CN106408736B

CN106408736B - Coin sorting device based on machine vision and its operation method

Info

Publication number: CN106408736B
Application number: CN201610840866.2A
Authority: CN
Inventors: 张力; 苏高照; 吴佳豪; 张贵东
Original assignee: China Three Gorges University CTGU
Current assignee: Mengyin Jinhua Machinery Co ltd
Priority date: 2016-09-22
Filing date: 2016-09-22
Publication date: 2019-02-19
Anticipated expiration: 2036-09-22
Also published as: CN106408736A

Abstract

The invention mainly relates to Coin-sorting device and its operating method based on machine vision, device is mainly made of Currency output mechanism, coin conveying mechanism, Coin sorting mechanism, coin collection mechanism.Wherein Currency output mechanism comes out for the rambling coin of a pile one by one to tile, coin conveying mechanism, which is used to transport on coin, carries out image recognition immediately below camera, coin is put into corresponding collection box by Coin sorting mechanism according to the result of identification, and coin collection mechanism is used for the collection and packaging of coin.The present invention works applied to automatic coin sorting, is not only able to achieve the classification of coin, the integration of packaging and statistics, moreover it is possible to distinguish Coin truth by machine vision technique, it is ensured that coin category and statistical accuracy.

Description

Coin-sorting device and its operating method based on machine vision

Technical field

The present invention relates to coin category technical field more particularly to a kind of Detecting of coin based on machine vision, sorting, packet The integration apparatus and its operating method of dress and statistics.

Background technique

The occasions such as bus money-box and shop automatic vending machine allow coin to obtain a large amount of circulation, and bank is facing It when checking a large amount of coin, often spends and is largely manually checked, can not only expend some time and many people in this way Power, can't guarantee whether the coin amount manually checked has error.

In coin category technical field, the classification carried out according to coin diameter to the existing most mechanization of Coin-sorting device , lead to not distinguish counterfeit money or game money, and Coin-sorting device is only capable of cannot achieve coin packet to coin category Dress and statistics.

Summary of the invention

Place to overcome above-mentioned the deficiencies in the prior art, the present invention provide a kind of coin category dress based on machine vision It sets and its operating method, can be by the classification of coin, packaging, statistical integration, and utilize the skills such as image procossing, pattern-recognition Art realizes that coin category, the true and false distinguishes and accurate metering.

In order to solve the above-mentioned technical problem, the present invention proposes following technical scheme: the coin category dress based on machine vision It sets, it includes Currency output mechanism, coin conveying mechanism, Coin sorting mechanism and coin collection mechanism, it includes for a pile is miscellaneous The Currency output mechanism disorderly to tile one by one without chapter coin, the Currency output mechanism are equipped with later for transporting to coin immediately below camera The coin conveying mechanism of image recognition is carried out, coin is put into corresponding collection according to the result of identification by the Coin sorting mechanism In box, the coin collection mechanism is connected collection box and packaging for coin with Coin sorting mechanism.

The Currency output mechanism includes tipping bucket, and the tipping bucket is mounted on tipping bucket steering engine by steering engine U-bracket, the tipping bucket Steering engine is fixed on funnel stand by steering engine connecting bracket, is provided with funnel immediately below the tipping bucket, the funnel is fixed on The top of funnel stand, the bottom end of the funnel are connected with round tube, are provided with upper layer driver plate immediately below the round tube, it is described on Layer driver plate is mounted on turntable bearing inner ring, and the bottom of the upper layer driver plate is provided with lower layer's coin-out disk, lower layer's coin-out disk It is fixed on funnel stand, the bottom of the funnel stand is fixed with lower plate, and the lower plate upper surface is fixedly installed with electricity Machine support is equipped with driver plate motor on the electric machine support, and the lower plate upper surface is fixedly installed with slipping groove stent, the cunning Coin outlet groove is installed, turntable bearing outer ring is also secured on lower plate by copper post, and the rotation of driver plate motor passes through on slot bracket Shaft coupling drives the rotation of turntable bearing inner ring, and then rotates upper layer driver plate.

