A device for identifying and positioning the barrel opening, a filling machine and a method for identifying and positioning the barrel opening

Abstract

The present invention provides a barrel mouth recognition and positioning device, a filling machine and a barrel mouth recognition and positioning method, including a translation device capable of moving along a horizontal plane and two laser distance sensors capable of projecting vertically downward. The two laser distance sensors are arranged on the translation device and can linearly move together in the horizontal direction driven by the translation device, and the distance between the two laser distance sensors is less than the diameter of the barrel mouth. The present invention has high environmental adaptability and is not affected by light; the positioning feedback accuracy is high by measuring the distance in the vertical direction with a laser; the addressing range is large while the positioning accuracy is high. The addressing range is determined by the stroke range of the servo linear module and can be freely set according to needs. The servo motor and the laser distance measurement are very accurate in controlling the distance.

Description

Technical Field

[0001] The present invention relates to the field of filling, and particularly to a barrel mouth recognition and positioning device, a filling machine, and a barrel mouth recognition and positioning method. Background Art

[0002] Filling equipment is mainly a type of product in packaging machines. From the perspective of packaging materials, it can be divided into liquid filling machines, paste filling machines, powder filling machines, and granule filling machines; from the degree of production automation, it is divided into semi-automatic filling machines and fully automatic filling production lines.

[0003] With the progress of technology and the improvement of requirements for the working environment, fully automatic filling equipment has increasingly become the mainstream in the chemical filling field. However, the positioning of eccentric material barrels has become the main factor restricting the development of fully automatic chemical filling equipment. Currently, the commonly used positioning in similar technologies is the "camera component vision addressing system", whose principle is to use a camera to take a downward photo of the complete barrel surface from above the barrel to find the position of the barrel mouth. Compared with the present invention, its disadvantages are: 1. Generally, image addressing is planar addressing. 2. It needs to be equipped with a lighting lamp. 3. There is a problem with the viewing distance because the shooting range of the camera is limited. 4. The production cost of explosion-proof components is too high. Explosion-proof boxes need to be made for both the camera and the light source lamp. 5. Generally, image addressing is affected by light, and there are differences in images. Affected by the color and light brightness of the barrel surface, the image will be distorted, thus affecting the positioning accuracy.

[0004] Based on the above problems existing in the prior art, there is an urgent need for a new type of fully automatic filling machine with low requirements for the production environment, high positioning accuracy, and fast positioning speed. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present invention provides a barrel mouth recognition and positioning device, a filling machine, and a barrel mouth recognition and positioning method, which solve the technical problem that the imaging recognition method is affected by light and shadow.

[0006] To achieve the above object, the following technical solutions are provided:

[0007] A barrel mouth recognition and positioning device includes a translation device capable of moving along a horizontal plane and two laser distance sensors capable of projecting vertically downward. The two laser distance sensors are arranged on the translation device and can linearly move together in the horizontal direction under the drive of the translation device, and the distance between the two laser distance sensors is less than the diameter of the barrel mouth.

[0008] The two laser distance sensors are arranged along the Y-axis direction and linearly move along the X-axis direction; correspondingly, the translation device includes an X-axis direction linear translation unit capable of driving the two laser distance sensors to move along the X-axis track.

[0009] The X-axis linear translation unit is driven by a stepper motor or a cylinder.

[0010] The translation device further includes a Y-axis linear translation unit. The X-axis linear translation unit is disposed on the Y-axis linear translation unit, and two laser distance sensors are disposed on the X-axis linear translation unit. The Y-axis linear translation unit can drive the X-axis linear translation unit to move along the Y-axis track; or, the Y-axis linear translation unit is disposed on the X-axis linear translation unit, and two laser distance sensors are disposed on the Y-axis linear translation unit. The Y-axis linear translation unit can drive the two laser distance sensors to move along the Y-axis.

[0011] The Y-axis linear translation unit is driven by a stepper motor or a cylinder.

[0012] The distance between the two laser distance sensors is adjusted by an adjusting device.

[0013] The linear movement direction of the two laser distance sensors is perpendicular to the arrangement direction of the two laser distance sensors.

[0014] The distance between the two laser distance sensors is between 1 / 3 and 2 / 3 of the barrel mouth diameter.

[0015] A filling machine uses the barrel mouth identification and positioning device described above.

[0016] A barrel mouth identification and positioning method uses the barrel mouth identification and positioning device described above, and includes:

[0017] Transport the steel barrel to be identified to the lower part of the barrel mouth identification and positioning device, and arrange the position of the barrel mouth within the scanning area of the two laser distance sensors;

[0018] Drive the translation device to drive the two laser distance sensors to perform linear driving on the horizontal plane;

[0019] Start the laser distance sensors to identify the distance to the top surface of the steel barrel and the upper barrel mouth, and obtain the mutation point coordinates corresponding to the edge position of the barrel mouth;

[0020] Fit the obtained four mutation point coordinates to obtain the center coordinates of the barrel mouth;

[0021] Preferably, by finding the circle for any three of the four mutation points, four initial center coordinates are obtained; then calculate the geometric center of the four initial center coordinates as the center coordinates.

