CN-121972425-A - Cemented carbide sorting system and method

CN121972425ACN 121972425 ACN121972425 ACN 121972425ACN-121972425-A

Abstract

The invention discloses a hard alloy sorting system and method, wherein the hard alloy sorting system comprises a multi-joint robot body, a conveying mechanism, a multi-mode detection device, an end effector and an end effector, wherein the conveying mechanism is used for conveying hard alloy workpieces to be sorted, the multi-mode detection device is used for detecting the hard alloy workpieces and comprises a hyperspectral imaging unit for acquiring surface spectrum information, a three-dimensional profile measuring unit for acquiring three-dimensional geometric information and an eddy current detection unit for acquiring surface conductivity information, the control unit is used for receiving and fusing the surface spectrum information, the three-dimensional geometric information and the surface conductivity information, identifying workpiece types of the hard alloy workpieces and generating corresponding sorting control instructions, and the end effector is used for performing grabbing and sorting the hard alloy workpieces corresponding to the workpiece types according to the sorting control instructions. According to the invention, through acquiring the fused multi-mode heterogeneous information, the hard alloy workpiece is accurately and efficiently identified and sorted, and the identification precision and sorting efficiency of the complex hybrid hard alloy are improved.

Inventors

XU KAIHUA
FENG HAO
TANG SIYI
Zhao Langang
ZHANG ZHENZHEN

Assignees

湖北绿钨资源循环有限公司

Dates

Publication Date: 20260505
Application Date: 20260120

Claims (10)

1. A cemented carbide sorting system, comprising: A multi-joint robot body; the conveying mechanism is arranged in the working area of the multi-joint robot body and is used for conveying hard alloy workpieces to be sorted; the multi-mode detection device is mounted on the multi-joint robot body and is used for detecting the hard alloy workpiece and at least comprises a hyperspectral imaging unit for acquiring surface spectrum information, a three-dimensional contour measurement unit for acquiring three-dimensional geometric information and an eddy current detection unit for acquiring surface conductivity information; The control unit is in communication connection with the multi-mode detection device and the multi-joint robot body, and is used for receiving and fusing the surface spectrum information, the three-dimensional geometric information and the surface conductivity information, identifying the workpiece type of the hard alloy workpiece and generating a corresponding sorting control instruction; And the end effector is arranged at the operation end of the multi-joint robot body and is used for grabbing and sorting the hard alloy workpieces corresponding to the workpiece types according to the sorting control instruction.
2. The cemented carbide sorting system of claim 1, wherein the hyperspectral imaging unit comprises a hyperspectral camera, and the response wavelength of the hyperspectral camera comprises a visible light band and a near infrared band, and the hyperspectral camera is used for acquiring a characteristic spectral reflectance curve of the cemented carbide workpiece surface coating to obtain the surface spectral information.
3. The cemented carbide sorting system according to claim 1, wherein the three-dimensional contour measurement unit is a three-dimensional structured light profiler for obtaining three-dimensional point cloud data of a cemented carbide workpiece, and the three-dimensional geometric information is obtained by performing feature extraction on the three-dimensional point cloud data.
4. The cemented carbide sorting system of claim 1, wherein the eddy current detection unit is integrated on the clamping face of the end effector, the eddy current detection unit comprising an eddy current probe for detecting an eddy current response signal of the cemented carbide workpiece surface to obtain surface conductance information.
5. The cemented carbide sorting system of claim 1, wherein the control unit comprises a workpiece identification module and a motion control module; The workpiece identification module is used for fusing surface spectrum information, three-dimensional geometric information and surface conductivity information, identifying the workpiece category of the hard alloy workpiece and obtaining an identification result; and the motion control module is used for generating the sorting control instruction based on the identification result.
6. The cemented carbide sorting system of claim 5, wherein the workpiece recognition module comprises a pre-trained deep learning model.
7. The cemented carbide sorting system of claim 1, wherein the workpiece classes include at least coated cemented carbide, uncoated cemented carbide, and numerical control inserts.
8. The cemented carbide sorting system of claim 1, wherein the end effector is a force controlled bionic gripper.
9. A cemented carbide sorting method using the cemented carbide sorting system of any one of claims 1 to 8, comprising: continuously conveying hard alloy workpieces to be sorted through a conveying mechanism; When the hard alloy workpiece enters a detection station, synchronously acquiring surface spectrum information, three-dimensional geometric information and surface conductivity information of the hard alloy workpiece through a multi-mode detection device; The method comprises the steps of merging surface spectrum information, three-dimensional geometric information and surface conductivity information through a control unit, identifying workpiece types of the hard alloy workpieces, and generating a sorting control instruction; and performing grabbing and sorting the hard alloy workpieces corresponding to the workpiece types according to the sorting control instruction.
10. The method according to claim 9, wherein the workpiece category includes at least coated cemented carbide, uncoated cemented carbide, and a numerical control blade, wherein the identifying the workpiece category of the cemented carbide workpiece by the control unit fusing surface spectral information, three-dimensional geometric information, and surface conductance information includes: classifying the corresponding cemented carbide workpiece as a coated cemented carbide when the surface spectral information characterizes the presence of a target coating and the surface conductivity information characterizes insulation; when the surface spectrum information does not represent that a target coating exists and the surface conductivity information represents conductivity, classifying the corresponding hard alloy workpiece as uncoated hard alloy; And when the three-dimensional geometric information represents that the workpiece has a regular sheet structure, classifying the corresponding hard alloy workpiece into a numerical control blade.

