An electronic thermometer packaging machine based on CCD visual recognition

Abstract

The present invention discloses an electronic thermometer packaging machine based on CCD visual recognition, comprising a first workbench, a second workbench arranged on the left side of the first workbench, and a third workbench arranged on the right side of the first workbench, a transfer tray which rotates 90 degrees each time is arranged in the middle of the upper surface of the first workbench, a first belt conveyor for transferring a shell to it is arranged on the upper surface of the first workbench near the left side of the transfer tray, and a second belt conveyor for transferring the thermometer to it is arranged near the front side of the transfer tray. The electronic thermometer packaging machine based on CCD visual recognition can detect that the shell, the cap body and the thermometer are skewed through the arrangement of three industrial cameras and three manipulators, and can directly adjust the direction of the shell, the cap body and the thermometer during the transfer process of the manipulator, thereby greatly facilitating the use of personnel, and can accurately perform packaging, while greatly increasing the efficiency of packaging.

Description

Technical Field

[0001] The invention relates to the technical field of thermometer packaging machines, in particular to an electronic thermometer packaging machine based on CCD visual recognition. Background Art

[0002] In today's world, science and technology are developing rapidly. Technological products with increasingly powerful functions and more exquisite appearance are constantly being introduced, bringing innovative experiences and changes to people's work and life. Behind these high-quality technological products are production processes that require increasingly sophisticated processing, assembly and testing, which puts higher and higher demands on the eyes of automated machines - CCD machine vision systems. The application of CCD machine vision systems in industry will become more and more popular, and in the future, they will replace manual labor in factories to do some inspection and identification.

[0003] Thermometers are tools that can accurately judge and measure temperature. They are divided into pointer thermometers and digital thermometers. Various thermometers have been designed and manufactured according to the purpose of use. However, most of the existing electronic thermometers are manually loaded and packaged during packaging, so the packaging efficiency is very low. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an electronic thermometer packaging machine based on CCD visual recognition, which solves the problems raised in the above background technology.

[0005] The technical solution of the present invention is as follows:

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an electronic thermometer packaging machine based on CCD visual recognition, comprising a first workbench, a second workbench arranged on the left side of the first workbench, and a third workbench arranged on the right side of the first workbench, a transfer tray which rotates 90 degrees each time is arranged in the middle of the upper surface of the first workbench, a first belt conveyor for transferring a shell to the upper surface of the first workbench is arranged near the left side of the transfer tray, a second belt conveyor for transferring a thermometer to the upper surface of the first workbench is arranged near the front side of the transfer tray, a third belt conveyor for transferring a cap to the upper surface of the first workbench is arranged near the right side of the transfer tray, and a fourth belt conveyor is arranged near the rear side of the transfer tray, and a first industrial camera and a second industrial camera which can be adjusted up, down, left, and right are respectively arranged on the front side of the first belt conveyor and the rear side of the second belt conveyor;

[0007] A first manipulator for placing the shell on the transfer plate is arranged on the upper surface of the first workbench near the rear side of the first belt conveyor, and a second manipulator is arranged near the front side of the second belt conveyor. A third manipulator arranged above the third belt conveyor in the front-to-back direction is arranged at the connection between the upper surfaces of the first workbench and the third workbench. A fourth manipulator for transferring the packaged thermometer to the fourth belt conveyor is arranged on the right side of the fourth belt conveyor, and a third industrial camera whose position can be adjusted up, down, left, and right is arranged at the rear end of the third manipulator. The first industrial camera, the second industrial camera, and the third industrial camera are respectively used to monitor whether the shell, the thermometer, and the cap body are skewed;

[0008] A first placing and pushing component is arranged on the right side of the upper surface of the first workbench close to the second belt conveyor, and a second placing and pushing component is arranged on the front side close to the third belt conveyor. The first placing and pushing component is used to push the thermometer transferred from the second manipulator toward the transfer disk, and the second placing and pushing component is used to push the cap body transferred from the third manipulator toward the transfer disk.

