Device for sorting tableware through machine vision

Abstract

A device for sorting tableware through machine vision comprises a conveying belt, a shell, a sorting mechanical arm, an installation frame, a CCD camera and an auxiliary mechanism, the shell is arranged outside the conveying belt, the sorting mechanical arm is installed at the position, close to one end, of the shell, and the installation frame is fixed to the position, above the conveying path of the conveying belt, of the shell. A CCD camera for shooting a conveying path is mounted at the bottom end of the mounting frame, and an auxiliary mechanism is mounted at the front end of the conveying path of the conveying belt; the auxiliary mechanism comprises arc-shaped blocks, threaded holes and a transverse plate, the transverse plate fixed to the shell is arranged above the front end of the conveying belt, and a plurality of arc-shaped blocks are installed at the bottom end of the transverse plate. And the tableware is preliminarily guided and further limited, so that the tableware is arranged in order and accurately enters a conveying path, a good foundation is provided for subsequent sorting, and the overall sorting smoothness is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the device of sorting tableware, specifically a kind of machine vision sorting tableware device. BACKGROUND

[0002] In the field of catering industry and tableware recycling and processing, the sorting of tableware is an important and basic task. The traditional tableware sorting method mainly relies on manual operation. When manually sorting, workers need to observe the type of tableware, whether there is damage, stain condition and other conditions by naked eye, and then manually classify tableware of different states and types.

[0003] This manual sorting method has many drawbacks. First, manual sorting is inefficient. With the rapid development of the catering industry, the number of tableware to be sorted is huge every day, and manual sorting cannot meet the large-scale and efficient sorting demand, resulting in long sorting time and affecting the speed of the overall work process. Second, the accuracy of manual sorting is easily affected by human factors. Long-term repetitive work can cause workers to become tired, reducing their attention and increasing the error rate of sorting, which may mix damaged tableware into qualified tableware or sort different types of tableware incorrectly, affecting subsequent use or processing. Third, manual sorting is costly, requiring a large amount of manpower, which not only includes workers' wages, but also involves training, management and other costs.

[0004] With the continuous progress of technology, automated sorting technology has been gradually applied in various fields. For example, machine vision sorting technology is applied, but the existing machine vision tableware sorting device is not conducive to the collection of visual information when sorting tableware, resulting in sorting failure and being not conducive to use. UTILITY MODEL CONTENT

[0005] To overcome the shortcomings of the prior art, the utility model provides a machine vision tableware sorting device to effectively solve the problems mentioned in the background art.

[0006] To achieve the above purpose, the utility model provides the following technical scheme: the utility model includes conveying belt, shell, sorting mechanical arm, mounting bracket, CCD camera and auxiliary mechanism, the outside of conveying belt is provided with shell, shell is installed with sorting mechanical arm near one end position, shell is fixed with mounting bracket above conveying belt conveying path, the bottom end of mounting bracket is installed with CCD camera for shooting conveying path, the front end of conveying belt conveying path is installed with auxiliary mechanism;

[0007] The auxiliary mechanism comprises an arc-shaped block, a guide plate, a rotating shaft, a fastening knob, an adjusting groove, a threaded hole and a transverse plate, a transverse plate fixed on the shell is arranged above the front end of the conveying belt, a plurality of arc-shaped blocks are installed at the bottom end of the transverse plate, the arc-shaped surfaces of the arc-shaped blocks correspond to the conveying direction of the conveying belt, two guide plates are rotationally connected to one side of the arc-shaped blocks, the guide plates are perpendicular to the surface of the conveying belt, and the guide plates are fixed to the transverse plate through the fastening knob.

[0008] Preferably, one end of the guide plate is connected to the horizontal surface of the arc-shaped block through the rotating shaft.

[0009] Preferably, the transverse plate is provided with an adjusting groove for adjusting the fastening knob.

[0010] Preferably, the center of the adjusting groove coincides with the center of the rotating shaft.

[0011] Preferably, the guide plate is provided with a threaded hole at the position corresponding to the fastening knob.

