Dual-camera linkage industrial raw material screening device

Abstract

The utility model belongs to screening equipment technical field discloses a kind of industrial raw material screening equipment of double camera linkage, including the conveyor belt for automatically conveying industrial raw material, two-axis moving mechanism is installed at the route of conveyor belt, first camera is installed in the output end of two-axis moving mechanism, multi-axis robot is installed in the side of conveyor belt, first mounting plate is installed in the output end of multi-axis robot, second camera and suction tube are installed in the first mounting plate, suction tube is connected with negative pressure suction machine in power end, the utility model is different from the common screening mode of prior art, using double camera carries out industrial raw material screening, image is collected by multi-view angle cooperation, significantly reduce the risk of error detection and missed detection;Meanwhile, single shift processing capacity is improved compared with manual screening, efficiency and flexibility are considered, and non-contact detection can reduce secondary damage to fragile raw materials, improve raw material utilization.

Description

Technical Field

[0001] This utility model belongs to the field of screening equipment technology, specifically relating to an industrial raw material screening device with dual-camera linkage. Background Technology

[0002] In industrial production, raw material screening is a key step in ensuring the quality of subsequent processing. In particular, for industrial raw materials such as ores, plastic granules, and small metal blanks, it is necessary to classify or remove unqualified products by detecting their appearance defects, dimensional deviations, impurities, and other characteristics.

[0003] The common screening methods currently used are as follows:

[0004] 1. Relying on manual screening is not only labor-intensive and inefficient (the processing capacity per shift is usually less than 1 / 5 of that of automated equipment), but also suffers from poor consistency in identifying minor defects (such as ore cracks less than 0.5mm and discolored spots on plastic particles) due to human fatigue and subjective judgment differences. The false detection rate is often as high as 10% or more.

[0005] 2. Purely mechanical screening (such as screen grading and gravity separation) can only separate raw materials based on single physical properties such as size and density. It cannot identify complex features such as appearance defects (such as surface scratches on metal billets) and material differences (such as high / low grade ores of the same size), which limits the screening accuracy and makes it difficult to meet the requirements of high-end manufacturing for the purity of raw materials.

[0006] 3. Lack of real-time detection and feedback mechanism: When the characteristics of raw materials (such as particle size distribution and impurity type) fluctuate, manual shutdown is required to adjust equipment parameters (such as replacing screens and adjusting sorting thresholds). The response is slow and the flexibility is poor. In particular, in the production scenario of multiple varieties and small batches, frequent changes will significantly reduce production efficiency. In addition, for raw materials with irregular shape or fragile materials (such as ceramic substrates and glass microspheres), mechanical screening is prone to secondary damage due to collision and compression, which further affects the utilization rate of raw materials. Utility Model Content

[0007] In view of the problems mentioned above in the background technology, the purpose of this utility model is to provide an industrial raw material screening device with dual cameras linked together.

[0008] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model is as follows:

[0009] An industrial raw material screening device with dual camera linkage includes a conveyor belt for automatically conveying industrial raw materials. A two-axis moving mechanism is installed along the path of the conveyor belt. A first camera is installed at the output end of the two-axis moving mechanism. A multi-axis robot is installed beside the conveyor belt. A first mounting plate is installed at the output end of the multi-axis robot. A second camera and a suction tube are installed on the first mounting plate. The power end of the suction tube is connected to a negative pressure suction machine.

[0010] Further specifying, the two-axis moving mechanism includes a gantry bracket, with motor mounting plates installed on both sides of the gantry bracket. Each of the two motor mounting plates is equipped with a synchronous motor, and the output ends of each of the two synchronous motors are equipped with a first lead screw. Each of the two first lead screws is threadedly connected to a moving block. A first guide rod is slidably sleeved inside each of the two moving blocks. The first guide rod is fixedly installed between the gantry bracket and the motor mounting plates. One of the moving blocks is equipped with a servo motor, and the output end of the servo motor is connected to a second lead screw. The other end of the second lead screw is mounted to the opposite moving block via a bearing. The second lead screw is threadedly connected to a mounting base, and a second guide rod is slidably sleeved on the mounting base. The second guide rod is fixedly installed between the two moving blocks. A second mounting plate is installed on the mounting base, and the first camera is mounted on the second mounting plate.

[0011] Furthermore, both the first mounting plate and the second mounting plate are equipped with supplementary lighting.

[0012] Furthermore, the multi-axis robot is a six-axis robot.

[0013] Further specified, the working end face of the straw protrudes at least ten centimeters beyond the camera plane of the second camera, the straw is a wire-wound tube, and the tube body of the straw is movably mounted on the side of the multi-axis robot.

