present utility model.

[0020] Figure 2 It is a schematic diagram of the structure of the vision device of a vision sorting training bench of the present utility model.

[0021] Figure 3 It is a schematic diagram of the bracket of a vision sorting training bench of the present utility model.

[0022] Figure 4 It is a schematic diagram of the structure of the feeding device of a vision sorting training bench of the present utility model.

[0023] Figure 5 It is a schematic diagram of the structure of the feeding device of a vision sorting training bench of the present utility model.

[0024] Figure 6 It is a schematic diagram of the structure of the conveyor belt line body of a vision sorting training bench of the present utility model.

[0025] In the figure: 1. Bench frame; 2. Conveyor belt line body; 201. Belt conveyor; 202. Positioning plate; 2021. Positioning hole; 203. Sorting assembly; 2031. Third cylinder; 2032. Storage tank body; 3. Vision device; 301. Rod body; 302. Bracket; 3021. Mounting plate; 3022. First locking screw; 3023. Fixed rod; 3024. Second locking screw; 303. Camera; 304. Industrial control computer; 4. Feeding device; 401. Hopper; 402. Through groove; 403. Receiving tank body; 404. Limiting plate; 405. Servo motor; 406. Pushing rod; 407. Connecting frame; 5. Feeding device; 501. Support; 502. Rotary cylinder; 503. First cylinder; 504. Pneumatic gripper; 505. Second cylinder; 6. Controller. Detailed Embodiments

[0026] In order to make the technical means, creative features, achieved purposes and functions of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0027] like Figures 1-6 As shown, a visual sorting training platform includes a platform 1, on the top of which are arranged a feeding device 4, a loading device 5, a visual device 3, a conveyor belt line 2 and a controller 6. The controller 6 is used to control the feeding device 4, the loading device 5, the visual device 3 and the conveyor belt line 2. A limiting device is provided on the conveyor belt line 2. The feeding device 4 is used to move the material to the loading position. The loading device 5 is used to place the material at the loading position through the limiting device on the conveyor belt line 2 while making the material directly under the photographic component of the visual device 3. The visual device 3 is used to identify the type of material. The conveyor belt line 2 is used to transport the material and sort the material according to the recognition result of the visual device 3.

[0028] In this embodiment, materials of different colors are stored in the feeding device 4, which can move multiple materials to the loading position in sequence under the action of the controller 6. At this time, the controller 6 controls the loading device 5 to work, and the loading device 5 can grab the material at the loading position and place it on the conveyor belt line 2, and ensure that the material is directly below the photographic component of the visual device 3. Then, the visual device 3 takes a picture and analyzes the material under the action of the controller 6 to determine the color of the material and transmit the result to the controller 6. Therefore, when the material is transported on the conveyor belt line 2, the conveyor belt line 2 can sort the material according to the control signal of the controller 6.

[0029] Among them, Figure 4 As shown, the feeding device 4 includes a silo 401 and a servo motor 405 fixed to the bottom of the silo 401. The silo 401 is fixed to the stand 1 through a connecting frame 407. A material-pickup rod 406 is provided in the silo 401. The output shaft of the servo motor 405 is located in the silo 401 and is fixedly connected to the material-pickup rod 406. The silo 401 is circular and the material is cylindrical. Therefore, when the servo motor 405 drives the material-pickup rod 406 to rotate, the material will move with the material-pickup rod 406.

[0030] Since a through slot 402 is provided on one side of the silo 401, and a matching material receiving trough body 403 is fixed at the bottom of the through slot 402, the material will enter the material receiving trough body 403 through the through slot 402 during the movement, and a limiting plate 404 is provided in the material receiving trough body 403, so when the material contacts the limiting plate 404, its own position will no longer be deformed to achieve precise positioning. This position is the loading position of the material, waiting for the loading device 5 to load it.