For the upper layer driver plate relative to lower layer's coin-out disc spins, their diameters are identical, are close together up and down, plate thickness is The thickness of unitary coin, upper layer driver plate annular have been evenly distributed with six circular holes, a circular hole of lower layer's coin-out disk, their Circularhole diameter Slightly larger than unitary coin diameter.

The coin conveying mechanism includes transmission belt, and the transmission belt matches to form tape handler with drive pulley, Transmission belt wheel is supported by pulley shaft, and pulley shaft passes through wheeled stand axis hole, and is limited its both ends clamping by fixed ring, belt wheel branch Frame is fixed on conveyer belt pedestal, and the other end of transmission belt is sleeved on driving wheel, and the driving wheel is mounted on transmission translator On output shaft, the transmission translator is mounted on motor fixing seat by electric machine support, and motor fixing seat is connected to conveyer belt again On pedestal, the surface of the transmission belt is along being provided with photographic device.

The photographic device includes multiple groups camera, and the camera is mounted in shading box, and shading box includes headlamp Band, shading box are fixedly mounted on conveyer belt side plate, and conveyer belt side plate is fixed on conveyer belt pedestal by support frame.

The Coin sorting mechanism is cooperated using three groups of identical manipulators and carries out the sorting of coin, the manipulator Suction nozzle the front end of manipulator connecting rod is fixed on by suction nozzle connector, steering engine is fixed on steering engine bracket, the connection of steering engine rocker arm On steering engine output shaft, and manipulator connecting rod is driven to act.

The manipulator is mounted on steering engine pedestal, and steering engine pedestal is connected with sliding block again, and synchronous belt is mounted on synchronous pulley On, synchronous pulley one end is mounted on the fixed bracket of belt wheel by wheel shaft, and the synchronous pulley other end is fixed on the defeated of stepper motor On shaft, stepper motor drives synchronous belt rotation, and drives sliding block, and making manipulator, front and back is slided on the slide rail, and the sliding rail is solid It is scheduled on sliding rail pedestal, sliding rail pedestal both ends are supported by slideway carriage, and slideway carriage is connected to base support by angle bar On, base support is fixedly connected by angle bar each other.

The suction nozzle is connected by electromagnetic air releasing valve with air pump motor, and coin is drawn by air negative pressure mode, is controlled The pick-and-place of coin can be achieved in the switch of electromagnetic air releasing valve.

The coin collection mechanism is made of three coin collection boxes, collects unitary, five jiaos and dime respectively, they It is placed on beside Coin sorting mechanism from front to back, coin collection box center is equipped with Coin package cylinder, when Coin package cylinder is collected It can be taken out after full coin, then cover its opening with packing tube top cover.

Using the operating method of any one Coin-sorting device, it the following steps are included:

S1: connecting the power supply of automatically controlled hardware, opens the software interface of PC machine, starting device operation；

S2: being packed into coin into tipping bucket, and coin is gradually poured into funnel by tipping bucket intermittent oscillation, and coin is along inner wall of hopper Round tube is slid into, the coin of round tube is overlayed, can drop into one by one in its six hole locations with the rotation of upper layer driver plate, work as upper layer When driver plate rotation keeps its some hole location consistent with the hole location of lower layer coin-out plate, the coin of that hole location of upper layer driver plate can be fallen Under, and skidded off from coin outlet groove exit；

S3: coin is fallen on a moving belt, and conveyer belt movement drives coin to pass through three stations, has one before and after each station A camera and a manipulator, when coin is transported to immediately below camera, after image recognition, stepper motor can be driven Manipulator slides forward, and steering engine drives manipulator connecting rod to do pressing action, and suction nozzle draws coin；