[0022] Compared with the prior art, the advantages of the present invention are as follows:

[0023] The laser distance sensor is driven by a translation device to translate. During the translation process, when the laser distance sensor sweeps across the barrel opening, each laser distance sensor obtains two mutation points of the barrel opening according to the height change of the barrel opening. Thus, four mutation point coordinates can be obtained by two laser distance sensors, and the center coordinate of the barrel opening can be obtained by fitting after calculation; it has high environmental adaptability and is not affected by light; it measures the distance in the vertical direction by laser, with high positioning feedback accuracy; it has a large addressing range and high positioning accuracy at the same time. The addressing range is determined by the stroke range of the servo linear module, and the addressing range can be freely set according to needs. The servo motor and the laser distance measurement are very accurate in controlling the distance. The filling machine provided by the present invention can quickly identify the position of the barrel opening, thereby improving the filling efficiency. Brief Description of the Drawings

[0024] Figure 1 It is a schematic diagram of the application state in the embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of the positioning device in the embodiment of the present invention.

[0026] Among them, 1. barrel lid; 2. steel barrel; 3. X-axis stepper motor; 4. X-axis reducer; 5. Y-axis stepper motor; 6. Y-axis reducer; 7. laser distance sensor; 8. X-axis direction linear translation unit; 9. Y-axis direction linear translation unit. Detailed Description of the Embodiment

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0028] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0029] Embodiment

[0030] Combined with Figure 1 - Figure 2 , the embodiment of the present invention provides a barrel opening identification and positioning device, including a translation device capable of moving along a horizontal plane and two laser distance sensors 7 capable of projecting vertically downward. The two laser distance sensors 7 are arranged on the translation device and can linearly move together in the horizontal direction under the drive of the translation device, and the distance between the two laser distance sensors is less than the diameter of the barrel opening.

[0031] As Figure 1 shown, the height of the barrel opening of the steel barrel is higher than the height of the top cover of the steel barrel. When the laser distance sensor scans the edge of the barrel opening, there will be a sudden change in the height data, so that the coordinate data of the mutation position is recorded by the laser distance sensor, that is: the laser distance sensor is driven by the translation device to translate. During the translation process, when the laser distance sensor sweeps across the barrel opening, each laser distance sensor obtains two mutation points of the barrel opening according to the height change of the barrel opening. Thus, four mutation point coordinates are obtained by two laser distance sensors, and the center coordinate of the barrel opening can be obtained by fitting after calculation. The fitting method can adopt various forms.

[0032] The two laser distance sensors 7 are arranged along the Y-axis direction and move linearly along the X-axis direction; correspondingly, the translation device includes an X-axis linear translation unit 8, which can drive the two laser distance sensors 7 to move along the X-axis track. Since the two laser distance sensors 7 are arranged along the Y-axis direction, when the laser distance sensors are driven by the X-axis linear translation unit 8 to move along the X-axis direction, the trajectories of the two laser distance sensors 7 are two parallel lines. When the two laser distance sensors sweep across the barrel opening to be measured, they sense the height change of the barrel opening, so that each laser distance sensor obtains two mutation points.

[0033] The X-axis linear translation unit is driven by a stepping motor or a cylinder. When driven by a motor, for example, in this embodiment, the X-axis stepping motor 3 drives the X-axis reducer 4, and corresponding linear transmission methods such as screw transmission, rack transmission, belt transmission, and chain transmission are designed to achieve X-axis linear drive, and corresponding structures such as guide rails, chutes, and sliders are set, which belong to the conventional transmission methods in the mechanical field and will not be exemplified one by one here.

[0034] Optionally, the translation device further includes a Y-axis linear translation unit. The X-axis linear translation unit is arranged on the Y-axis linear translation unit, and the two laser distance sensors are arranged on the X-axis linear translation unit. The Y-axis linear translation unit can drive the X-axis linear translation unit to move along the Y-axis track; or, as Figure 2 shown, the Y-axis linear translation unit 9 is arranged on the X-axis linear translation unit 8, and the two laser distance sensors 7 are arranged on the Y-axis linear translation unit 9. The Y-axis linear translation unit 9 can drive the two laser distance sensors 7 to move along the Y-axis.

[0035] The Y-axis linear translation unit is driven by a stepping motor or a cylinder.

[0036] The distance between the two laser distance sensors is adjusted by an adjusting device. For example, the two laser distance sensors can be fixedly arranged side by side on corresponding components, and the distance between them can be adjusted by adding or subtracting shims between them, adjusting the length of the screw between them, etc., which also belongs to the conventional technical means in the mechanical field.

