CN-224217117-U - Nuclear object pairing device

CN224217117UCN 224217117 UCN224217117 UCN 224217117UCN-224217117-U

Abstract

The application relates to a nuclear object pairing device which comprises a base, wherein a gantry driving module, a camera module, a detection platform and an industrial personal computer are connected to the base, a gripper connecting plate is connected to the gantry driving module, a flexible gripper is arranged on the gripper connecting plate, the detection platform comprises a transparent platform body and a driving motor for driving the transparent platform body to rotate, the camera module comprises a first camera, a second camera and a third camera, the first camera is fixedly arranged on the upper surface of the base and is correspondingly arranged with the transparent platform body, the second camera is fixedly arranged in the base and is positioned below the transparent platform body, the third camera is fixedly arranged above the transparent platform body, the camera module is electrically connected with the industrial personal computer, and the industrial personal computer is used for pairing all objects to be paired according to collected images of all the objects to be paired. The application realizes the automatic pairing of nuclear objects and ensures the pairing efficiency and precision.

Inventors

YUAN KUN
WANG HE
PENG GANG
Mao jingxuan
ZHANG CHENGHUA
XU CHENBO
GUO YULONG
LI LIANGXIAO
ZHU XIANGHUAN
SUN HONGLEI
CAI CHAOPENG

Assignees

河北鹰眼智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20250611

Claims (8)

1. The nuclear object pairing device is characterized by comprising a base (1), wherein a gantry driving module (2), a camera module, a detection platform and an industrial personal computer (3) are connected to the base (1), the gantry driving module (2) is connected with a gripper connecting plate (21), a flexible gripper (4) is arranged on the gripper connecting plate (21), the detection platform comprises a transparent platform body (5) and a driving motor for driving the transparent platform body (5) to rotate, the gantry driving module is used for driving the flexible gripper (4) to reach the position of an object to be paired, and after the flexible gripper (4) finishes grabbing the object to be paired, the flexible gripper (4) is driven to reach the position of the transparent platform body (5), so that the flexible gripper (4) places the object to be paired on the transparent platform body (5); The camera module comprises a first camera (6), a second camera (7) and a third camera (8), wherein the first camera (6) is fixedly arranged on the upper surface of the base (1) and is correspondingly arranged with the transparent platform body (5), the second camera (7) is fixedly arranged in the base (1) and is positioned below the transparent platform body (5), the third camera (8) is fixedly arranged above the transparent platform body (5), the first camera (6) is used for collecting side images of an object to be paired on the transparent platform body (5), the second camera (7) is used for collecting bottom images of the object to be paired on the transparent platform body (5), and the third camera (8) is used for collecting top images of the object to be paired on the transparent platform body (5); the camera module is electrically connected with the industrial personal computer (3), and the industrial personal computer (3) is used for pairing each object to be paired according to the collected images of each object to be paired.
2. The nuclear object pairing device according to claim 1, wherein the base (1) is connected with an upper shell (15), a material conveying opening (151) is formed in the side face of the upper shell (15), a material conveying guide rail (16) is fixedly connected to the upper surface of the base (1), the material conveying guide rail (16) extends from the material conveying opening (151) to the side close to the transparent platform body (5), a tray (17) is connected to the material conveying guide rail (16) in a sliding mode, the tray (17) comprises a plurality of independent placing grooves (171), and objects to be paired are stored in each placing groove (171).
3. The nuclear object pairing device according to claim 2, wherein the transparent stage (5) comprises a first region stage (51) and a second region stage (52), the first region stage (51) is a stage made of transparent material, the second region stage (52) is a stage made of frosted material, and the arithmetic mean deviation of the contours in the surface roughness parameters of the second region stage (52) is 0.4 to 0.8 μm.
4. The nuclear object pairing device according to claim 2, wherein a spring buckle (18) is arranged between the tray (17) and the base (1), the spring buckle (18) comprises a first buckle body and a second buckle body, the first buckle body is fixedly installed on the base (1), the second buckle body is fixedly installed on the end face of the tray (17), when the tray (17) slides to a target position along the material conveying guide rail (16), the first buckle body is clamped with the second buckle body, a micro switch sensor (35) is installed on the upper surface of the base (1), the micro switch sensor (35) is used for detecting whether the tray (17) reaches the target position, and the micro switch sensor (35) is electrically connected with the industrial personal computer (3).
5. The nuclear class object pairing device according to claim 1, wherein a first light source (111) is provided at the first camera (6), a second light source (14) is provided at the second camera (7), and a third light source (131) is provided at the third camera (8).
6. The nuclear object pairing device according to claim 5, wherein a light shielding plate (19) is arranged on one side, far away from the first camera (6), of the transparent platform body (5), the light shielding plate (19) is fixedly connected with the base (1), and the light shielding plate (19) and the first camera (6) are arranged in opposite directions.
7. The nuclear object pairing device according to claim 1, wherein a fourth camera (42) is mounted on the flexible gripper (4), the fourth camera (42) is electrically connected with the industrial personal computer (3), and the fourth camera (42) is used for collecting image data of an object to be paired after the flexible gripper (4) grips the object to be paired and transmitting the image data to the industrial personal computer (3).
8. The nuclear object pairing device according to claim 1, wherein a plurality of support rods (53) are inserted on the transparent platform body (5), each support rod (53) extends along a direction perpendicular to a plane where the transparent platform body (5) is located, each support rod (53) is connected with a lifting driving assembly (33), and each lifting driving assembly (33) is electrically connected with the industrial personal computer (3) respectively.