[0009] Optionally, four first placement plates with openings facing outward are evenly fixedly connected to the upper surface of the transfer tray, a cam divider with its bottom end arranged on the first workbench is fixedly connected to the lower surface of the transfer tray, a fourth mounting plate is arranged on the front side of the cam divider, an electric motor for driving the cam divider is arranged at the right end of the rear side of the fourth mounting plate, and a pressing stabilization device that can be pressed on the first placement plate is arranged at the front and rear ends of the transfer tray.

[0010] Optionally, the pressing and stabilizing device includes a first support rod fixedly connected to the upper surface of the first workbench, a first fixed block whose position can be adjusted up and down is arranged on the top of the first support rod, a first mounting plate with one end extending to above the transfer plate is arranged on the first fixed block, a first downwardly driven first pneumatic slide is fixedly connected to the side of the first mounting plate away from the first fixed block, and a first pressing plate is fixedly connected to the bottom end of the first pneumatic slide.

[0011] Optionally, the second manipulator includes a first screw slide arranged on the first workbench along the left-right direction, a second screw slide arranged on the first screw slide along the front-back direction, and a second mounting plate arranged on the second screw slide, the front side of the second mounting plate is fixedly connected to two upward-driven second pneumatic slides, the top end of the second pneumatic slide is fixedly connected to a Z-shaped plate, the bottom end of the Z-shaped plate is provided with a first driving motor, the rotating shaft of the first driving motor is fixedly connected to a first fixed circular plate, and the lower surface of the first fixed circular plate is oppositely provided with two first vacuum suction cups.

[0012] Optionally, the first robot includes a third screw slide arranged on the first workbench along the left-right direction, and a fourth screw slide arranged on the third screw slide along the front-back direction, the left side of the fourth screw slide is fixedly connected to a third mounting plate, the rear side of the third mounting plate is provided with two upward-driven third pneumatic slides, the top end of the third pneumatic slide is fixedly connected to a second Z-shaped plate, the bottom end of the second Z-shaped plate is fixedly connected to a second driving motor, the rotating shaft of the second driving motor is fixedly connected to a second fixed circular plate, and two second vacuum suction cups are oppositely provided on the lower surface of the second fixed circular plate.

[0013] Optionally, the third robot includes two first support frames arranged at the connection between the first workbench and the upper surface of the third workbench, the two first support frames are respectively arranged on the front and rear sides of the third belt conveyor, and the upper surface of the first support frame arranged on the front side of the third belt conveyor is provided with a linear slide rail, the upper surface of the first support frame arranged on the rear side of the third belt conveyor is provided with a fifth screw slide arranged along the left and right directions, the upper surface of the fifth screw slide is provided with a sixth screw slide arranged along the front and rear directions, the front end of the lower surface of the sixth screw slide is fixedly connected to the linear slide rail, the left side of the sixth screw slide is fixedly connected to two fourth pneumatic slides, the left side of the fourth pneumatic slide is fixedly connected to an L-shaped plate, the bottom end of the L-shaped plate is fixedly connected to a third drive motor, and the rotating shaft of the third drive motor is provided with a third vacuum suction cup.

[0014] Optionally, the first placement pushing component includes a second support frame fixedly connected to the upper surface of the first workbench, a pneumatic push rod arranged at the front end of the upper surface of the second support frame, and a second placement plate fixedly connected to the rear end of the upper surface of the second support frame.

[0015] Optionally, the second placement and pushing component includes a fifth mounting plate fixedly connected to the upper surface of the first workbench, the top end of the fifth mounting plate is fixedly connected to the first fixing plate, the upper surface of the first fixing plate is slidably connected to the second fixing plate, the upper surface of the second fixing plate is fixedly connected to a fifth pneumatic slide driven to the left, the upper surface of the fifth pneumatic slide is fixedly connected to a sixth mounting plate, the right end of the upper surface of the sixth mounting plate is provided with a sixth pneumatic slide driven to the left, the left side of the sixth pneumatic slide is fixedly connected to a seventh pneumatic slide driven downward, the left end of the upper surface of the sixth mounting plate is provided with a third placement plate, and the left side of the seventh pneumatic slide is fixedly connected to a second pressing plate that can be pressed on the third placement plate.