[0014] The beneficial effects of using this utility model are as follows:

[0015] This invention differs from common screening methods in the prior art by using dual cameras for industrial raw material screening. Through multi-view collaborative image acquisition, it comprehensively covers the three-dimensional surface of the raw materials, effectively eliminating blind spots in single-view detection, improving the recognition rate of minor defects, and significantly reducing the risk of false detection and missed detection. At the same time, the single-shift processing capacity is increased compared to manual screening, and there is no need for frequent shutdowns to adjust parameters. When switching between multiple types of raw materials, only a preset program needs to be called, balancing efficiency and flexibility. In addition, non-contact detection can reduce secondary damage to fragile raw materials and improve raw material utilization.

[0016] This invention, while performing screening, works in conjunction with the movements of a multi-axis robot and a straw to automatically and effectively remove raw materials within the straw's adsorption range, ensuring the normal operation of subsequent workstations. Attached Figure Description

[0017] This utility model can be further illustrated by the non-limiting embodiments given in the accompanying drawings;

[0018] Figure 1 This is a schematic diagram of the structure of an embodiment of an industrial raw material screening device with dual-camera linkage according to the present invention;

[0019] Figure 2 for Figure 1 Enlarged structural diagram at point A in the middle;

[0020] Figure 3 for Figure 1 Enlarged structural diagram at point B;

[0021] The symbols for the main components are explained below:

[0022] 1. Conveyor belt; 2. Two-axis moving mechanism; 3. First camera; 4. Multi-axis robot; 5. First mounting plate; 6. Second camera; 7. Straw;

[0023] 21. Gantry bracket; 22. Motor mounting plate; 23. Synchronous motor; 24. First lead screw; 25. Moving block; 26. First guide rod; 27. Servo motor; 28. Second lead screw; 29. ​​Mounting base; 210. Second guide rod; 211. Second mounting plate; 212. Fill light. Detailed Implementation

[0024] To enable those skilled in the art to better understand this utility model, the technical solution of this utility model will be further described below in conjunction with the accompanying drawings and embodiments. Example

[0025] like Figure 1 , Figure 2 , Figure 3 As shown, this utility model discloses an industrial raw material screening device with dual camera linkage, including a conveyor belt 1 for automatically conveying industrial raw materials, a two-axis moving mechanism 2 installed along the path of the conveyor belt 1, a first camera 3 installed at the output end of the two-axis moving mechanism 2, a multi-axis robot 4 installed beside the conveyor belt 1, a first mounting plate 5 installed at the output end of the multi-axis robot 4, a second camera 6 and a suction pipe 7 installed on the first mounting plate 5, a negative pressure suction machine connected to the power end of the suction pipe 7, and the multi-axis robot 4 being located at the next work station after the two-axis moving mechanism 2.

[0026] In this implementation case, industrial raw materials are discharged onto conveyor belt 1 from the previous process. It should be emphasized and understood by those in the relevant field that the discharge speed of the raw materials is adapted to the conveying speed of conveyor belt 1 and the working frequency of the subsequent first camera 3, second camera 4, and multi-axis moving mechanism 4. To further clarify, the data acquisition technology of the cameras and the multi-axis robot are publicly available technologies. The cameras that can be directly purchased and used in this case include, but are not limited to, the LXPS-HS0222-B / C and LXPS-HS0223-B series binocular structured light cameras and the MV-DB1308-05H Hikvision infrared binocular industrial camera. The multi-axis robot 4 includes, but is not limited to, the FANUC M-20iA / 35M and KUKA KR 6 R900sixx models. The negative pressure suction machine includes, but is not limited to, the ZGXF series.

[0027] During the transfer of raw materials by conveyor belt 1, the slight vibration caused by the operation of conveyor belt 1 can achieve a certain leveling effect. When passing through the two-axis moving mechanism 2, the first camera 3 installed on the two-axis moving mechanism 2 collects image data. It should be noted that under the effect of the two-axis moving mechanism 2, the feedback data of the first camera 3 or the specification data of the raw materials can be linked to change the position of the first camera 3 in real time. This ensures that the first camera 3 can clearly acquire all the data of the raw materials before the raw materials move out of its data range. When the acquired data indicates that there is a problem with the current raw materials or that the data is still unclear, the data is transmitted to the second camera 6, and the second camera 6 acquires further data.