[0031] Among them, Figure 5As shown in the figure, the loading device 5 includes a support 501 and a rotary cylinder 502 fixed to the top of the support 501. A first cylinder 503 is fixed to the rotating end of the rotary cylinder 502. The output shaft of the first cylinder 503 is fixed with a second cylinder 505. The output shaft of the second cylinder 505 faces the gantry 1 and is fixed with a pneumatic gripper 504. The second cylinder 505 can drive the pneumatic gripper 504 to lift and lower, the first cylinder 503 can drive the pneumatic gripper 504 to move horizontally back and forth, and the rotary cylinder 502 can change the angle of the pneumatic gripper 504. Therefore, the pneumatic gripper 504 can grab the material at the loading position and place the material on the conveyor belt line body 2.

[0032] Among them, as Figure 2 shown in the figure, the vision device 3 includes an industrial computer 304 and a rod body 301 fixed to the top of the gantry 1. A bracket 302 is connected to the rod body 301. A camera 303 is fixed on one side of the bracket 302. The lens of the camera 303 points to the conveyor belt line body 2 and the camera 303 is connected to the industrial computer 304 through a cable. The industrial computer 304 is connected to the controller 6. The camera 303 can take pictures of the materials loaded on the conveyor belt line body 2. The industrial computer 304 analyzes the pictures through software and transmits the analysis results to the controller 6, so that the controller 6 can control the conveyor belt line body 2 to realize the sorting operation of the materials. This is the prior art and will not be elaborated here.

[0033] Among them, as Figure 6 shown in the figure, the conveyor belt line body 2 includes a belt conveyor 201 fixed to the top of the gantry 1. At least one set of sorting components 203 is arranged on the belt conveyor 201. The limiting device includes a positioning plate 202 fixed to the top of the material inlet end of the belt conveyor 201. A positioning hole 2021 is opened on the top of the positioning plate 202. The positioning hole 2021 is directly below the lens of the camera 303. When the loading device 5 is loading materials, if the position of the material does not deviate, the material can fall through the positioning hole 2021 to the belt conveyor 201 for normal conveying. If the position of the material deviates, the material cannot pass through the positioning hole 2021 and fall to the belt conveyor 201. At this time, the trainee will know that the program he wrote is incorrect and needs to be modified;

[0034] Among them, the number of sorting components 203 corresponds to the number of material colors. The sorting component 203 includes a third cylinder 2031 and a storage tank body 2032. The third cylinder 2031 is fixed to one side of the belt conveyor 201, and the storage tank body 2032 is fixed to the other side of the belt conveyor 201 and corresponds to the position of the third cylinder 2031. When the material is normally conveyed on the belt conveyor 201, the controller 6 controls the third cylinder 2031 of the corresponding sorting component 203 to work according to the analysis result of the vision device 3, so as to push the material of the specified color out of the belt conveyor 201 and make it fall into the storage tank body 2032, so as to realize the sorting operation of the material.

[0035] Among them, as Figure 3 shown, the bracket 302 includes at least one set of mounting plates 3021 sleeved on the periphery of the rod body 301. One side of the mounting plate 3021 is threadedly connected with a first locking screw 3022 for locking the mounting plate 3021. A fixing rod 3023 is horizontally penetrated through the mounting plate 3021. The camera 303 is fixed on the fixing rod 3023. The other side of the mounting plate 3021 is threadedly connected with a second locking screw 3024 for locking the fixing rod 3023. Through the bracket 302, the installation position of the vision device 3 can be adjusted, so as to ensure that the lens of the camera 303 of the vision device 3 is aligned with the positioning hole 2021.

[0036] Working principle: First, place materials of different colors in the bin 401. Then, the servo motor 405 drives the material pushing rod 406 to rotate, so that the materials enter the receiving tank body 403 through the through groove 402 and contact the limiting plate 404, thereby positioning the feeding position of the materials. Next, the pneumatic gripper 504 of the feeding device 5 can grab the materials at the feeding position and place the materials on the belt conveyor 201 under the action of the first cylinder 503, the second cylinder 505 and the rotary cylinder 502. At this time, if the position of the material does not deviate from the target position, the material can fall through the positioning hole 2021 to the belt conveyor 201 for normal conveying. If the position of the material deviates, the material cannot pass through the positioning hole 2021 and fall to the belt conveyor 201. Therefore, the trainee can know that the program he wrote is incorrect and needs to be modified. After the material is placed on the belt conveyor 201, the camera 303 can take pictures of the materials fed onto the conveyor belt line 2. The industrial control computer 304 analyzes the pictures through software and transmits the analysis result to the controller 6. Then, the controller 6 controls the conveyor belt line 2 to work and convey the materials. When the materials move to the corresponding sorting component 203, the controller 6 controls the third cylinder 2031 of this sorting component 203 to work, so as to push the materials of the specified color out of the belt conveyor 201 and make it fall into the storage tank body 2032, so as to realize the sorting operation of the materials.