[0016] Optionally, the first industrial camera, the second industrial camera, and the third industrial camera are all fixedly connected to a camera mounting plate, the outer surface of the camera mounting plate is slidably connected to a camera fixing plate, the outer surface of the camera fixing plate is slidably connected to a second support rod, and one end of the second support rod is fixedly connected to a third support rod with one end facing downward.

[0017] Beneficial Effects

[0018] The present invention provides an electronic thermometer packaging machine based on CCD visual recognition, which has the following beneficial effects:

[0019] The electronic thermometer packaging machine based on CCD visual recognition, through the setting of three industrial cameras and three manipulators, can detect that the shell, cap and thermometer are skewed, and can directly adjust the direction of the shell, cap and thermometer during the transfer process of the manipulator. Therefore, it can greatly facilitate the use of personnel, and can accurately package, while greatly increasing the efficiency of packaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of a part of the transfer plate of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the second placement and pushing component of the present invention;

[0023] Figure 4 It is a schematic diagram of the partial structure of the second manipulator of the present invention.

[0024] In the figure: 1, the first workbench; 2, the second workbench; 3, the third workbench; 4, the second belt conveyor; 5, the fourth belt conveyor; 6, the first belt conveyor; 7, the third belt conveyor; 8, the first screw slide; 9, the second screw slide; 10, the third screw slide; 11, the fourth screw slide; 13, the third industrial camera; 14, the first industrial camera; 15, the second industrial camera; 16, the linear slide; 17, the sixth screw slide; 18, the fifth screw slide; 19, the fourth pneumatic slide; 20, the third drive motor; 21, the Second support frame; 22, pneumatic push rod; 23, second placement plate; 24, transfer plate; 25, first placement plate; 26, second pneumatic slide; 27, first drive motor; 28, fifth mounting plate; 29, first fixed plate; 30, fifth pneumatic slide; 31, sixth mounting plate; 32, sixth pneumatic slide; 33, third placement plate; 34, seventh pneumatic slide; 35, second pressing plate; 36, first support rod; 37, first fixed block; 38, first pneumatic slide; 39, first pressing plate; 40, electric motor; 41, fourth drive motor. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0026] See also Figures 1 to 4 The present invention provides a technical solution: an electronic thermometer packaging machine based on CCD visual recognition, comprising a first workbench 1, a second workbench 2 arranged on the left side of the first workbench 1, and a third workbench 3 arranged on the right side of the first workbench 1, a transfer tray 24 which rotates 90 degrees each time is arranged in the middle of the upper surface of the first workbench 1, a first belt conveyor 6 for transferring a shell to the upper surface of the first workbench 1 is arranged on the left side of the transfer tray 24, a second belt conveyor 4 for transferring a thermometer to the upper surface is arranged near the front side of the transfer tray 24, and a third belt conveyor 6 for transferring a shell to the upper surface of the first workbench 1 is arranged near the right side of the transfer tray 24. The third belt conveyor 7 for transferring the cap body, wherein the cap body is transferred to the third belt conveyor 7 through a vibrating plate arranged on the first workbench 1, and a fourth belt conveyor 5 is arranged at the rear side near the transfer plate 24, wherein the fourth belt conveyor 5 is used to transfer the packaged thermometers, and the front side of the first belt conveyor 6 and the rear side of the second belt conveyor 4 are respectively provided with a first industrial camera 14 and a second industrial camera 15 which can be adjusted up, down, left, and right, wherein the models of the first industrial camera 14, the second industrial camera 15 and the third industrial camera 13 are all Keyence CV-H200C;