S4: steering engine drives manipulator connecting rod to lift, and stepper motor driving manipulator slides backward, when sliding to corresponding coin At collection box, suction nozzle discharges coin；

S5: coin slides into inside Coin package cylinder along coin collection box inner wall；

S6: it after coin collection is full, is prompted, is taken out into Coin package cylinder according to software interface, covered packing tube top cover, put Set area of having classified；

S7: it replaces inside empty Coin package cylinder to coin collection box；

S8: the conveyer belt end is placed a storage box and can be dropped into if the coin that three stations all do not sort out in time In this storage box, after the coin in storage box reaches certain amount, these coins are poured into tipping bucket can again, be carried out again Sorting.

The method have the advantages that:

Present invention introduces machine vision techniques to sort coin, it is ensured that the accuracy of sorting, and in sort process The statistics that dynamically can count to different type coin the simultaneously amount of money, finally realizes coin category, packaging, the one of statistics Change.

The high degree of automation of the present apparatus need to only pour into a pair of rambling coin in the tipping bucket of Currency output mechanism, just An available cylinder packaged coin, and the design of Pneumatic negative-pressure system and three groups of manipulators improves sorting effect Rate.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples.

Fig. 1 is overall structure diagram of the invention.

Fig. 2 is the structural schematic diagram of Currency output mechanism of the invention.

Fig. 3 is the structural schematic diagram of coin conveying mechanism of the invention.

Fig. 4 is the structural schematic diagram of Coin sorting mechanism of the invention.

Fig. 5 is the structural schematic diagram of coin collection mechanism of the invention.

Fig. 6 is the schematic diagram of automatically controlled hardware of the invention.

In figure: Currency output mechanism 10, coin conveying mechanism 20, Coin sorting mechanism 30, coin collection mechanism 40；

Tipping bucket 101, funnel 102, funnel stand 103, round tube 104, upper layer driver plate 105, lower layer's coin-out disk 106, coin-out are sliding Slot 107, slipping groove stent 108, lower plate 109, electric machine support 110, driver plate motor 111, copper post 112, turntable bearing inner ring 114, Steering engine connecting bracket 115, steering engine U-bracket 116, tipping bucket steering engine 117；

Camera 201, transmission belt 203, drive pulley 204, wheeled stand 205, pulley shaft 206, is fixed shading box 202 Ring 207, conveyer belt pedestal 208, conveyer belt side plate 209, support frame 210, motor fixing seat 211, electric machine support 212, transmission belt Motor 213；

Base support 301, synchronous pulley 303, synchronous belt 304, steering engine bracket 305, steering engine 306, is slided stepper motor 302 Block 307, steering engine pedestal 308, manipulator connecting rod 309, suction nozzle connector 310, steering engine rocker arm 312, synchronous pulley 313, belt wheel are solid Fixed rack 314, sliding rail 315, angle bar 316, sliding rail pedestal 317, slideway carriage 318；

Coin collection box 401, Coin package cylinder 402, packing tube top cover 403.

Specific embodiment

Embodiments of the present invention are described further with reference to the accompanying drawing.

Embodiment 1:

Such as Fig. 1-6, the Coin-sorting device based on machine vision, it includes Currency output mechanism 10, coin conveying mechanism 20, hard Coin mechanism for sorting 30 and coin collection mechanism 40, it includes the Currency output mechanism for the disorderly and unsystematic coin of a pile to tile one by one 10, the Currency output mechanism 10 is equipped with later for coin to be transported to immediately below camera to the coin conveyer for carrying out image recognition Coin is put into corresponding collection box by structure 20, the Coin sorting mechanism 30 according to the result of identification, the coin collection machine Structure 40 is connected collection box and packaging for coin with Coin sorting mechanism 30.

