CN114755139A - An automatic curve coding system with the function of measuring the moisture content of the curve block - Google Patents

Abstract

The invention discloses an automatic yeast stacking system with a yeast block water content measuring function. The device comprises a conveying device, wherein a belt scale is connected to the rear side of the conveying device and used for acquiring the mass M of the bent blocks and sending the weight M of the bent blocks to a control unit, a turnover mechanism is arranged at the tail end of the belt scale and used for turning the bent blocks from a horizontal state to a vertical state, a placing table is arranged on one side of the turnover mechanism, a bending stacking device and a transport vehicle are arranged on one side of the placing table, a 2D visual camera and a laser positioning lamp are arranged on the bending stacking device, the 2D visual camera is also used for collecting image data of the turned bent blocks, the control unit calculates the water content of the bent blocks based on the image data of the bent blocks, and if the water content of the bent blocks is within a set humidity threshold range, the bending stacking device is controlled to place the bent blocks on the placing table into the transport vehicle. The invention realizes automatic and unmanned yeast stacking operation by using machine vision and robot technology, and realizes intelligent manufacturing and upgrading of the white spirit industry.

Description

An automatic curve coding system with the function of measuring the moisture content of the curve block

technical field

The invention relates to the technical field of an automatic curve-coding system with a function of measuring the water content of a curved block, in particular to an automatic curve-coding system with a function of measuring the water content of a curved block.

Background technique

Qu is the bone of wine, and Daqu is an important raw material for liquor brewing. The production process is generally to pulverize wheat or barley through a pulverizer, add mother koji powder and water, mix well, and finally press it with a koji press. The shape of the curved block is usually a cuboid or one side of the cuboid bulges out. The traditional koji making is that after the koji block is buckling and formed, it is manually placed on the electric trolley, and then transported by the trolley to the cultivation room for fermentation. The weight of each buckling block is 3-5kg, and the rhythm is 3 seconds per piece. Manual buckling is a heavy manual labor, and the buckling site is very noisy due to the non-stop operation of the crusher and buckling machine, which is not conducive to manual buckling. Operation.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic curve coding system with a function of measuring the moisture content of a curve block, aiming at the shortcomings of the prior art.

In order to achieve the above object, the present invention provides an automatic bending system with a function of measuring the moisture content of a curved block, including a conveyor for transporting the curved block, and a belt scale is connected to the rear side of the conveyor. In order to obtain the mass M of the curved block and send the weight M of the curved block to the control unit, the end of the belt scale is provided with a turning mechanism, and the turning mechanism is used to turn the curved block from a flat state to an upright state, One side of the flipping mechanism is provided with a placing table, one side of the placing table is provided with a jig device and a transport vehicle, the jig device is provided with a 2D visual camera and a laser positioning light, and the control unit The relationship between the image coordinates and the physical world is constructed by using the image collected by the 2D vision camera and the laser positioning reference line emitted by the laser positioning light, and the pose judgment and positioning of the transport vehicle are realized through angle detection and distance detection. The 2D vision camera also In order to collect the image data of the inverted curved block, the control unit obtains the thickness H of the curved block based on the image data of the curved block, and calculates the volume V=S*H of the curved block in combination with the cross-sectional area S of the buckling mold , the control unit calculates the density ρ=M/V of the curved block based on the mass M and the volume V of the curved block, and calculates the moisture content of the curved block through the density ρ of the curved block, and the control unit judges the current water content of the curved block Whether it is within the set humidity threshold value range, if it is within the set humidity threshold value range, then control the code song device to put the song block on the placing table into the transport vehicle, otherwise, control the code song device to put the song block into the transport vehicle. into the exclusion zone.

Further, the real-time water content Mc=K _i *ρ is calculated based on the multi-point calibration method, where K _i is a piecewise linearization coefficient, i=1, 2...n, n is a natural number greater than 2.

Further, the curve-coding device grabs 3 curved blocks each time, and when the curved blocks are put into the transport vehicle, the control unit is based on the total thickness of the three curved blocks, and based on the current and last stacked three blocks. The total thickness of the curved block adjusts the coordinates of the stacking center.

Further, the control unit controls the 2D visual camera to collect the image data of the curved block before grabbing the curved block and after the curved block is stacked, and based on the pose detection algorithm, the pose detection algorithm of the curved block in the image is performed. Carry out identification to judge whether the posture of the piece is normal. If it is not normal, stop the code song operation and issue an alarm signal.

Further, the bending device includes a 6-axis robot and a clamping mechanism arranged on the 6-axis robot.

Further, the conveying device is a belt conveying device.

Further, a scraper mechanism is provided on the conveying device, and the scraper mechanism includes a bracket fixed on the upper side of the conveying device and a scraper rotatably connected to the middle part of the upper side of the bracket, and a scraper is arranged between the scraper and the bracket. Has a torsion spring.