[0027] A first manipulator for placing the shell on the transfer plate 24 is arranged on the upper surface of the first workbench 1 near the rear side of the first belt conveyor 6, and a second manipulator is arranged near the front side of the second belt conveyor 4. A third manipulator arranged above the third belt conveyor 7 in the front-to-back direction is arranged at the connection between the first workbench 1 and the upper surface of the third workbench 3. A fourth manipulator for transferring the packaged thermometer to the fourth belt conveyor 5 is arranged on the right side of the fourth belt conveyor 5, and a third industrial camera 13 whose position can be adjusted up, down, left and right is arranged at the rear end of the third manipulator. The first industrial camera 14, the second industrial camera 15 and the third industrial camera 13 are respectively used to monitor the shell and the temperature. Whether the meter and the cap body are skewed, and a main machine for controlling its operation is arranged on one side of the electronic thermometer packaging machine based on CCD visual recognition, wherein the fourth manipulator includes two second support rods fixedly connected to the first workbench 1, a seventh screw slide which can move up and down and is arranged at the top of the two second support rods, a seventh mounting plate fixedly connected to the left side of the seventh screw slide, an eighth pneumatic slide fixedly connected to the front side of the seventh mounting plate, a second L-shaped plate arranged at the front side of the third pneumatic slide, a fourth drive motor 41 fixedly connected to the bottom end of the second L-shaped plate, a third fixed circular plate fixedly connected to the rotating shaft of the fourth drive motor 41, and two fourth vacuum suction cups arranged on the lower surface of the third fixed circular plate opposite to each other;

[0028] Therefore, when the seventh screw slide is working, it will drive the seventh mounting plate to move forward and backward. At the same time, when the eighth pneumatic slide is working, it will drive the fourth drive motor 41 to move up and down, so that the two fourth vacuum suction cups will absorb the packaged shell and move it.

[0029] A first placing and pushing component is provided on the upper surface of the first workbench 1 on the right side near the second belt conveyor 4, and a second placing and pushing component is provided on the front side near the third belt conveyor 7. The first placing and pushing component is used to push the thermometer transferred from the second manipulator toward the transfer tray 24, so that when the empty shell is transferred to the rear of the first placing and pushing component through the transfer tray 24, the first pushing component will push the thermometer placed thereon into the empty shell, and the second placing and pushing component is used to push the cap body transferred from the third manipulator toward the transfer tray 24, so that when the shell with the thermometer placed thereon is transferred to the left of the second placing and pushing component through the transfer tray 24, the second placing and pushing component will cover the cap body placed thereon on the shell, thereby completing the packaging.

[0030] The upper surface of the transfer plate 24 is evenly fixedly connected with four first placement plates 25 with openings facing outward, and the lower surface of the transfer plate 24 is fixedly connected with a cam divider with the bottom end arranged on the first workbench 1, and a fourth mounting plate is arranged on the front of the cam divider, and an electric motor 40 for driving the cam divider is arranged on the right end of the rear side of the fourth mounting plate, wherein the model of the electric motor 40 is 51K140GN-C-5GU30K, and at the same time, the driving shaft of the electric motor 40 passes through the fourth mounting plate and is fixedly connected with a driving wheel, and the rotating shaft of the input end of the cam divider passes through the fourth mounting plate and is fixedly connected with a driven wheel, and the driving wheel and the driven wheel are toothed with a connecting belt for synchronous rotation, and the front and rear ends of the transfer plate 24 are both provided with a pressing stabilization device that can be pressed on the first placement plate 25, and the pressing stabilization device includes a first support rod 36 fixedly connected to the upper surface of the first workbench 1, and the first A first fixing block 37 that can be adjusted up and down is provided on the top of the support rod 36, wherein the end of the first fixing block 37 away from the first mounting plate is threadedly connected with a fastening bolt. Therefore, after the personnel adjusts the position of the first fixing block 37, the personnel stabilizes the position of the first fixing block 37 on the first support rod 36 by turning the fastening bolt. The first fixing block 37 is provided with a first mounting plate having one end extending above the transfer plate 24, and the first mounting plate is fixedly connected to a downwardly driven first pneumatic slide 38 on one side away from the first fixing block 37, and the bottom end of the first pneumatic slide 38 is fixedly connected to a first pressing plate 39. Therefore, when the two first pneumatic slides 38 are working, the two first pressing plates 39 will be driven to move up and down. Therefore, one of the first pressing plates 39 can prevent the empty shell from tilting up when the thermometer is placed, and the other first pressing plate 39 can prevent the shell from tilting up when the cap body is installed on the shell.