Further, the Currency output mechanism 10 includes tipping bucket 101, and the tipping bucket 101 is installed by steering engine U-bracket 116 On tipping bucket steering engine 117, the tipping bucket steering engine 117 is fixed on funnel stand 103 by steering engine connecting bracket 115, described to turn over It is provided with funnel 102 immediately below bucket 101, the funnel 102 is fixed on the top of funnel stand 103, the bottom end of the funnel 102 It is connected with round tube 104, the underface of the round tube 104 is provided with upper layer driver plate 105, and the upper layer driver plate 105 is mounted on turntable On bearing inner race 114, the bottom of the upper layer driver plate 105 is provided with lower layer's coin-out disk 106, and lower layer's coin-out disk 106 is fixed On funnel stand 103, the bottom of the funnel stand 103 is fixed with lower plate 109, and 109 upper surface of lower plate is fixed Electric machine support 110 is installed, driver plate motor 111 is installed on the electric machine support 110,109 upper surface of lower plate is fixed Slipping groove stent 108 is installed, coin outlet groove 107 is installed in the slipping groove stent 108, turntable bearing outer ring passes through copper post 112 It is also secured on lower plate 109, driver plate motor 111 rotates, and drives turntable bearing inner ring 114 to rotate by shaft coupling, and then make Upper layer driver plate 105 rotates.

Further, the upper layer driver plate 105 is rotated relative to lower layer's coin-out disk 106, their diameters are identical, is close to up and down Together, plate thickness is the thickness of unitary coin, and driver plate 105 annular in upper layer has been evenly distributed with six circular holes, 106 one, lower layer's coin-out disk A circular hole, their Circularhole diameter are slightly larger than unitary coin diameter.Coin is fitted into tipping bucket, tipping bucket intermittent oscillation, coin by Secondary to pour into funnel, coin slides into round tube along inner wall of hopper.The coin of round tube is overlayed, the rotation with upper layer driver plate is understood, by It is a to drop into its six hole locations, when driver plate rotation in upper layer keeps its some hole location consistent with the hole location of lower layer coin-out plate, on The coin of that hole location of layer driver plate can be fallen, and be skidded off from coin outlet groove exit.

Further, the coin conveying mechanism 20 includes transmission belt 203, the transmission belt 203 and 204 phase of drive pulley Tape handler is cooperatively formed, transmission belt wheel 204 is supported by pulley shaft 206, and pulley shaft 206 passes through 205 axis hole of wheeled stand, and Its both ends clamping is limited by fixed ring 207, wheeled stand 205 is fixed on conveyer belt pedestal 208, transmission belt 203 it is another End cap is mounted in driving wheel, and the driving wheel is mounted on the output shaft of transmission translator 213, and the transmission translator 213 passes through Electric machine support 212 is mounted on motor fixing seat 211, and motor fixing seat 211 is connected on conveyer belt pedestal 208 again, the transmission Surface with 203 is along being provided with photographic device.

Further, the photographic device includes multiple groups camera 201, and the camera 201 is mounted on shading box 202 In, shading box 202 includes illuminating lamp band, and shading box 202 is fixedly mounted on conveyer belt side plate 209, and conveyer belt side plate 209 passes through Support frame 210 is fixed on conveyer belt pedestal 208.The coin skidded off from coin outlet groove exit is fallen on a moving belt, conveyer belt Drive coin by that after image recognition, can be obtained by the suction nozzle of the manipulator of Coin sorting mechanism immediately below camera.

Further, the Coin sorting mechanism 30 is cooperated using three groups of identical manipulators carries out point of coin It picks, the suction nozzle 311 of the manipulator is fixed on the front end of manipulator connecting rod 309 by suction nozzle connector 310, and steering engine 306 is fixed On steering engine bracket 305, steering engine rocker arm 312 is connected on 306 output shaft of steering engine, and manipulator connecting rod 309 is driven to act.