Description

Nuclear object pairing device Technical Field The application relates to the technical field of nuclear object pairing, in particular to a nuclear object pairing device. Background In cultural markets such as literacy, the pairing of paired nuclear objects needs to comprehensively consider multidimensional characteristics such as outline shape, texture, size, cortex and the like, and the traditional method relies on manual experience to realize pairing through visual comparison or measuring tool measurement. However, the manual pairing is highly dependent on experience accumulation of the identifiers, subjective differences exist between the different identifiers and the evaluation standards of similarity, so that the pairing result is poor in consistency, time and labor are consumed, the large-scale transaction requirements are difficult to meet, and the technical defects of high subjectivity and low efficiency exist. Therefore, a technical scheme capable of realizing automatic pairing of the nuclear objects is needed, so that the efficiency and precision bottleneck of judging the outline shape, the size and other dimensional characteristics of the nuclear objects in the traditional manual pairing process are solved, and standardization and intelligent upgrading of walnut pairing are promoted. Disclosure of utility model In order to realize automatic pairing of nuclear objects and ensure pairing efficiency and precision, the application provides a nuclear object pairing device. The nuclear object pairing device comprises a base, wherein a gantry driving module, a camera module, a detection platform and an industrial personal computer are connected to the base, a gripper connecting plate is connected to the gantry driving module, a flexible gripper is installed on the gripper connecting plate, the detection platform comprises a transparent platform body and a driving motor for driving the transparent platform body to rotate, the gantry driving module is used for driving the flexible gripper to reach the position of an object to be paired, and after the flexible gripper finishes grabbing the object to be paired, the flexible gripper is driven to reach the position of the transparent platform body, so that the flexible gripper places the object to be paired on the transparent platform body; the camera module comprises a first camera, a second camera and a third camera, wherein the first camera is fixedly arranged on the upper surface of the base and is arranged corresponding to the transparent platform body, the second camera is fixedly arranged in the base and is positioned below the transparent platform body, and the third camera is fixedly arranged above the transparent platform body; the first camera is used for acquiring side images of the object to be paired on the transparent platform body, the second camera is used for acquiring bottom images of the object to be paired on the transparent platform body, and the third camera is used for acquiring top images of the object to be paired on the transparent platform body; The camera module is electrically connected with the industrial personal computer, and the industrial personal computer is used for pairing each object to be paired according to the collected images of each object to be paired. Through adopting above-mentioned technical scheme, through flexible tongs, can be with waiting to mate the object automatic snatch transparent platform body on, the industrial computer obtains the size and the profile that wait to mate the object correspondence to pair each wait to mate the object based on size and profile, realize full automatization pairing assembly line. The camera module can cooperatively cover 360-degree features of the object to be paired in three visual angles, so that the problem of blind areas of single-phase cameras is solved, the pairing accuracy is improved, the automatic pairing of nuclear objects is realized, and the pairing efficiency and accuracy are ensured. Optionally, the base is connected with an upper shell, a material conveying opening is formed in the side face of the upper shell, a material conveying guide rail is fixedly connected to the upper surface of the base, the material conveying guide rail extends from the material conveying opening to the side close to the transparent platform body, a tray is connected to the material conveying guide rail in a sliding mode, the tray comprises a plurality of independent placing grooves, and objects to be paired are stored in each placing groove. Through adopting above-mentioned technical scheme for nuclear class object pairing device can form semi-closed protective structure, and the interference such as outside dust of upper casing separation, structure such as camera module, flexible tongs are inside to the protection. The objects to be paired are loaded to the tray in batches through the material conveying opening, the tray conveys the loaded objects with the paired bands to the ta