[0031] The second manipulator includes a first screw slide 8 arranged on the first workbench 1 along the left and right directions, a second screw slide 9 arranged on the first screw slide 8 along the front and back directions, and a second mounting plate arranged on the second screw slide 9. Therefore, when the first screw slide 8 is working, it will drive the second screw slide 9 to move left and right. At the same time, when the second screw slide 9 is working, it will drive the second mounting plate to move forward and backward. The front side of the second mounting plate is fixedly connected to two upward-driven second pneumatic slides 26. The top of the second pneumatic slide 26 is fixedly connected to a Z-shaped plate, so that when the second pneumatic slide 26 is working, it will drive the Z-shaped plate to move up and down. A first driving motor is arranged at the bottom end of the Z-shaped plate, and the rotating shaft of the first driving motor is fixedly connected to a first fixed circular plate. Two first vacuum suction cups are relatively arranged on the lower surface of the first fixed circular plate. Therefore, when the first driving motor is working, it will drive the first vacuum suction cup to rotate.

[0032] The first manipulator includes a third screw slide 10 arranged on the first workbench 1 along the left-right direction, and a fourth screw slide 11 arranged on the third screw slide 10 along the front-back direction, so that when the third screw slide 10 is working, it will drive the fourth screw slide 11 to move left and right, the left side of the fourth screw slide 11 is fixedly connected with a third mounting plate, so that when the fourth screw slide 11 is working, it will drive the third mounting plate to move forward and backward, and the rear side of the third mounting plate is provided with two upward-driven third pneumatic slides, and the top of the third pneumatic slide is fixedly connected with a second Z-shaped plate, so when the third pneumatic slide is working, it will drive the second Z-shaped plate to move up and down, and the bottom end of the second Z-shaped plate is fixedly connected with a second driving motor, and the rotating shaft of the second driving motor is fixedly connected with a second fixed circular plate, and the lower surface of the second fixed circular plate is relatively provided with two second vacuum suction cups, so when the second driving motor is working, it will drive the second vacuum suction cup to rotate.

[0033] The third manipulator includes two first support frames arranged at the connection between the first workbench 1 and the upper surface of the third workbench 3, the two first support frames are respectively arranged on the front and rear sides of the third belt conveyor 7, and the upper surface of the first support frame arranged on the front side of the third belt conveyor 7 is provided with a linear slide 16, and the upper surface of the first support frame arranged on the rear side of the third belt conveyor 7 is provided with a fifth screw slide 18 arranged in the left and right direction, and the upper surface of the fifth screw slide 18 is provided with a sixth screw slide 17 arranged in the front and rear direction, and the front end of the lower surface of the sixth screw slide 17 is fixedly connected with On the linear slide 16, so when the fifth screw slide 18 is working, it will drive the linear slide 16 to move left and right, the left side of the sixth screw slide 17 is fixedly connected with two fourth pneumatic slides 19, the left side of the fourth pneumatic slide 19 is fixedly connected with an L-shaped plate, and the bottom end of the L-shaped plate is fixedly connected with a third drive motor 20, so that when the fourth pneumatic slide 19 is working, it will drive the third drive motor 20 to move up and down, and the rotating shaft of the third drive motor 20 is provided with a third vacuum suction cup, so when the third drive motor 20 is working, it will drive the third vacuum suction cup to rotate.

[0034] The first placement and pushing component includes a second support frame 21 fixedly connected to the upper surface of the first workbench 1, a pneumatic push rod 22 arranged at the front end of the upper surface of the second support frame 21, and a second placement plate 23 fixedly connected to the rear end of the upper surface of the second support frame 21, wherein the upper surface of the second placement plate 23 is provided with a thermometer placement groove, and at the same time, a pushing port connected to the thermometer placement groove is provided on the front side of the second placement plate 23, and at the same time, the driving end of the pneumatic push rod 22 can extend into the thermometer placement groove through the pushing port, so that the pneumatic push rod 22 will push the thermometer to move in the direction of the transfer plate 24 when working.