Further, the manipulator is mounted on steering engine pedestal 308, and steering engine pedestal 308 is connected with sliding block 307 again, together Step band 304 is mounted on synchronous pulley 313, and 313 one end of synchronous pulley is mounted on the fixed bracket 314 of belt wheel by wheel shaft, together Step 303 other end of belt wheel is fixed on the output shaft of stepper motor 302, and stepper motor 302 drives synchronous belt 304 to rotate, and drives Movable slider 307 slides manipulator front and back on sliding rail 315, and the sliding rail 315 is fixed on sliding rail pedestal 317, sliding rail pedestal 317 both ends are supported by slideway carriage 318, and slideway carriage 318 is connected on base support 301 by angle bar 316, pedestal branch Frame 301 is fixedly connected by angle bar 316 each other.

Further, the suction nozzle 311 is connected by electromagnetic air releasing valve with air pump motor, is inhaled by air negative pressure mode Coin is taken, the pick-and-place of coin can be achieved in the switch for controlling electromagnetic air releasing valve.

Further, the coin collection mechanism 40 is made of three coin collection boxes 401, collects unitary, five jiaos respectively And dime, they are placed on 30 side of Coin sorting mechanism from front to back, and 401 center of coin collection box is equipped with Coin packing Cylinder 402 can take out after Coin package cylinder 402 collects full coin, then cover its opening with packing tube top cover 403.

As shown in fig. 6, automatically controlled working principle of hardware of the invention are as follows: industrial personal computer passes through 10 main control single-chip microcontroller of Currency output mechanism With the movement of serial communication and then control driver plate motor 111 and tipping bucket steering engine 117, coin is enabled to serially enter coin conveyer Structure 20；Main control single-chip microcontroller can send out pwm signal to adjust the revolving speed of transmission translator 213, and industrial personal computer is imaged by USB connection First 201 and image of the coin by region is acquired, carry out coin recognizing method and statistics, and send instructions to main control single-chip microcontroller, controlled Make crawl of three groups of manipulators to coin.

Further, industrial personal computer is installed, the TT&C software man-machine interface installed on industrial personal computer, at the interface on the device Left area, the serial port that connect with slave computer, three groups of cameras 201 of starting, the driver plate of control Currency output mechanism 10 may be selected Whether the transmission translator 213 of motor 111 and coin conveying mechanism 20 works, and has sorted the coin total value of classification, interface Middle section shows three groups of 201 real-time pictures of camera and coin characteristic pattern picture, and the right area at interface shows three stations Identification quantity and practical crawl quantity to coin.

Embodiment 2:

S2: being packed into coin into tipping bucket 101,101 intermittent oscillation of tipping bucket, coin is gradually poured into funnel 102, coin along 102 inner wall of funnel slides into round tube 104, overlays the coin of round tube 104, can drop into one by one with the rotation of upper layer driver plate 105 In its six hole locations, when upper layer driver plate 105, which rotates, keeps its some hole location consistent with the hole location of lower layer coin-out plate 106, upper layer The coin of that hole location of driver plate 105 can be fallen, and be skidded off from 107 exit of coin outlet groove；

S3: coin is fallen on conveyer belt 203, and conveyer belt movement drives coin to pass through three stations, has before and after each station One camera 201 and a manipulator, when coin is transported to 201 underface of camera, after image recognition, stepping electricity The meeting of machine 302 driving manipulator slides forward, and steering engine 306 drives manipulator connecting rod 309 to do pressing action, and suction nozzle 311 inhales coin It takes；

S4: steering engine 306 drives manipulator connecting rod 309 to lift, and 302 driving manipulator of stepper motor slides backward, when sliding To corresponding coin collection box 401, suction nozzle 311 discharges coin；

S5: coin slides into 402 the inside of Coin package cylinder along 401 inner wall of coin collection box；

S6: it after coin collection is full, is prompted, is taken out into Coin package cylinder 402 according to software interface, cover packing tube top cover 403, it is placed into area of having classified；

S7: empty Coin package cylinder 402 is replaced to 401 the inside of coin collection box；

S8: 203 end of conveyer belt is placed a storage box and can be fallen if the coin that three stations all do not sort out in time Enter into this storage box, after the coin in storage box reaches certain amount, these coins can be poured into tipping bucket 101 again In, then sorted.