[0028] After the raw materials are conveyed through the data acquisition range of the first camera 3, the multi-axis robot 4 operates based on the data fed back by the first camera 3. Materials that the first camera 3 can completely determine as qualified are directly released. When the first camera 3 completely determines that a material is unqualified, the multi-axis robot 4, combining the movement information of the conveyor belt 1 and the position information fed back by the first camera 3, along with the image acquisition from the second camera 6, moves the suction tube 7 to the location of the unqualified product. Simultaneously, as the multi-axis robot 4 moves due to the presence of unqualified products, the negative pressure suction machine operates synchronously. Therefore, when the suction tube 7 moves to the designated position, the unqualified product can be directly removed. The product is adsorbed into the non-conforming product placement area through the suction tube 7. When the multi-axis robot 4 moves because the first camera 3 cannot determine the product, the negative pressure suction machine temporarily stops running, and the second camera 6 makes a second determination. Moreover, because the detection angle range of the second camera 6 is more flexible and it can get closer to the raw material, the detection accuracy is higher. With double determination, the screening effect is guaranteed. If the second camera 6 still cannot determine the product, it is considered non-conforming, and the negative pressure suction machine immediately runs. Before the non-conforming product moves out of the adsorption range, the raw material is adsorbed into the non-conforming product placement area. If it can be determined to be qualified, it is released to the next process. Example

[0029] like Figure 1 As shown, the two-axis moving mechanism 2 includes a gantry bracket 21. Motor mounting plates 22 are installed on both sides of the gantry bracket 21. Synchronous motors 23 are installed on both motor mounting plates 22. First lead screws 24 are installed at the output ends of both synchronous motors 23. Moving blocks 25 are threadedly connected to both first lead screws 24. First guide rods 26 are slidably sleeved inside both moving blocks 25. The first guide rods 26 are fixedly installed between the gantry bracket 21 and the motor mounting plates 22. A servo motor 27 is installed on one of the moving blocks 25. A second lead screw 28 is connected to the output end of the servo motor 27. The other end of the second lead screw 28 is installed on the opposite moving block 25 through a bearing. A mounting seat 29 is threadedly connected to the second lead screw 28. A second guide rod 210 is slidably sleeved on the mounting seat 29. The second guide rod 210 is fixedly installed between the two moving blocks 25. A second mounting plate 211 is installed on the mounting seat 29. The first camera 3 is installed on the second mounting plate 211.

[0030] In this embodiment, the synchronous operation of the two synchronous motors 23 enables the lifting and lowering movement of the moving block 25. The first guide rod 26 ensures the stability of the movement and ensures that the moving block 25 will not rotate under the effect of the thread, thus enabling it to cooperate with the first lead screw 24 for lifting and lowering, thereby achieving the axial movement of the first guide rod 26. When the servo motor 27 mounted on the moving block 25 runs, it can drive the second lead screw 28 to rotate. Similarly, under the effect of the second guide rod 210, the mounting base 29 can move in the axial direction of the second guide rod 210, thereby achieving the purpose of two-axis movement. Under this two-axis movement, it can... To ensure that the data acquisition range of the first camera 3 covers the conveyor belt 1, the two-axis moving mechanism 2 can be upgraded to a three-axis moving mechanism, that is, the conveyor belt 1 can move in an additional direction. The effect of this movement is that the first camera 3 can follow the material for a certain distance, which is suitable for situations where the raw material cannot be quickly identified. However, this requires relatively high parameter settings because after identification, it needs to return to its original position immediately and quickly identify the raw material during the return process. If there is still unidentifiable raw material during the return process, it can no longer follow and is directly transmitted to the second camera 6 for screening. Example

[0031] like Figure 1 , Figure 2 , Figure 3 As shown, supplementary lights 212 are installed on the first mounting plate 5 and the second mounting plate 211.

[0032] In this implementation case, the supplementary lights 212 on the first mounting plate 5 and the second mounting plate 211 adopt a ring array or a single-point layout. The ring layout has a larger supplementary lighting range, but the corresponding installation range requirement is higher, while the single-point installation range is smaller, but the corresponding supplementary lighting range is smaller. Therefore, the choice can be made according to the requirements, but it must be able to illuminate the data acquisition range of the first camera 3 and the camera 6. This includes, but is not limited to, the use of 6500K cool white LED beads (single power 3W). Furthermore, supplementary lights that can adjust the brightness are selected. The independent dimming function of the supplementary lights on the dual mounting plates can be adapted to materials with different reflective characteristics (such as lowering the brightness of metal parts to prevent reflection, and increasing the brightness of dark plastic parts to enhance contrast). Ultimately, this improves the signal-to-noise ratio of the images acquired by the dual cameras. Even in the complex lighting environment of the workshop, it can still maintain stable identification of minute defects at the 0.2mm level, providing a reliable image basis for subsequent screening accuracy. Example

[0033] like Figure 1 As shown, multi-axis robot 4 is a six-axis robot.

