Barrel overturning mechanism based on image recognition

Abstract

The utility model relates to the technical field of turnover equipment, and discloses a barrel turnover mechanism based on image recognition, which comprises a conveying belt, a mounting bracket, an overlook camera, a head-up camera, a clamping turnover component, a position sensor and a control component, and the mounting bracket and the clamping turnover component are sequentially arranged along the conveying direction of the conveying belt. An overlook camera and a head-up camera are installed on the installation support, the position sensor is arranged corresponding to the position of the clamping and overturning assembly, and the overlook camera, the head-up camera, the position sensor and the clamping and overturning assembly are all in signal connection with the control assembly. The overlook camera and the head-up camera which are arranged above the conveying belt are used for collecting images of conveyed objects passing through the conveying belt respectively, so that the size and the height of the conveyed objects are obtained, and the control assembly controls working parameters of the clamping and overturning assembly based on the size and the height of the conveyed objects. The clamping and overturning assembly can stably clamp the conveyed objects, and then overturning of the conveyed objects of various different models can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to overturning equipment technical field, in particular to a kind of overturning mechanism based on image recognition. BACKGROUND

[0002] At present, before the cleaning of medicine barrel, it is usually needed to be overturned. In the prior art, the batch overturning of medicine barrel is operated by corresponding overturning equipment, but the existing overturning equipment can only meet the overturning of single model medicine barrel. For example, the patent application with the announcement number CN221587152U discloses a medicine barrel overturning mechanism and medicine barrel processing equipment. The medicine barrel overturning mechanism comprises a base, a medicine barrel picking assembly and an overturning driving assembly arranged on the base. The medicine barrel picking assembly is used to pick up the medicine barrel and has a movable stroke relative to the base. The overturning driving assembly is connected with the medicine barrel picking assembly, and is used to drive the medicine barrel picking assembly to rotate relative to the base, so that the first surface of the medicine barrel on the medicine barrel picking assembly can be rotated from upward arrangement to downward arrangement. The technical solution provided by the patent application can effectively reduce the labor intensity and improve the processing efficiency of medicine barrel. However, the above technical solution can only meet the overturning of single model medicine barrel. When there are multiple medicine barrels with different sizes, the overturning mechanism cannot be adjusted in time according to the size and height of the medicine barrel. Therefore, how to adapt to the overturning of multiple medicine barrels with different models is a technical problem that needs to be solved urgently. SUMMARY

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide an overturning mechanism based on image recognition to adapt to the overturning of multiple conveying objects (barrels) with different models.

[0004] The utility model adopts the following technical solutions:

[0005] An overturning mechanism based on image recognition comprises a conveying belt, a mounting bracket, a top-view camera, a horizontal-view camera, a clamping and overturning assembly, a position sensor and a control assembly. The mounting bracket and the clamping and overturning assembly are arranged in sequence along the conveying direction of the conveying belt. The top-view camera and the horizontal-view camera are installed on the mounting bracket. The position sensor is arranged corresponding to the position of the clamping and overturning assembly, and is used to collect the position information of the conveying object on the conveying belt. The signal output ends of the top-view camera, the horizontal-view camera and the position sensor are connected with the signal input end of the control assembly. The signal output end of the control assembly is connected with the signal input end of the clamping and overturning assembly. The control assembly is used to control the clamping and overturning assembly to stably clamp and overturn the conveying object according to the size of the conveying object collected by the top-view camera, the height of the conveying object collected by the horizontal-view camera and the position information of the conveying object collected by the position sensor.

[0006] Preferably, the mounting bracket comprises a door-shaped frame body and an L-shaped rod; the door-shaped frame body is arranged above the conveying belt, the L-shaped rod is fixedly connected with the middle part of the door-shaped frame body, the overhead camera is mounted at the lower end of the door-shaped frame body, and the heads-up camera is mounted on the L-shaped rod.

[0007] Preferably, the clamping and overturning assembly comprises a clamping and overturning structure, the clamping and overturning structure comprises a supporting unit, a vertical moving unit, a rotating unit and a clamping unit; the upper end of the supporting unit is fixedly mounted with the vertical moving unit, the rotating unit is assembled on the vertical moving unit, the clamping unit is assembled on the rotating unit, and the signal output end of the control assembly is connected with the signal input ends of the vertical moving unit, the rotating unit and the clamping unit.

[0008] Preferably, the supporting unit is an H-shaped support.

[0009] Preferably, the vertical moving unit comprises a linear motor.

[0010] Preferably, the rotating unit comprises a rotating motor.

[0011] Preferably, the clamping unit comprises a mounting plate, a telescopic air cylinder and a clamping jaw; the mounting plate is arranged at the power output end of the rotating unit, the telescopic air cylinder is mounted on the mounting plate, and the telescopic end of the telescopic air cylinder is provided with the clamping jaw.