Further, the end of the belt scale is provided with a roller conveyor, the turning mechanism includes a fixing seat fixed on one side of the roller conveyor, and a rotating shaft is rotatably connected to the middle of the fixing seat, and the rotating shaft is rotatable. It is fixedly connected with the motor fixed on the fixed seat, a plurality of L-shaped turning frames are fixed on the upper side of the rotating shaft, and the roller conveyor and the discharge table are respectively provided with gaps matched with the L-shaped turning frames.

Beneficial effects: The present invention utilizes machine vision and robot technology to realize automatic and unmanned composing operations, and realizes the intelligent manufacturing upgrade of the liquor industry; by collecting the weight and thickness of the koji, it can be judged whether the water content of the koji is not. Meet the requirements, so that the water content of the curved block placed in the transport vehicle is within the set range; the upper surface of the curved block is treated by the scraping mechanism to make the upper surface of the curved block more flat; Flip it over, so that the curved block is transformed from the flat state to the vertical state, which is convenient for the operation of the code song.

Description of drawings

Fig. 1 is the structural representation of the automatic coding system with the function of measuring the water content of the curved block;

Fig. 2 is a schematic diagram of calculating the angle between the vertical line of the laser positioning datum and the vertical line of the center datum of the transport vehicle;

Figure 3 Schematic diagram of calculating the height of the transport vehicle;

Fig. 4 is a schematic diagram of adjusting the coordinates of the stacking center according to the thickness of the curved block;

5 is a schematic diagram of the pose of a curved block;

Fig. 6 is the structural representation of the scraping mechanism;

Fig. 7 is the schematic diagram that the scraping mechanism scrapes the curved block;

8 is a schematic diagram of the cooperation structure of the turning mechanism, the roller conveyor and the conveyor belt of the placing platform;

FIG. 9 is a schematic view of the structure of the turning mechanism.

Detailed ways

The present invention is further illustrated below in conjunction with the accompanying drawings and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.

As shown in Figs. 1 to 1 , an embodiment of the present invention provides an automatic buckling system with a function of measuring the moisture content of a buckling block, including a conveying device 1. The conveying device 1 preferably adopts a belt conveying device, which is used to transport the just-pressed buckling. Block 2. A belt scale 3 is connected to the rear side of the conveyor 1. When the curved block 2 passes through the belt scale 3, the belt scale 3 can obtain the mass M of the curved block 2, and then send the weight M of the curved block 2 to the control unit. The curved block 2 is placed in a flat state when the conveyor 1 and the belt scale 3 are placed, and a turning mechanism 8 is provided at the end of the belt scale 3, and the turning mechanism 8 is used to turn the curved block 2 from the flat state to the upright state. , so that it can be stacked later. A placing table 4 is connected to the rear side of the belt scale 3, and the front part of the placing table 4 is also provided with a conveyor belt. The overturned curved block 2 is continuously forwarded to the front end of the placing table 4 by the conveyor belt. The front-end side of the placing table 4 is provided with a jig device 5 and a transport vehicle 6, and a 2D visual camera 7 and a laser positioning light 11 are arranged on the jig device 5, and the control unit uses the image collected by the 2D visual camera 7 and the laser positioning light. The laser positioning reference line emitted by 11 constructs the relationship between the image coordinates and the physical world, and realizes the pose judgment and positioning of the transport vehicle 6 through angle detection and distance detection.

Specifically, on the same horizontal plane, the 2D vision camera 7 can measure the number of pixels in the length direction of the standard laser line, and obtain the proportional relationship K' between the pixel size and the physical world size according to the length of the manually measured laser line. The pixel coordinates of the center point of the transport vehicle 6 and the laser positioning reference center point can be obtained through image processing algorithm software, and the pixel coordinates of the center point of the transport vehicle 6 multiplied by the proportional relationship K' are the coordinates of the physical world. Referring to Fig. 2, the control unit detects the included angle R° between the vertical line of the laser positioning reference and the vertical line of the center reference of the transport vehicle 6 through the angle detection algorithm, and this included angle R° is the angle at which the included angle of the end of the code curve device 5 is to be rotated. . Referring to Fig. 3, the image collected by the control unit through the 2D vision camera 7 can measure the line length L' of the laser line in the figure irradiated on the ground plane, the number of pixels of the reference standard height line L1' and the height line L2' of the transport vehicle, Combined with the manual measurement of the height H1', the real-time height H2'=H1'*(L'-L2')/(L'-L1') of the transport vehicle 6 can be calculated. The control unit has the converted coordinates of the center point of the transport vehicle 6, the included angle R° and the real-time height H2', that is, to realize the pose judgment and positioning of the transport vehicle 6, so as to control the coding device 5 to perform coding work.