Through the above description, those skilled in the art completely can be in the model without departing from this invention technical idea In enclosing, various changes and amendments are carried out all within protection scope of the present invention.Unaccomplished matter of the invention, belongs to ability The common knowledge of field technique personnel.

Claims

1. A coin sorting device based on machine vision, comprising a coin outlet mechanism (10), a coin conveying mechanism (20), a coin sorting mechanism (30) and a coin collecting mechanism (40), characterized in that: it includes a coin for sorting A coin outlet mechanism (10) in which a pile of messy coins are tiled one by one, the coin outlet mechanism (10) is provided with a coin conveying mechanism (20) for transporting the coins to the right under the camera for image recognition, and the coins are sorted The mechanism (30) puts the coins into the corresponding collection box according to the identification result, and the coin collecting mechanism (40) is connected with the coin sorting mechanism (30) for collecting and packaging the coins;

The coin outlet mechanism (10) includes a tipping bucket (101), the tipping bucket (101) is mounted on a tipping bucket steering gear (117) through a steering gear U-shaped bracket (116), and the tipping bucket steering gear (117) is connected by a steering gear The connecting bracket (115) is fixed on the funnel support (103), a funnel (102) is arranged directly below the tipping bucket (101), the funnel (102) is fixed on the top of the funnel support (103), and the funnel (102) A round tube (104) is connected to the bottom end of the The bottom of the upper dial (105) is provided with a lower coin tray (106), the lower coin tray (106) is fixed on the funnel support (103), and the bottom of the funnel support (103) is fixed with a lower coin tray (106). A base plate (109), a motor bracket (110) is fixedly installed on the upper end surface of the lower base plate (109), a dial motor (111) is installed on the motor bracket (110), and the upper end surface of the lower base plate (109) is fixed A chute bracket (108) is installed, and a coin outlet chute (107) is installed on the chute bracket (108), and the outer ring of the turntable bearing is also fixed on the lower base plate (109) through a copper column (112), and the dial motor (111) Rotate, drive the inner ring (114) of the turntable bearing to rotate through the coupling, and then make the upper dial (105) rotate;

The upper dial (105) rotates relative to the lower coin outlet (106), they have the same diameter, and are closely attached up and down, and the plate thickness is the thickness of a one-yuan coin. The upper dial (105) is uniformly distributed with six rings. Round hole, the lower coin tray (106) has only one round hole, and the diameter of the round hole is slightly larger than the diameter of the one-yuan coin.

2 . The coin sorting device based on machine vision according to claim 1 , wherein the coin conveying mechanism ( 20 ) comprises a transmission belt ( 203 ), and the transmission belt ( 203 ) is formed in cooperation with a transmission pulley ( 204 ). 3 . The belt transmission mechanism, the transmission pulley (204) is supported by the pulley shaft (206), the pulley shaft (206) passes through the shaft hole of the pulley bracket (205), and the two ends thereof are clamped and limited by the fixing ring (207). The wheel bracket (205) is fixed on the transmission belt base (208), the other end of the transmission belt (203) is sleeved on the driving wheel, and the driving wheel is installed on the output shaft of the transmission belt motor (213), and the transmission belt motor (213) passes through The motor bracket (212) is installed on the motor fixing seat (211), and the motor fixing seat (211) is connected to the transmission belt base (208), and a camera device is arranged along the right above the transmission belt (203).

3. The coin sorting device based on machine vision according to claim 2, characterized in that: the camera device comprises a plurality of groups of cameras (201), the cameras (201) are installed in a light-shielding box (202), and the light-shielding box (202) contains a lighting strip, the shading box (202) is fixedly installed on the side plate (209) of the transmission belt, and the side plate (209) of the transmission belt is fixed on the base (208) of the transmission belt through the support frame (210).