[0035] The second placement and pushing component includes a fifth mounting plate 28 fixedly connected to the upper surface of the first workbench 1, the top of the fifth mounting plate 28 is fixedly connected to the first fixing plate 29, the upper surface of the first fixing plate 29 is slidably connected to the second fixing plate, wherein a plurality of hexagon socket bolts with one end threadedly connected to the first fixing plate 29 are slidably connected to the upper surface of the second fixing plate, so that after adjusting the position of the second fixing plate, the personnel can stabilize the second fixing plate on the first fixing plate 29 through the hexagon socket bolts, the upper surface of the second fixing plate is fixedly connected to the fifth pneumatic slide 30 driven to the left, the upper surface of the fifth pneumatic slide 30 is fixedly connected to the sixth mounting plate 31, so that when the fifth pneumatic slide 30 is working, it will drive the sixth mounting plate 31 to move left and right, the right end of the upper surface of the sixth mounting plate 31 is provided with a sixth pneumatic slide 32 driven to the left, and the left side of the sixth pneumatic slide 32 is fixedly connected to a downward The driven seventh pneumatic slide 34 will drive the seventh pneumatic slide 34 to move left and right when the sixth pneumatic slide 32 is working. A third placing plate 33 is provided at the left end of the upper surface of the sixth mounting plate 31. A second pressing plate 35 which can be pressed on the third placing plate 33 is fixedly connected to the left side of the seventh pneumatic slide 34. Therefore, when the sixth mounting plate 31 moves left and right, the third placing plate 33 and the sixth pneumatic slide 32 will be driven to move simultaneously. When the third manipulator places the cap body on the third placing plate 33, the second pressing plate 35 does not cover the third placing plate 33. After the placement is completed, the sixth pneumatic slide 32 will work to drive the second pressing plate 35 to move above the third placing plate 33. Then the seventh pneumatic slide 34 will work to drive the second pressing plate 35 to move downward, thereby stabilizing the cap body on the third placing plate 33. Finally, the fifth pneumatic slide 30 will work to drive the third placing plate 33 to move toward the transfer tray 24.

[0036] The first industrial camera 14, the second industrial camera 15, and the third industrial camera 13 are all fixedly connected with a camera mounting plate, and the outer surface of the camera mounting plate is slidably connected with a camera fixing plate, and the outer surface of the camera fixing plate is slidably connected with a second support rod, and one end of the second support rod is fixedly connected with a third support rod with one end facing downward. Therefore, personnel can slide the camera mounting plate on the camera fixing plate to adjust the upper and lower positions of the first industrial camera 14, the second industrial camera 15, and the third industrial camera 13, and at the same time, a second hexagon socket bolt having one end threadedly connected to the camera fixing plate is slidably connected to the camera mounting plate, so that after adjusting the position of the camera mounting plate, personnel can rotate the second hexagon socket bolt to limit the position of the camera mounting plate on the camera fixing plate, and at the same time, personnel can slide the camera fixing plate on the second support rod to adjust the front and rear positions of the first industrial camera 14, the second industrial camera 15, and the third industrial camera 13, and at the same time, a third hexagon socket bolt having one end threadedly connected to the second support rod is slidably connected to the camera fixing plate.

[0037] In summary, when the electronic thermometer packaging machine based on CCD visual recognition is used, the transfer plate 24 will rotate with the empty first placement plate 25 to the right of the first belt conveyor 6, and then the second vacuum suction cup on the first manipulator will absorb the empty shell and place it on the first placement plate 25. At the same time, the data monitored by the first industrial camera will be transmitted to the host, and then the host will control the second drive motor to rotate, so that the shell placed on the first placement plate 25 always maintains the correct angle. At the same time, because there are two second drive motors, the shell is placed one by one;

[0038] After the empty shell is placed, the transfer plate 24 will rotate 90 degrees again to transfer the empty shell to the rear of the first placement pushing component. Then the first vacuum suction cup on the second manipulator will adsorb the thermometer and place it on the first placement pushing component. Then the first placement pushing component will push the thermometer into the empty shell. At the same time, the data monitored by the second industrial camera will also be transmitted to the host. Then the host will control the first drive motor to rotate to adjust the angle of the thermometer, so as to ensure that the thermometer can be correctly placed in the first placement pushing component every time. And because there are two first drive motors, the thermometers are placed one by one.