The water content of the dough 2 will affect subsequent fermentation and other processes. In order to remove the dough 2 whose water content does not meet the requirements, after the dough 2 is turned over, the 2D vision camera 7 also collects the image of the turned dough 2. The control unit obtains the thickness H of the curved block 2 based on the image data of the curved block 2, and calculates the volume V=S*H of the curved block in combination with the cross-sectional area S of the buckling die. It should be noted that when the buckling machine is buckling, the length and width of the mold are fixed, that is to say, the cross-sectional area S of the pressed block 2 is the same. When the mold is filled with materials, there will be some differences. The same pressure In this case, the thickness H of the extruded curved piece 2 is different. The control unit calculates the density ρ=M/V of the curved block 2 based on the mass M and the volume V of the curved block 2, and calculates the moisture content of the curved block based on the density ρ of the curved block 2, and the control unit judges whether the current water content of the curved block 2 is not. Within the set humidity threshold range, if it is within the set humidity threshold value range, then control the song code device 5 to put the song block 2 on the placing table 4 into the transport vehicle 6, otherwise, the control code song device 5 will The curved block 2 is placed in the rejection area, and then returned to the processing site to add or reduce water.

When calculating the water content according to the density of the curved block 2, the real-time water content Mc=K _i *ρ is calculated based on the multi-point calibration method, where K _i is the piecewise linearization coefficient, i=1,2...n,n is a natural number greater than 2. A line can be drawn by the traditional measurement method to divide K _i into n segments, and the slope of each segment is the value of this segment K _i .

In order to facilitate the song coding operation, the coding device 5 preferably grabs 3 curved pieces 2 at a time. Because the thickness of each curved piece 2 is different, it is generally between 59mm and 65mm, and the difference is large. The three curved pieces 2 are placed on the When stacked together, the difference in thickness when stacked together will further increase. When placing the curved blocks 2 into the transport vehicle, the control unit calculates the total thickness of the three curved blocks 2 and adjusts the coordinates of the stacking center according to the total thickness of the three curved blocks 2 . For details, please refer to Fig. 4. Suppose that when calculating the water content of the curved block 2, the control unit obtains the thicknesses of the three curved blocks based on the image data of the curved block 2 as degrees H1, H2 and H3, respectively. The control unit can directly calculate by summation The total thickness L=H1+H2+H3, and then the coordinates of the stacking center are adjusted in real time according to the current total thickness L1 of the three curved blocks 2 and the total thickness L2 of the last stacked three curved blocks 2.

Before the curve block 2 is toppled, the song code device 5 cannot perform the normal song code operation, and after the curve block 2 is put into the transport vehicle 6, if the curve block 2 is toppled, the subsequent Placement of block 2. Therefore, the control unit controls the 2D vision camera 7 to collect the image data of the curved piece 2 before the curved piece is captured and after the curved piece is placed by the song coding device 5, and based on the pose detection algorithm, the pose of the curved piece 2 in the image is determined. Carry out identification to judge whether the posture of the piece 2 is normal. If it is not normal, stop the operation of the code and send out an alarm signal. For details, please refer to FIG. 5 . In FIG. 5 , the posture of the curved block 2 in the frame area is in a normal state, and the rest are in an abnormal state.

The buckling device 5 in the embodiment of the present invention preferably adopts a 6-axis robot, and a clamping mechanism is provided on the 6-axis robot. The clamping mechanism is in the prior art, and its structure will not be repeated.

6 and 7, in order to make the upper surface of the curved block 2 flat, a scraper mechanism 9 is provided on the conveyor 1. The scraper mechanism 9 includes a bracket 91 fixed on the upper side of the conveyor 1 and the upper side of the bracket 91. The scraper 92 is rotatably connected in the middle, and a torsion spring 93 is provided between the scraper 92 and the bracket 91 . During installation, the scraper 92 is positioned by fixing the position of the torsion spring 93 so that the scraper 92 is inclined forward and downward. Contact, and under the action of the torsion spring 93 , the scraper 92 exerts a certain pressure on the upper surface of the curved block 2 , so that the upper surface of the curved block 2 can be leveled.