[0037] The above has shown and described the basic principles, main features and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents.

Claims

1. A visual sorting training platform, comprising a platform (1), characterized in that: The top of the platform (1) is provided with a feeding device (4), a loading device (5), a visual device (3), a conveyor belt line (2) and a controller (6). The controller (6) is used to control the feeding device (4), the loading device (5), the visual device (3) and the conveyor belt line (2) to work. A limiting device is provided on the conveyor belt line (2). The feeding device (4) is used to move the material to the loading position. The loading device (5) is used to place the material at the loading position through the limiting device on the conveyor belt line (2) and at the same time make the material located directly below the camera component of the visual device (3). The visual device (3) is used to identify the type of material. The conveyor belt line (2) is used to transport the material and sort the material according to the identification result of the visual device (3).

2. A visual sorting training platform according to claim 1, characterized in that: The feeding device (4) comprises a material bin (401) and a servo motor (405) fixed to the bottom of the material bin (401); a material shifting rod (406) is arranged in the material bin (401); an output shaft of the servo motor (405) is located in the material bin (401) and is fixedly connected to the material shifting rod (406); a through slot (402) is provided on one side of the material bin (401); a matching material receiving trough body (403) is fixed to the bottom of the through slot (402); a limiting plate (404) is arranged in the material receiving trough body (403).

3. A visual sorting training platform according to claim 2, characterized in that: The material bin (401) is fixed to the stand (1) via a connecting frame (407).

4. A visual sorting training platform according to claim 1, characterized in that: The loading device (5) comprises a support (501) and a rotating cylinder (502) fixed to the top of the support (501); a first cylinder (503) is fixed to the rotating end of the rotating cylinder (502); a second cylinder (505) is fixed to the output shaft of the first cylinder (503); and the output shaft of the second cylinder (505) faces the stand (1) and is fixed with a pneumatic clamp (504).

5. The visual sorting training platform according to claim 1, characterized in that: The visual device (3) comprises an industrial computer (304) and a rod (301) fixed to the top of a stand (1); a bracket (302) is connected to the rod (301); a camera (303) is fixed to one side of the bracket (302); a lens of the camera (303) points toward the conveyor belt line (2) and the camera (303) is connected to the industrial computer (304) via a cable.

6. A visual sorting training platform according to claim 5, characterized in that: The conveyor line (2) comprises a belt conveyor (201) fixed to the top of a stand (1), the belt conveyor (201) being provided with at least one group of sorting components (203), the limiting device comprising a positioning plate (202) fixed to the top of a material entry end of the belt conveyor (201), a positioning hole (2021) being provided at the top of the positioning plate (202), and the positioning hole (2021) being located directly below a lens of a camera (303).

7. A visual sorting training platform according to claim 6, characterized in that: The sorting assembly (203) comprises a third cylinder (2031) and a material storage tank body (2032); the third cylinder (2031) is fixed to one side of the belt conveyor (201); and the material storage tank body (2032) is fixed to the other side of the belt conveyor (201) and corresponds to the position of the third cylinder (2031).

8. The visual sorting training platform according to claim 5, characterized in that: The bracket (302) comprises at least one set of mounting plates (3021) sleeved on the periphery of the rod body (301); a first locking screw (3022) is threadedly connected to one side of the mounting plate (3021) for locking the mounting plate (3021); a fixing rod (3023) is horizontally penetrated through the mounting plate (3021); the camera (303) is fixed on the fixing rod (3023); and a second locking screw (3024) is threadedly connected to the other side of the mounting plate (3021) for locking the fixing rod (3023).

Images