[0039] Then the transfer plate 24 will rotate 90 degrees again, so that the shell with the thermometer is transferred to the left of the second placement pushing component, and then the third vacuum suction cup on the third manipulator will adsorb the cap body and place it on the second placement pushing component, and then the second placement pushing component will cover the cap body on the shell, and at the same time, the data monitored by the third industrial camera will also be transmitted to the host, and then the host will control the third drive motor to rotate, so as to adjust the angle of the cap body, so that the cap body can be correctly placed in the second pushing component every time, and because there are also two third drive motors, when placing the cap body again, it is also placed one by one;

[0040] Finally, the packaged thermometers will be transferred to the fourth belt conveyor 5 by the fourth robot, so as to integrate the packaged thermometers into the box. At the same time, the above working processes are carried out synchronously.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An electronic thermometer packaging machine based on CCD visual recognition, comprising a first workbench, a second workbench arranged on the left side of the first workbench, and a third workbench arranged on the right side of the first workbench, characterized in that: A transfer tray that rotates 90 degrees each time is arranged in the middle of the upper surface of the first workbench, a first belt conveyor for transferring a shell to the transfer tray is arranged on the upper surface of the first workbench near the left side of the transfer tray, a second belt conveyor for transferring a thermometer to the transfer tray is arranged near the front side of the transfer tray, a third belt conveyor for transferring a cap body to the transfer tray is arranged near the right side of the transfer tray, and a fourth belt conveyor is arranged near the rear side of the transfer tray, and a first industrial camera and a second industrial camera that can be adjusted up, down, left, and right are respectively arranged on the front side of the first belt conveyor and the rear side of the second belt conveyor; A first manipulator for placing the shell on the transfer plate is arranged on the upper surface of the first workbench near the rear side of the first belt conveyor, and a second manipulator is arranged near the front side of the second belt conveyor. A third manipulator arranged above the third belt conveyor in the front-to-back direction is arranged at the connection between the upper surfaces of the first workbench and the third workbench. A fourth manipulator for transferring the packaged thermometer to the fourth belt conveyor is arranged on the right side of the fourth belt conveyor, and a third industrial camera whose position can be adjusted up, down, left, and right is arranged at the rear end of the third manipulator. The first industrial camera, the second industrial camera, and the third industrial camera are respectively used to monitor whether the shell, the thermometer, and the cap body are skewed; A first placing and pushing component is provided on the right side of the upper surface of the first workbench close to the second belt conveyor, and a second placing and pushing component is provided on the front side close to the third belt conveyor. The first placing and pushing component is used to push the thermometer transferred from the second manipulator toward the transfer plate, and the second placing and pushing component is used to push the cap body transferred from the third manipulator toward the transfer plate. The first placement and pushing component includes a second support frame fixedly connected to the upper surface of the first workbench, a pneumatic push rod arranged at the front end of the upper surface of the second support frame, and a second placement plate fixedly connected to the rear end of the upper surface of the second support frame; wherein the upper surface of the second placement plate is provided with a thermometer placement groove, and a pushing port connected to the thermometer placement groove is provided at the front side of the second placement plate, and the driving end of the pneumatic push rod can extend into the thermometer placement groove through the pushing port, so that the pneumatic push rod will push the thermometer to move in the direction of the transfer plate when working; The second placement and pushing component includes a fifth mounting plate fixedly connected to the upper surface of the first workbench, the top of the fifth mounting plate is fixedly connected to the first fixing plate, the upper surface of the first fixing plate is slidably connected to the second fixing plate, the upper surface of the second fixing plate is fixedly connected to a fifth pneumatic slide driven to the left, the upper surface of the fifth pneumatic slide is fixedly connected to a sixth mounting plate, the right end of the upper surface of the sixth mounting plate is provided with a sixth pneumatic slide driven to the left, the left side of the sixth pneumatic slide is fixedly connected to a seventh pneumatic slide driven downward, the left end of the upper surface of the sixth mounting plate is provided with a third placement plate, The left side of the seventh pneumatic slide is fixedly connected with a second pressing plate that can be pressed on the third placing plate; when the sixth mounting plate moves left and right, the third placing plate and the sixth pneumatic slide will be driven to move simultaneously, wherein when the third manipulator places the cap body on the third placing plate, the second pressing plate does not cover the third placing plate, and after the placement is completed, the sixth pneumatic slide will work to drive the second pressing plate to move above the third placing plate, and then the seventh pneumatic slide will work to drive the second pressing plate to move downward, thereby stabilizing the cap body on the third placing plate, and finally the fifth pneumatic slide will work to drive the third placing plate to move toward the transfer disk.