Referring to FIGS. 8 and 9 , in order to facilitate the inversion of the curved block 2 , a roller conveyor 10 is preferably provided at the end of the belt scale 3 , and the inversion mechanism 8 includes a fixed seat 81 fixed on one side of the roller conveyor 10 . The middle part of the fixed seat 81 is rotatably connected with a rotating shaft 82, the rotating shaft 82 is fixedly connected with the motor 83 fixed on the fixed base 81, and a number of L-shaped turning frames 84 are fixed on the upper side of the rotating shaft 82, and the L-shaped turning frames 84 are preferably two First, the roller conveyor 10 and the discharge table 4 are respectively provided with gaps for matching with the L-shaped turning frame 84, so that the corresponding side of the L-shaped turning frame 84 can fall into the gap before and after turning. When the curved block 2 enters the corresponding position of the roller conveyor 10, the motor 83 drives the rotating shaft 82 and the L-shaped turning frame 84 to rotate 90°, thereby turning the flat curved block 2 on the roller conveyor 10 into a standing state. The overturned curved block 2 is transported forward by the conveyor belt on the placing table 4. After the curved block 2 leaves the L-shaped turning frame 84, the motor 83 drives the rotating shaft 82 and the L-shaped turning frame 84 to reversely rotate 90°, returning to the original position. position and wait for the next block 2 to arrive.

The above description is only a preferred embodiment of the present invention, and it should be pointed out that for those skilled in the art, other parts that are not specifically described belong to the prior art or common knowledge. On the premise of not departing from the principles of the present invention, several improvements and modifications can also be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims (8)

1. An automatic yeast stacking system with a yeast block water content measuring function is characterized by comprising a conveying device used for conveying yeast blocks, wherein a belt weigher is connected to the rear side of the conveying device and used for acquiring the mass M of the yeast blocks and sending the weight M of the yeast blocks to a control unit, a turnover mechanism is arranged at the tail end of the belt weigher and used for turning the yeast blocks from a flat state to a vertical state, a placing table is arranged on one side of the turnover mechanism, a yeast stacking device and a conveying vehicle are arranged on one side of the placing table, a 2D visual camera and a laser positioning lamp are arranged on the yeast stacking device, the control unit utilizes images collected by the 2D visual camera and laser positioning reference lines sent by the laser positioning lamp to construct the relation between image coordinates and the physical world, and the pose judgment and the pose positioning of the conveying vehicle are realized through angle detection and distance detection, the 2D vision camera is further used for collecting image data of the turned curved block, the control unit obtains the thickness H of the curved block based on the image data of the curved block, the volume V of the curved block is calculated by combining the cross section area S of the buckling mold, the density rho of the curved block is calculated by the control unit based on the mass M and the volume V of the curved block and M/V, the water content of the curved block is calculated through the density rho of the curved block, the control unit judges whether the water content of the curved block is in a set humidity threshold range or not, if the water content of the curved block is in the set humidity threshold range, the code bending device is controlled to place the curved block on the placing table into the transport vehicle, and if not, the code bending device is controlled to place the curved block into the removing area.

2. The automatic yeast stacking system with the function of measuring the water content of the yeast blocks as claimed in claim 1, wherein the real-time water content Mc-K is calculated based on a multi-point calibration method_iρ, wherein K_iFor piecewise linearization coefficients, i is 1,2 … … n, n is a natural number greater than 2.

3. The automatic song stacking system with the function of measuring the moisture content of the song pieces as claimed in claim 1, wherein the song stacking device grabs 3 song pieces at a time, and the control unit adjusts the coordinates of the stacking center based on the total thickness of the three song pieces and according to the total thickness of the three song pieces currently and last stacked when the song pieces are placed in the transport cart.

4. The automatic song stacking system with the function of measuring the water content of the song blocks as claimed in claim 3, wherein the control unit controls the 2D vision camera to collect the image data of the song blocks before grabbing the song blocks and after stacking the song blocks, and identifies the pose of the song blocks in the image based on a pose detection algorithm so as to judge whether the pose of the song blocks is normal, and if not, stops song stacking operation and sends out an alarm signal.

5. The automatic koji-stacking system with the function of measuring the water content of the koji blocks according to claim 1, wherein the koji-stacking apparatus comprises a 6-axis robot and a clamping mechanism provided on the 6-axis robot.

6. The automatic yeast stacking system with the function of measuring the water content of the yeast blocks as claimed in claim 1, wherein the conveyor is a belt conveyor.

7. The automatic yeast stacking system with the function of measuring the water content of the yeast blocks according to claim 1, wherein a scraper mechanism is arranged on the conveying device, the scraper mechanism comprises a bracket fixed on the upper side of the conveying device and a scraper rotatably connected with the middle part of the upper side of the bracket, and a torsion spring is arranged between the scraper and the bracket.

8. The automatic yeast stacking system with the function of measuring the water content of the yeast blocks as claimed in claim 1, wherein a roller conveyor is arranged at the end of the belt weigher, the turnover mechanism comprises a fixed seat fixed on one side of the roller conveyor, a rotating shaft is rotatably connected to the middle of the fixed seat, the rotating shaft is fixedly connected with a motor fixed on the fixed seat, a plurality of L-shaped turning frames are fixed on the upper side of the rotating shaft, and gaps matched with the L-shaped turning frames are respectively arranged on the roller conveyor and the discharge table.

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