[0012] Preferably, the bottom end of the arc-shaped block and the guide plate is left with a gap from the upper surface of the conveying belt.

[0013] Beneficial effects: 1. The arc-shaped block and the guide plate in the auxiliary mechanism can preliminarily guide and further limit the tableware before the tableware enters the main area of the conveying belt, so that the tableware is arranged in order and accurately enters the conveying path, thereby providing a good foundation for subsequent sorting and improving the smoothness of the overall sorting.

[0014] 2. The angle of the guide plate can be adjusted through the rotating shaft and the fastening knob, the center of the adjusting groove coincides with the center of the rotating shaft, the angle of the guide plate can be accurately adjusted, the user can flexibly change the angle of the guide plate according to the size of different tableware and the conveying condition, and the adaptability of the equipment to different types of tableware is enhanced.

[0015] 3. The bottom end of the guide plate is left with a gap from the surface of the conveying belt, direct friction between the two is avoided, the guide plate can normally play a guiding role, the service life of the conveying belt is prolonged, and the equipment loss and maintenance cost are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation on the present application. In the drawings:

[0017] Fig. 1 It is a whole three-dimensional structure schematic view of the present application;

[0018] Fig. 2 It is a transverse plate top view of the present application;

[0019] Fig. 3 It is a guide plate installation structure schematic view of the present application;

[0020] The figure mark: 1, conveying belt; 2, shell; 3, sorting mechanical arm; 4, mounting bracket; 5, CCD camera; 6, auxiliary mechanism; 7, arc block; 8, guide plate; 9, rotating shaft; 10, fastening knob; 11, adjusting groove; 12, threaded hole; 13, cross plate. DETAILED DESCRIPTION

[0021] The specific embodiments of the utility model are further explained in detail below. Figs. 1-3 The specific embodiments of the utility model are further explained in detail below.

[0022] Example one, by Figs. 1-3 The utility model provides a kind of device for sorting tableware by machine vision, including conveying belt 1, shell 2, sorting mechanical arm 3, mounting bracket 4, CCD camera 5 and auxiliary mechanism 6, the outside of conveying belt 1 is provided with shell 2, shell 2 is installed near sorting mechanical arm 3 at one end position, shell 2 is fixed with mounting bracket 4 above conveying path of conveying belt 1, the bottom end of mounting bracket 4 is installed with the CCD camera 5 of conveying path shooting, the front end of conveying path of conveying belt 1 is installed with auxiliary mechanism 6;

[0023] The auxiliary mechanism 6 includes arc block 7, guide plate 8, rotating shaft 9, fastening knob 10, adjusting groove 11, threaded hole 12 and cross plate 13, the cross plate 13 fixed on shell 2 is provided above the front end of conveying belt 1, the bottom end of cross plate 13 is installed with a plurality of arc blocks 7, the arc surface of arc block 7 corresponds the conveying direction of conveying belt 1, one side of arc block 7 is rotatably connected with two guide plates 8, guide plate 8 is perpendicular to the surface of conveying belt 1, and guide plate 8 is fixed with cross plate 13 by fastening knob 10.

[0024] Conveying belt 1: responsible for the conveying of tableware, the tableware is transmitted according to the set direction and speed.

[0025] Shell 2: located outside conveying belt 1, plays the role of protecting internal structure and isolating working area, and provides mounting base for other components.

[0026] Sorting mechanical arm 3: installed near one end position of shell 2, carries out sorting operation on tableware on conveying belt according to image information obtained by CCD camera 5, accurately grabs and places different types or states of tableware to specified position.

[0027] Mounting bracket 4: fixed above conveying path of conveying belt 1 of shell 2, is used to install CCD camera 5, to ensure that camera can stably shoot conveying path.

[0028] CCD camera 5: installed at the bottom end of mounting bracket 4, carries out real-time shooting on tableware on conveying belt 1, obtains image information, and transmits it to control system for analysis and processing.