[0012] Preferably, the clamping and overturning structure is arranged in two, and the two clamping and overturning structures are symmetrically arranged on the two sides of the conveying belt.

[0013] Preferably, the control assembly comprises a PLC controller.

[0014] Preferably, the position sensor comprises one of an optical sensor, a laser sensor and an infrared sensor and a combination thereof.

[0015] Compared with the prior art, the utility model has the advantages that:

[0016] The overhead camera and the heads-up camera arranged above the conveying belt respectively collect images of the conveying objects, so that the size and height of the conveying objects are obtained; the control assembly controls the working parameters of the clamping and overturning assembly, such as clamping height and clamping force, based on the size and height of the conveying objects, so that the clamping and overturning assembly can stably clamp the conveying objects, and the overturning of conveying objects of various models can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description only show some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0018] Figure 1 FIG. 1 is a perspective view of a barrel turning mechanism based on image recognition according to an embodiment of the present application;

[0019] Figure 2 FIG. 4 is an electronic component connection schematic view of the barrel turning mechanism based on image recognition according to an embodiment of the present application.

[0020] Legend of reference signs:

[0021] 10, conveying belt;

[0022] 20, mounting bracket; 21, door-shaped frame body; 22, L-shaped rod piece;

[0023] 30, overhead camera;

[0024] 40, forward-looking camera;

[0025] 50, clamping and turning assembly; 510, clamping and turning structure; 511, support unit; 512, vertical movable unit; 513, rotating unit; 514, clamping unit; 5141, mounting plate; 5142, telescopic air cylinder; 5143, clamping jaw;

[0026] 60, position sensor;

[0027] 70, control assembly;

[0028] 80, medicine barrel. DETAILED DESCRIPTION

[0029] The embodiments of the present application will be described below through specific concrete examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present specification. The present application can also be implemented or applied through other different concrete embodiments, and each detail in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0030] In the description of the utility model, unless otherwise specified, the meaning of "multiple" is two or more than two;The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0031] In the description of the utility model, it should be pointed out that, unless otherwise specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected;It can be mechanically connected, or it can be electrically connected;It can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0032] The utility model will be further described in combination with the drawings of the specification.

[0033] The utility model embodiment provides a kind of based on image recognition's turnover mechanism, as shown in Figure 1 And Figure 2 The turnover mechanism based on image recognition includes conveying belt 10, installation support 20, overhead camera 30, flat-view camera 40, clamping turnover assembly 50, position sensor 60 and control assembly 70, installation support 20 and clamping turnover assembly 50 are sequentially arranged along the conveying direction of conveying belt 10, overhead camera 30 and flat-view camera 40 are installed on installation support, position sensor 60 is laid out corresponding to the position of clamping turnover assembly 50, for collecting the position information of conveying object on conveying belt 10, the signal output end of overhead camera 30, flat-view camera 40 and position sensor 60 is all connected with the signal input end of control assembly 70, the signal output end of control assembly 70 is connected with the signal input end of clamping turnover assembly 50, control assembly 70 is used to control clamping turnover assembly 70 to stably clamp conveying object and overturn according to the size of conveying object collected by overhead camera 30, the height of conveying object collected by flat-view camera 40 and the position information of conveying object collected by position sensor 60.

[0034] It should be noted that the way the overhead camera 30 and the horizon camera 40 collect the size and height of the conveying object is that image processing algorithms are built in the overhead camera 30 and the horizon camera 40. In the measurement of industrial parts, edge detection and contour analysis, Hough transform and template matching are common image processing algorithms. Of course, target detection models (such as YOLO, Faster R-CNN, SSD), instance segmentation models (Mask R-CNN, U-Net), monocular depth estimation (MiDaS, DepthNet) and the like can also be used. The embodiment does not improve the specific size detection method of the overhead camera 30 and the horizon camera 40 here. In actual application, different image processing algorithms can be built in the overhead camera 30 and the horizon camera 40 according to different scene requirements to collect corresponding data.