2. The electronic thermometer packaging machine based on CCD visual recognition according to claim 1 is characterized in that: Four first placement plates with openings facing outward are evenly fixedly connected to the upper surface of the transfer tray, a cam divider with its bottom end arranged on the first workbench is fixedly connected to the lower surface of the transfer tray, a fourth mounting plate is arranged on the front side of the cam divider, an electric motor for driving the cam divider is arranged on the right end of the rear side of the fourth mounting plate, and a pressing stabilization device that can be pressed on the first placement plate is arranged at the front and rear ends of the transfer tray.

3. The electronic thermometer packaging machine based on CCD visual recognition according to claim 2 is characterized in that: The pressing and stabilizing device includes a first support rod fixedly connected to the upper surface of the first workbench, a first fixed block whose position can be adjusted up and down is arranged on the top of the first support rod, a first mounting plate with one end extending to the top of the transfer plate is arranged on the first fixed block, a first downwardly driven first pneumatic slide is fixedly connected to the side of the first mounting plate away from the first fixed block, and a first pressing plate is fixedly connected to the bottom end of the first pneumatic slide.

4. The electronic thermometer packaging machine based on CCD visual recognition according to claim 1 is characterized in that: The second manipulator includes a first screw slide arranged on the first workbench along the left-right direction, a second screw slide arranged on the first screw slide along the front-back direction, and a second mounting plate arranged on the second screw slide, the front side of the second mounting plate is fixedly connected to two second upward-driven pneumatic slides, the top end of the second pneumatic slide is fixedly connected to a Z-shaped plate, the bottom end of the Z-shaped plate is provided with a first driving motor, the rotating shaft of the first driving motor is fixedly connected to a first fixed circular plate, and two first vacuum suction cups are oppositely provided on the lower surface of the first fixed circular plate.

5. The electronic thermometer packaging machine based on CCD visual recognition according to claim 1 is characterized in that: The first robot includes a third screw slide arranged on the first workbench along the left-right direction, and a fourth screw slide arranged on the third screw slide along the front-back direction, the left side of the fourth screw slide is fixedly connected to a third mounting plate, the rear side of the third mounting plate is provided with two upward-driven third pneumatic slides, the top end of the third pneumatic slide is fixedly connected to a second Z-shaped plate, the bottom end of the second Z-shaped plate is fixedly connected to a second driving motor, the rotating shaft of the second driving motor is fixedly connected to a second fixed circular plate, and two second vacuum suction cups are oppositely provided on the lower surface of the second fixed circular plate.

6. The electronic thermometer packaging machine based on CCD visual recognition according to claim 1 is characterized in that: The third robot includes two first support frames arranged at the connection between the first workbench and the upper surface of the third workbench, the two first support frames are respectively arranged on the front and rear sides of the third belt conveyor, and the upper surface of the first support frame arranged on the front side of the third belt conveyor is provided with a linear slide rail, the upper surface of the first support frame arranged on the rear side of the third belt conveyor is provided with a fifth screw slide arranged along the left and right directions, the upper surface of the fifth screw slide is provided with a sixth screw slide arranged along the front and rear directions, the front end of the lower surface of the sixth screw slide is fixedly connected to the linear slide rail, the left side of the sixth screw slide is fixedly connected to two fourth pneumatic slides, the left side of the fourth pneumatic slide is fixedly connected to an L-shaped plate, the bottom end of the L-shaped plate is fixedly connected to a third drive motor, and the rotating shaft of the third drive motor is provided with a third vacuum suction cup.

7. The electronic thermometer packaging machine based on CCD visual recognition according to claim 1 is characterized in that: The first industrial camera, the second industrial camera, and the third industrial camera are all fixedly connected with a camera mounting plate, the outer surface of the camera mounting plate is slidably connected with a camera fixing plate, the outer surface of the camera fixing plate is slidably connected with a second support rod, and one end of the second support rod is fixedly connected with a third support rod with one end facing downward.

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