[0029] Auxiliary mechanism 6: located at the front end of the conveying path of the conveying belt 1, comprising the following components:

[0030] Arc block 7: a plurality of arc blocks 7 are fixed at the bottom end of the cross plate 13, and the arc surfaces thereof correspond to the conveying direction of the conveying belt 1, so as to preliminarily guide and arrange the tableware conveyed.

[0031] Guide plate 8: one side of the arc block 7 is rotatably connected with two guide plates 8, the guide plates 8 are perpendicular to the surface of the conveying belt 1, the guide angle of the guide plates 8 to the tableware can be adjusted by rotating the guide plates 8, and the bottom end of the guide plate 8 is left with a gap from the upper surface of the conveying belt 1, so as to avoid direct friction with the conveying belt 1.

[0032] Pivot 9: one end of the guide plate 8 is connected with the horizontal surface of the arc block 7 through the pivot 9, so that the guide plate 8 can be flexibly rotated around the pivot 9.

[0033] Fastening knob 10: used for fixing the guide plate 8 with the cross plate 13, by tightening the fastening knob 10, the guide plate 8 can be kept at the set angle position.

[0034] Adjusting groove 11: provided on the cross plate 13 for adjusting the fastening knob 10, the center of the adjusting groove 11 coincides with the center of the pivot 9, so as to facilitate the user to adjust the angle of the guide plate 8 according to the actual demand.

[0035] Threaded hole 12: provided at the position of the guide plate 8 corresponding to the fastening knob 10, used in cooperation with the fastening knob 10 to realize the fixation of the guide plate 8.

[0036] Cross plate 13: fixed on the shell 2, located above the front end of the conveying belt 1, providing mounting support for the components such as the arc block 7 and the guide plate 8.

[0037] Working principle: the utility model uses, before the tableware is about to enter the main conveying area of the conveying belt 1, the auxiliary mechanism 6 plays an important role, the horizontal plate 13 fixed on the casing 2 above the front end of the conveying belt 1, the arc block 7 installed at the bottom end first carries out the preliminary guidance to the tableware, because the arc surface of arc block 7 corresponds with the conveying direction of the conveying belt 1, when the tableware is close, arc block 7 can guide the tableware to arrange neatly to a certain extent, make it enter the position more conducive to subsequent sorting. Meanwhile, the guide plate 8 rotatably connected on one side of arc block 7 through the pivot 9, can be adjusted according to the size of actual tableware and the conveying condition angle, user only needs to loosen the fastening knob 10, guide plate 8 can rotate around pivot 9, after adjusting to the appropriate angle, again, fastening knob 10 is screwed, guide plate 8 is fixed in the position (adjusting groove 11 center of circle and pivot 9 center of circle coincide, convenient accurate adjustment) corresponding to the adjusting groove 11 opened in horizontal plate 13. Guide plate 8 is perpendicular to the surface of the conveying belt 1, and its bottom end leaves a certain gap with the upper surface of the conveying belt 1, so that under the premise of not affecting the normal operation of the conveying belt 1, guide plate 8 can further limit and guide the tableware, ensure that the tableware enters the conveying path of the conveying belt 1 accurately, provide good prerequisite for subsequent visual identification and sorting operation.

[0038] Beneficial effect: guide order: arc block 7 and guide plate 8 in auxiliary mechanism 6, before the tableware enters the main area of the conveying belt, carry out preliminary guidance and further limit, make the tableware arrange neatly, accurately enter the conveying path, provide good foundation for subsequent sorting, improve the smoothness of overall sorting.

[0039] Flexible adjustment: guide plate 8 can be angle-adjusted through pivot 9 and fastening knob 10, and adjusting groove 11 and pivot 9 center of circle coincide to facilitate accurate adjustment, user can flexibly change the angle of guide plate 8 according to the size of different tableware and conveying condition, enhance the adaptability of equipment to different types of tableware.

[0040] Protect the equipment: the bottom end of guide plate leaves a gap with the surface of the conveying belt, avoids direct friction between the two, not only guarantees that guide plate normally plays a guiding role, but also prolongs the service life of the conveying belt, reduces equipment wear and maintenance cost.