4. The coin sorting device based on machine vision according to claim 1, wherein the coin sorting mechanism (30) adopts three sets of identical manipulators to cooperate with each other to sort coins, and the suction nozzles of the manipulators (311) is fixed on the front end of the manipulator connecting rod (309) through the suction nozzle connector (310), the steering gear (306) is fixed on the steering gear bracket (305), and the steering gear rocker arm (312) is connected to the steering gear (306) ) on the output shaft, and drive the manipulator connecting rod (309) to move.

5. The coin sorting device based on machine vision according to claim 4, characterized in that: the manipulator is installed on the steering gear base (308), and the steering gear base (308) is connected with the slider (307) to synchronize The belt (304) is installed on the synchronous pulley, one end of the synchronous pulley is installed on the pulley fixing bracket (314) through the axle, and the other end of the synchronous pulley is fixed on the output shaft of the stepping motor (302). ) drives the timing belt (304) to rotate, and drives the sliding block (307), so that the manipulator slides back and forth on the sliding rail (315), the sliding rail (315) is fixed on the sliding rail base (317), and the sliding rail base Both ends of the seat (317) are supported by the slide rail support frame (318), the slide rail support frame (318) is connected to the base frame (301) through the angle iron (316), and the base frame (301) is connected to each other by the angle iron (316). ) to make a fixed connection.

6. The coin sorting device based on machine vision according to claim 4, wherein the suction nozzle (311) is connected to the air pump motor through an electromagnetic air relief valve, sucks coins by means of negative air pressure, and controls the electromagnetic air relief valve The switch can realize the pick and place of coins.

7. The machine vision-based coin sorting device according to claim 1, characterized in that: the coin collecting mechanism (40) is composed of three coin collecting boxes (401), respectively collecting one-yuan, five-cent and one-cent coins, which are It is placed next to the coin sorting mechanism (30) from front to back, and the coin collecting box (401) is equipped with a coin packing cylinder (402) in the center. When the coin packing cylinder (402) is full of coins, it can be taken out, and then the top of the packing cylinder is used. The cover (403) covers its opening.

8. adopt the operation method of the coin sorting device of any one of claim 1-7, it is characterized in that, it comprises the following steps:

S1: Turn on the power of the electronic control hardware, open the software interface of the PC, and start the equipment to run;

S2: Load coins into the hopper (101), swing the hopper (101) intermittently, pour the coins into the funnel (102) one by one, slide the coins into the round tube (104) along the inner wall of the funnel (102), and stack them on the round tube The coins of (104) will fall into the six holes one by one with the rotation of the upper dial (105). When the hole positions of ) are consistent, the coin in that hole position of the upper dial (105) will fall and slide out from the exit of the coin chute (107);

S3: The coin falls on the transmission belt (203), the transmission belt moves, and drives the coin to pass through three stations. There is a camera (201) and a manipulator before and after each station. After the image is recognized, the stepping motor (302) will drive the manipulator to slide forward, the steering gear (306) will drive the manipulator connecting rod (309) to press down, and the suction nozzle (311) will suck the coin;

S4: The steering gear (306) drives the manipulator connecting rod (309) to lift, the stepping motor (302) drives the manipulator to slide backward, and when it slides to the corresponding coin collection box (401), the suction nozzle (311) releases the coins;

S5: along the inner wall of the coin collecting box (401), the coin slides into the coin packing cylinder (402);

S6: When the coins are fully collected, according to the software interface prompt, take out the coin packaging cylinder (402), cover the top cover (403) of the packaging cylinder, and place it in the sorted area;

S7: Replace the empty coin packing cylinder (402) into the coin collecting box (401);

S8: A storage box is placed at the end of the transmission belt (203). The coins that are not sorted out in time at the three stations will fall into this storage box. When the coins in the storage box reach a certain number, these coins can be put into Pour into a tipper (101) for re-sorting.