[0034] In this implementation case, the multi-axis robot 4 adopts a six-axis serial structure. Its base is fixed to the side of the conveyor belt 1. The first axis (waist axis) can rotate ±180° to cover the entire area of ​​the conveyor belt. The second to sixth axes are driven by precision harmonic reducers. The six-axis linkage can flexibly adjust the end posture to adapt to any placement angle of the raw materials on the conveyor belt (such as tilted ore or stacked plastic granules), ensuring that the second camera 6 can capture images from the optimal perspective. The large range of rotation of the waist axis, combined with the long working radius, can cover the conveyor belt area. The redundant degrees of freedom of the six-axis structure can avoid interference with the conveyor belt, frame and other equipment, significantly improving the automation integration and operational stability of the screening system. Example

[0035] like Figure 3 As shown, the working end face of the straw 7 protrudes at least ten centimeters beyond the camera plane of the second camera 6. The straw 7 is a wire-wound tube, and the tube body of the straw 7 is movably mounted on the side of the multi-axis robot 4.

[0036] In this implementation case, the working end face of the straw 7 protrudes 12 cm beyond the camera plane of the second camera 6, ensuring that the straw will not obstruct the field of view of the second camera 6 during suction operations, and that the material will not come into contact with the second camera when suctioning materials. The straw 7 adopts a steel wire wound tube structure, with the tube body made of high-strength spring steel wire spirally wound and the outer layer covered with wear-resistant PVC material. This ensures that the tube body can be flexibly bent with the movement of the multi-axis robot 4, while also having sufficient rigidity to prevent the tube body from collapsing during negative pressure suction. The tube body is movably installed on the side of the multi-axis robot 4 through an adjustable buckle. The buckle has positioning holes and other structures along the axial direction of the robot arm, which can adjust the installation height of the straw 7 according to the size of the material. Combined with the robot's precise positioning, the success rate of NG product suction is improved.

[0037] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. An industrial raw material screening device with dual camera linkage, comprising a conveyor belt (1) for automatically conveying industrial raw materials, characterized in that: A two-axis moving mechanism (2) is installed along the path of the conveyor belt (1). A first camera (3) is installed at the output end of the two-axis moving mechanism (2). A multi-axis robot (4) is installed on the side of the conveyor belt (1). A first mounting plate (5) is installed at the output end of the multi-axis robot (4). A second camera (6) and a suction pipe (7) are installed on the first mounting plate (5). A negative pressure suction machine is connected to the power end of the suction pipe (7).

2. The industrial raw material screening equipment with dual-camera linkage according to claim 1, characterized in that: The two-axis moving mechanism (2) includes a gantry bracket (21), on both sides of the gantry bracket (21) are motor mounting plates (22), and on both motor mounting plates (22) are synchronous motors (23). The output ends of both synchronous motors (23) are equipped with first lead screws (24), and both first lead screws (24) are threadedly connected to moving blocks (25). First guide rods (26) are slidably sleeved inside the moving blocks (25) on both sides. The first guide rods (26) are fixedly installed between the gantry bracket (21) and the motor mounting plates (22). One of the... The moving block (25) is equipped with a servo motor (27), the output end of which is connected to a second lead screw (28). The other end of the second lead screw (28) is mounted on the moving block (25) on the opposite side via a bearing. The second lead screw (28) is threadedly connected to a mounting base (29). The mounting base (29) is slidably fitted with a second guide rod (210). The second guide rod (210) is fixedly installed between the moving blocks (25) on both sides. The mounting base (29) is equipped with a second mounting plate (211), and the first camera (3) is mounted on the second mounting plate (211).

3. The industrial raw material screening equipment with dual-camera linkage according to claim 2, characterized in that: The first mounting plate (5) and the second mounting plate (211) are equipped with supplementary lights (212).

4. The industrial raw material screening equipment with dual-camera linkage according to claim 3, characterized in that: The multi-axis robot (4) is a six-axis robot.

5. The industrial raw material screening equipment with dual-camera linkage according to claim 4, characterized in that: The working end face of the straw (7) protrudes at least ten centimeters from the camera plane of the second camera (6). The straw (7) is a wire-wound tube, and the tube body of the straw (7) is movably installed on the side of the multi-axis robot (4).

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