Description

Cemented carbide sorting system and method Technical Field The invention relates to the technical field of waste recycling treatment, in particular to a hard alloy sorting system and a hard alloy sorting method. Background Cemented carbide is a high-performance composite material using tungsten carbide (WC) as a hard phase and metals such as cobalt (Co) or nickel (Ni) as a binder phase, and is widely used for manufacturing various cutting tools such as drills, milling cutters, numerical control blades and the like because of extremely high hardness, wear resistance and good corrosion resistance. To improve cutting performance and service life, such tools are often coated with one or more wear-resistant coatings such as TiN, tiCN, al 2O3 on their surfaces by Chemical Vapor Deposition (CVD) or Physical Vapor Deposition (PVD) processes. In the field of resource recycling, the method has remarkable economic value and environmental protection significance in recycling waste hard alloy. However, there are substantial differences in chemical composition between coated cemented carbides and uncoated cemented carbides, and subsequent metallurgical recovery processes (e.g., de-coating treatment, dissolution extraction process parameters, etc.) are also distinct. If the two are mixed, the metal recovery rate and the product purity are reduced, and the process complexity and the treatment cost are increased. Therefore, the accurate separation of the coating state in the recovery pretreatment stage is a key link for improving the recovery efficiency and the product quality. Currently, automatic sorting equipment based on a traditional RGB camera appears in the market. However, such devices can only recognize the color and macroscopic shape of the workpiece. In the actual recycling scene, the surface state of the waste hard alloy workpiece is extremely complex, the coating can be seriously worn or partially peeled off due to long-term use, oil stains, cutting fluid or other pollutants can be attached to the surface, and the metal matrix or the coating can generate strong specular reflection. These factors can seriously interfere with and even completely mask the feature extraction based on the traditional machine vision, which results in the rapid decline of the accuracy and robustness of the identification algorithm, can not meet the requirements of industrial grade separation on reliability, and reduces the identification precision and separation efficiency of complex mixed hard alloy (such as drill bit and blade). Disclosure of Invention In view of the foregoing, it is necessary to provide a cemented carbide sorting system and method for solving the technical problems of low recognition accuracy and low sorting efficiency of the existing cemented carbide sorting system for complex hybrid cemented carbides. In order to solve the above problems, in a first aspect, the present invention provides a cemented carbide sorting system comprising: A multi-joint robot body; the conveying mechanism is arranged in the working area of the multi-joint robot body and is used for conveying hard alloy workpieces to be sorted; the multi-mode detection device is mounted on the multi-joint robot body and is used for detecting the hard alloy workpiece and at least comprises a hyperspectral imaging unit for acquiring surface spectrum information, a three-dimensional contour measurement unit for acquiring three-dimensional geometric information and an eddy current detection unit for acquiring surface conductivity information; The control unit is in communication connection with the multi-mode detection device and the multi-joint robot body, and is used for receiving and fusing the surface spectrum information, the three-dimensional geometric information and the surface conductivity information, identifying the workpiece type of the hard alloy workpiece and generating a corresponding sorting control instruction; And the end effector is arranged at the operation end of the multi-joint robot body and is used for grabbing and sorting the hard alloy workpieces corresponding to the workpiece types according to the sorting control instruction. In a possible implementation manner, the hyperspectral imaging unit comprises a hyperspectral camera, and the response wavelength of the hyperspectral camera comprises a visible light band and a near infrared band and is used for acquiring a characteristic spectrum reflection curve of the surface coating of the hard alloy workpiece to obtain the surface spectrum information. In one possible implementation manner, the three-dimensional contour measurement unit is a three-dimensional structure light profiler, and is used for obtaining three-dimensional point cloud data of the hard alloy workpiece, and obtaining the three-dimensional geometric information by extracting features of the three-dimensional point cloud data. In one possible implementation, the eddy current inspection unit is integrated on the clampin