[0035] In the embodiment, the medicine barrel 80 is taken as an example of the conveying object. The structure of the conveying belt 10 can include but is not limited to the belt conveying belt as shown in Figure 1 The medicine barrel 80 is conveyed on the conveying belt 10 and passes through the mounting bracket 20 first. The mounting bracket 20 is used to mount the overhead camera 30 and the horizon camera 40. The two cameras in different directions are used to collect the projection images of the medicine barrel 80 in two perpendicular directions, so as to better measure the size and height of the medicine barrel 80. The size of the medicine barrel 80 refers to the top area of the medicine barrel 80. The size and height data of the medicine barrel 80 collected by the overhead camera 30 and the horizon camera 40 are fed into the control component 70 in real time. The control component 70 determines the working parameters of the clamping and overturning component 70, such as clamping height and clamping force, according to the size and height data of the medicine barrel 80. For example only, the control component 70 can determine the working parameters of the clamping and overturning component 70 by pre-storing the sizes of all models of the medicine barrel 80 and their corresponding working parameters. The size and height data of the medicine barrel 80 are obtained in real time to determine the model of the current medicine barrel 80, and then the working parameters of the clamping and overturning component 70 are determined according to the model of the current medicine barrel 80. The position sensor 60 is used to collect the position of the medicine barrel 80. The position sensor 60 can be installed on the rack of the conveying belt 10 corresponding to the position of the clamping and overturning component 70. The position sensor 60 is generally located in front of the clamping and overturning component 70, as shown in Figure 1As shown, the position sensor 60 is located on the right side of the clamping and overturning assembly 70, so that the position information of the medicine barrel 80 is detected by the position sensor 60 before entering the working area of the clamping and overturning assembly 70, and is fed to the overturning assembly 70. Based on the acquired position information, the clamping and overturning assembly 70 controls the clamping and overturning assembly 70 to perform the clamping and overturning operation with the determined working parameters, that is, the clamping and overturning of the current medicine barrel 80 can be realized. When different models of medicine barrels 80 are transported through the conveying belt 10, the above process is performed each time, so that the barrel overturning mechanism based on image recognition can automatically adapt to medicine barrels of different models, sizes and heights, and the universality is improved.

[0036] In some embodiments, the mounting bracket 20 includes a door-shaped frame body 21 and an L-shaped rod 22; wherein the door-shaped frame body 21 is arranged above the conveying belt 10, the L-shaped rod 22 is fixedly connected with the middle part of the door-shaped frame body 21, the overhead camera 30 is installed at the lower end of the door-shaped frame body 21, and the plan-view camera 40 is installed on the L-shaped rod 22.

[0037] In this embodiment, the door-shaped frame body 21 is arranged, so that the mounting bracket 20 does not interfere with the normal operation of the conveying belt 10, and at the same time, the overhead camera 30 can be assembled on the door-shaped frame body 21, so that it can collect the overhead projection image of the conveyed object at a better angle, so as to accurately identify the size of the conveyed object. The L-shaped rod 22 is fixedly connected with the door-shaped frame body 21, and the plan-view camera 40 installed on the L-shaped rod 22 has a certain distance from the conveyed object and is perpendicular to the height direction of the conveyed object, so as to better collect the front projection of the conveyed object, so as to accurately identify the height of the conveyed object.

[0038] In some embodiments, as shown in Figure 1 As shown, the clamping and overturning assembly 50 includes a clamping and overturning structure 510, which includes a supporting unit 511, a vertical moving unit 512, a rotating unit 513 and a clamping unit 514; wherein the upper end of the supporting unit 511 is fixedly installed with the vertical moving unit 512, the rotating unit 513 is assembled on the vertical moving unit 512, the clamping unit 514 is assembled on the rotating unit 513, and the signal output end of the control assembly 70 is connected with the signal input ends of the vertical moving unit 512, the rotating unit 513 and the clamping unit 514.

[0039] The working principle of the clamping and overturning assembly 50 is as follows: the supporting unit 511 serves to support the vertical moving unit 512, the vertical moving unit 512 serves to adjust the clamping height of the clamping unit 514, the clamping force of the clamping unit 514 is adjusted by the clamping unit 514 itself, and the specific clamping height and clamping force are controlled by the control assembly 70. After the clamping height and clamping force are determined, the vertical moving unit 512 controls the clamping unit 514 to move to the set clamping height, then the clamping unit 514 clamps the medicine barrel 80 at the set clamping force, after the clamping is stable, the clamping unit 514 is further lifted by the vertical moving unit 512 to lift the medicine barrel 80 from the conveying belt 10, and the lifting height meets the requirement that the medicine barrel 80 does not contact the conveying belt 10 when it is overturned by 180°. Then, the rotating unit 513 works to drive the clamping unit 514 to overturn by 180°, so as to realize the 180° overturning operation of the medicine barrel 80, and then the vertical moving unit 512 is reset (initial state), the clamping unit 514 is also reset (initial state), the medicine barrel 80 is released, and falls back to the conveying belt 10.

[0040] It should be noted that when the clamping and overturning assembly 50 works, the conveying belt 10 is preferably in a stop state, and after the medicine barrel 80 is overturned and falls back, it is re-operated.

[0041] For example, the supporting unit 511 can be an H-shaped support. The vertical moving unit 512 can be a linear motor. The rotating unit 513 can be a rotating motor.

[0042] In some embodiments, the clamping unit 514 includes a mounting plate 5141, a telescopic cylinder 5142, and a clamping jaw 5143, the mounting plate 5141 is arranged on the power output end of the rotating unit 513, the telescopic cylinder 5142 is mounted on the mounting plate, and the telescopic end of the telescopic cylinder 5142 is provided with the clamping jaw 5143.