[0037] The linear movement direction of the two laser distance sensors is perpendicular to the arrangement direction of the two laser distance sensors.

[0038] Preferably, the distance between the two laser distance sensors is between 1 / 3 and 2 / 3 of the barrel mouth diameter, so as to avoid the laser distance sensors missing the barrel mouth or scanning to the edge position of the barrel mouth, making the data obtained by the laser distance sensors more accurate and improving the detection accuracy.

[0039] This embodiment also provides a filling machine, which uses the barrel mouth recognition device provided in the above embodiment. The filling machine provided by the present invention can quickly recognize the position of the barrel mouth, thereby improving the filling efficiency.

[0040] This embodiment also provides a method for recognizing and positioning the barrel mouth, which uses the above-mentioned barrel mouth recognition and positioning device, and includes:

[0041] Transport the steel barrel to be recognized below the barrel mouth recognition and positioning device, and arrange the position of the barrel mouth within the scanning area of the two laser distance sensors;

[0042] Drive the translation device to drive the two laser distance sensors to perform linear drive on the horizontal plane;

[0043] Start the laser distance sensors to recognize the distance of the top surface of the steel barrel and its upper barrel mouth, and obtain the coordinates of the mutation points corresponding to the edge position of the barrel mouth;

[0044] Fit the obtained four mutation point coordinates to obtain the center coordinates of the barrel mouth;

[0045] Preferably, find the circle through any three of the four mutation points to obtain four initial center coordinates; then calculate the geometric center of the four initial center coordinates as the center coordinates.

[0046] Preferably, calculate the coordinates of the four initial centers by the least squares method to obtain the geometric center.

[0047] Compared with the prior art, the advantages of the present invention are as follows:

[0048] It has high environmental adaptability and is not affected by light; it measures the distance in the vertical direction by laser, and has high positioning feedback accuracy; it has a large addressing range and high positioning accuracy at the same time. The addressing range is determined by the stroke range of the servo linear module and can be freely set according to needs. The servo motor and the laser distance measurement are very accurate in controlling the distance.

Claims

1. A method for identifying and positioning the barrel opening, using a barrel opening identification and positioning device. The barrel opening identification and positioning device includes a translation device capable of moving along a horizontal plane and two laser distance sensors capable of projecting vertically downward. The two laser distance sensors are arranged on the translation device and can linearly move together in the horizontal direction under the drive of the translation device, and the distance between the two laser distance sensors is less than the diameter of the barrel opening; the distance between the two laser distance sensors is between 1 / 3 and 2 / 3 of the barrel opening diameter; The two laser distance sensors are arranged along the Y-axis direction and linearly move along the X-axis direction, or the two laser distance sensors are arranged along the X-axis direction and linearly move along the Y-axis direction; The method for identifying and positioning the barrel opening includes: Transport the steel barrel to be identified below the barrel opening identification and positioning device, and arrange the position of the barrel opening within the scanning area of the two laser distance sensors; Drive the translation device to drive the two laser distance sensors to linearly move on the horizontal plane; Start the laser distance sensors to identify the distance to the top surface of the steel barrel and its upper barrel opening, and obtain the coordinates of the mutation points corresponding to the edge position of the barrel opening; Fit the four obtained mutation point coordinates to obtain the center coordinates of the barrel opening; By finding the circle through any three of the four mutation points, obtain four initial center coordinates; then calculate the geometric center of the four initial center coordinates as the center coordinates.

2. The method according to claim 1, wherein, Calculate the coordinates of the four initial centers by the least squares method to obtain the geometric center.

3. The method for identifying and positioning the barrel opening as claimed in claim 1, wherein, The two laser distance sensors are arranged along the Y-axis direction and linearly move along the X-axis direction; correspondingly, the translation device includes an X-axis linear translation unit capable of driving the two laser distance sensors to move along the X-axis track.

4. The method for identifying and positioning the barrel opening as claimed in claim 3, wherein, The translation device further includes a Y-axis linear translation unit. The X-axis linear translation unit is arranged on the Y-axis linear translation unit, and the two laser distance sensors are arranged on the X-axis linear translation unit. The Y-axis linear translation unit can drive the X-axis linear translation unit to move along the Y-axis track; or the Y-axis linear translation unit is arranged on the X-axis linear translation unit, and the two laser distance sensors are arranged on the Y-axis linear translation unit. The Y-axis linear translation unit can drive the two laser distance sensors to move along the Y-axis.

5. The method for identifying and positioning the barrel opening as claimed in claim 1, wherein, The distance between the two laser distance sensors is adjusted by an adjusting device.

6. The method for identifying and positioning the barrel opening as claimed in claim 1, wherein, The linear movement direction of the two laser distance sensors is perpendicular to the arrangement direction of the two laser distance sensors.

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