[0041] Stable structure: the casing not only protects the internal structure, isolates the working area, but also provides a mounting base for other components, the horizontal plate is fixed on the casing, provides stable support for the arc block, guide plate and other components of the auxiliary mechanism, ensures that the whole device structure is stable, and guarantees the stable operation of the equipment.

[0042] The sorting principle is as follows: when the tableware is placed on the conveying belt 1 and starts to be conveyed, the CCD camera 5 at the bottom end of the mounting frame 4 above the conveying path of the conveying belt 1 starts to work. The CCD camera 5 continuously photographs the tableware on the conveying belt, converts the obtained optical image into a digital image signal, and rapidly transmits it to the control system connected thereto. The control system is pre-implanted with an image recognition algorithm for the characteristics of the tableware, which can extract and analyze the contour, shape, color, texture and other characteristics of the tableware in the digital image. By comparing with the standard characteristic data of various tableware stored in the system database, the specific type, state (such as whether damaged, stain degree, etc.) and accurate position information of the tableware on the conveying belt can be accurately identified.

[0043] Sorting execution stage

[0044] After the control system completes the analysis of the tableware image and obtains the related information, corresponding control instructions are immediately generated according to the information. The sorting mechanical arm 3 is closely connected with the control system and can receive the instructions in real time. The sorting mechanical arm 3 adjusts the joint angle, arm extension length and action posture of the end effector (such as a gripper) according to the received instructions. It uses its multi-degree-of-freedom motion characteristics to accurately position the tableware to be sorted on the conveying belt, then accurately grabs the tableware through the end effector, and places the grabbed tableware to the designated sorting area according to the target position set by the control system, completing a sorting operation. During the whole sorting process, the action accuracy and speed of the sorting mechanical arm 3 are accurately controlled by the control system to ensure the accuracy and efficiency of the sorting (this is the prior art).

[0045] Finally, it should be pointed out that the above-mentioned is only the preferred embodiment of the present application and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A machine vision utensil sorting device, comprising a conveyor belt (1), a shell (2), a sorting mechanical arm (3), a mounting frame (4), a CCD camera (5) and an auxiliary mechanism (6), characterized in that: The outer part of the conveying belt (1) is provided with a shell (2), the shell (2) is provided with a sorting mechanical arm (3) near one end position, the shell (2) is fixed with a mounting frame (4) above the conveying path of the conveying belt (1), the bottom end of the mounting frame (4) is provided with a CCD camera (5) for shooting the conveying path, and the front end of the conveying path of the conveying belt (1) is provided with an auxiliary mechanism (6); The auxiliary mechanism (6) comprises arc blocks (7), guide plates (8), shafts (9), fastening knobs (10), adjusting grooves (11), threaded holes (12) and cross plates (13), the front end of the conveying belt (1) is provided with a cross plate (13) fixed on the shell (2), the bottom end of the cross plate (13) is provided with a plurality of arc blocks (7), the arc surface of the arc block (7) corresponds to the conveying direction of the conveying belt (1), one side of the arc block (7) is rotatably connected with two guide plates (8), the guide plate (8) is perpendicular to the surface of the conveying belt (1), and the guide plate (8) is fixed with the cross plate (13) through the fastening knob (10).

2. The apparatus for machine vision sorting of tableware according to claim 1, wherein: One end of the guide plate (8) is connected with the horizontal surface of the arc block (7) through the shaft (9).

3. The apparatus for machine vision sorting of tableware according to claim 2, wherein: The cross plate (13) is provided with an adjusting groove (11) for adjusting the fastening knob (10).

4. The apparatus for machine vision sorting of tableware according to claim 3, wherein: The center of the adjusting groove (11) coincides with the center of the shaft (9).

5. The apparatus of claim 4, wherein: The guide plate (8) is provided with a threaded hole (12) corresponding to the position of the fastening knob (10).

6. The apparatus of claim 5, wherein: The bottom end of the arc block (7) and the guide plate (8) is provided with a gap on the upper surface of the conveying belt (1).

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