[0043] The clamping unit 514 is a clamping component with a telescopic function. The mounting plate 5141, as its name suggests, is used to mount the clamping unit 514 onto the rotating unit 513, allowing the clamping unit 514 to rotate under the action of the rotating unit 513. The telescopic cylinder 5142 drives the gripper 5143 to approach the medicine container 80. The travel distance of the telescopic cylinder 5142 is determined by the shape of the medicine container 80, primarily its size; the larger the medicine container 80, the shorter the travel distance of the telescopic cylinder 5142. The gripper 5143 can be a pneumatic / electric gripper. After the gripper 5143 approaches the medicine container 80, under pneumatic / electric action, the gripper 5143 clamps the medicine container 80 with a set clamping force, completing one round of clamping operation. Subsequently, lifting, rotating, and lowering actions can be performed. After the above actions are completed, the clamping unit 514 is reset. During the reset process, the clamp 5143 is released first, so that the medicine barrel 80 falls onto the conveyor belt 10. Then the telescopic cylinder 5142 is reset to prevent the clamp 5143 or the telescopic cylinder 5142 from interfering with the transport of the medicine barrel 80 on the conveyor belt 10.

[0044] In some embodiments, such as Figure 1 As shown, there are two clamping and flipping structures 510, which are symmetrically arranged on both sides of the conveyor belt 10. It should be noted that when there are two clamping and flipping structures 510, the two clamping and flipping structures 510 can share a single support unit (i.e., an H-shaped bracket).

[0045] In some embodiments, the control component 70 may be a PLC controller.

[0046] In some embodiments, the position sensor 60 includes one or a combination of a photoelectric sensor, a laser sensor, and an infrared sensor.

[0047] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. An image recognition-based drum turning mechanism, characterized by, The device comprises a conveying belt, a mounting bracket, a top-view camera, a flat-view camera, a clamping and overturning assembly, a position sensor and a control assembly. The mounting bracket and the clamping and overturning assembly are sequentially arranged along the conveying direction of the conveying belt. The top-view camera and the flat-view camera are mounted on the mounting bracket. The position sensor is arranged corresponding to the position of the clamping and overturning assembly and is used to collect the position information of the conveyed objects on the conveying belt. The signal output ends of the top-view camera, the flat-view camera and the position sensor are connected with the signal input end of the control assembly. The signal output end of the control assembly is connected with the signal input end of the clamping and overturning assembly. The control assembly is used to control the clamping and overturning assembly to stably clamp and overturn the conveyed objects according to the size of the conveyed objects collected by the top-view camera, the height of the conveyed objects collected by the flat-view camera and the position information of the conveyed objects collected by the position sensor.

2. The image recognition based barrel turning mechanism of claim 1, wherein, The mounting bracket comprises a door-shaped frame body and an L-shaped rod. The door-shaped frame body is arranged above the conveying belt. The L-shaped rod is fixedly connected with the middle part of the door-shaped frame body. The top-view camera is mounted on the lower end of the door-shaped frame body. The flat-view camera is mounted on the L-shaped rod.

3. The image recognition based barrel turning mechanism of claim 1, wherein, The clamping and overturning assembly comprises a clamping and overturning structure. The clamping and overturning structure comprises a supporting unit, a vertical moving unit, a rotating unit and a clamping unit. The upper end of the supporting unit is fixedly mounted with the vertical moving unit. The rotating unit is assembled on the vertical moving unit. The clamping unit is assembled on the rotating unit. The signal output end of the control assembly is connected with the signal input ends of the vertical moving unit, the rotating unit and the clamping unit.

4. The image recognition based barrel turning mechanism of claim 3, wherein, The supporting unit is an H-shaped bracket.

5. The image recognition based barrel turning mechanism of claim 3, wherein, The vertical moving unit comprises a linear motor.

6. The image recognition based barrel turning mechanism of claim 3, wherein, The rotating unit comprises a rotating motor.

7. The image recognition based barrel turning mechanism of claim 3, wherein, The clamping unit comprises a mounting plate, a telescopic air cylinder and a clamping jaw. The mounting plate is arranged on the power output end of the rotating unit. The telescopic air cylinder is mounted on the mounting plate. The telescopic end of the telescopic air cylinder is arranged with the clamping jaw.

8. The image recognition based barrel turning mechanism of claim 3, wherein, The clamping and overturning structure is arranged in two. The two clamping and overturning structures are symmetrically arranged on the two sides of the conveying belt.

9. The image recognition based barrel tipping mechanism of claim 1, wherein, The control assembly comprises a PLC controller.

10. The image recognition based barrel tipping mechanism of claim 1, wherein, The position sensor comprises one of a photoelectric sensor, a laser sensor and an infrared sensor and a combination thereof.

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