Automatic loading and unloading liquid bag inspection machine

Abstract

The application relates to an automatic feeding and discharging liquid bag inspection machine, which comprises an automatic feeding device, a visual inspection device and an automatic discharging device. The automatic feeding device comprises a feeding belt line, a robot spider hand, a first suction disc manipulator, a multi-station turntable, a rotary feeding manipulator and a transplanting mechanism. In the liquid bag feeding and transferring process, corresponding components limit the bag head, thereby preferably ensuring the certainty of the bag head position, smoothly performing the interfacing process with the visual inspection device and reducing accidents. The feeding belt line in the automatic feeding device can be directly interfaced with the front-end liquid filling process, realizes full automation of production and detection, the robot spider hand is flexible and has high freedom, the first vacuum suction disc and the second vacuum suction disc can stably adsorb the liquid bag, the liquid bag can be prevented from flying in high-speed movement, and the multi-station turntable can receive feeding of multiple robot spider hands, thereby improving the feeding efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of liquid bag lamp detection, in particular to an automatic feeding and discharging liquid bag lamp detection machine. BACKGROUND

[0002] In the field of medical technology, more and more pharmaceutical factories use liquid bags to replace glass medicine bottles. In order to avoid liquid bags mixed with foreign matter from flowing into the market, manual lamp detection is required before leaving the factory. Manual detection is low in efficiency and accuracy, and is increasingly difficult to adapt to mass production of medicines. Therefore, some people have developed liquid bag lamp detection machines that can automatically feed and discharge liquid bags, such as Chinese patent application for invention with publication number CN113125451A and title "Soft bag intelligent lamp detection machine", and Chinese patent application for invention with publication number CN113960059A and title "Soft bag lamp detection machine". These technical solutions can realize automatic feeding and discharging of liquid bags and automatic lamp detection, but the picking and positioning accuracy of liquid bags during transfer is not enough. The main reason is that the liquid bag is a soft bag and is prone to deformation, which causes the position of the bag head to deviate greatly, and problems are prone to occur during the docking process with the visual detection device. It is necessary to further improve. SUMMARY

[0003] In order to solve the technical problem of insufficient picking and positioning accuracy of liquid bags during transfer in the prior art, the present application provides an automatic feeding and discharging liquid bag lamp detection machine.

[0004] The automatic feeding and discharging liquid bag lamp detection machine provided by the present application adopts the following technical solution: an automatic feeding and discharging liquid bag lamp detection machine, comprising an automatic feeding device, a visual detection device and an automatic discharging device, the automatic feeding device comprising a feeding belt line, a robot spider hand, a first suction disc manipulator, a multi-station turntable, a rotary feeding manipulator and a transplanting mechanism, the first suction disc manipulator being arranged on the robot spider hand and comprising a plurality of first vacuum suction discs and finger air cylinders, for picking up liquid bags on the feeding belt line, the first vacuum suction discs being used for adsorbing the main body of the liquid bag, and the finger air cylinders being used for fixing the bag head of the liquid bag, the robot spider hand being used for driving the first suction disc manipulator to move and transferring the liquid bag picked up by the first suction disc manipulator to the multi-station turntable, the rotary feeding manipulator being used for grabbing the liquid bag on the multi-station turntable and rotating the horizontal liquid bag to a vertical state, and the transplanting mechanism being used for receiving the liquid bag on the rotary feeding manipulator and delivering it to the visual detection device, the multi-station turntable comprising an index plate, a load lifting platform and a load disc, the load lifting platforms being distributed on the index plate, the load disc being arranged on the load lifting platform, the index plate being used for driving the load lifting platform to rotate, the load lifting platform being used for driving the load disc to lift, and the load disc being provided with second vacuum suction discs and spring floating clamping blocks, the second vacuum suction discs being used for adsorbing the main body of the liquid bag, and the spring floating clamping blocks being used for fixing the bag head of the liquid bag.

[0005] By adopting the technical scheme, the first suction disc manipulator in the automatic feeding device includes a first vacuum suction disc and a finger cylinder, the first vacuum suction disc is used for adsorbing the main body of the liquid bag, and the finger cylinder is used for fixing the bag head of the liquid bag, the multi-station turntable is provided with a second vacuum suction disc and a spring floating clamp block, the second vacuum suction disc is used for adsorbing the main body of the liquid bag, and the spring floating clamp block is used for fixing the bag head of the liquid bag, during the feeding and transferring of the liquid bag, corresponding components limit the bag head, thereby preferably ensuring the certainty of the position of the bag head, and the interfacing process with the visual detection device can be smoothly performed, and accidents are reduced.

[0006] In addition, the feeding belt line in the automatic feeding device can be directly interfaced with the front-end liquid filling process, full automation of production and detection is realized, the robot spider hand is flexible and has multiple degrees of freedom, the first vacuum suction disc and the second vacuum suction disc can stably adsorb the liquid bag, the liquid bag can be prevented from being thrown in high-speed movement, the multi-station turntable can receive feeding of multiple robot spider hands, the feeding efficiency is improved, the rotary feeding manipulator can convert the liquid bag in a horizontal state into a vertical state, and then the transplanting mechanism is used to deliver the liquid bag to the visual detection device, the liquid bag is always in a vertical state in the visual detection device, and the photographing and detection operations are facilitated.

[0007] Preferably, the rotary feeding manipulator includes a first rotary mechanism and a second suction disc manipulator, the second suction disc manipulator is arranged on the first rotary mechanism, the second suction disc manipulator is used for sucking the liquid bag on the multi-station turntable, and the first rotary mechanism is used for driving the second suction disc manipulator to rotate by 90 degrees, so that the liquid bag sucked by the second suction disc manipulator is converted from a horizontal state to a vertical state.

[0008] Preferably, the transplanting mechanism includes a second rotary mechanism, a horizontal straight pushing mechanism and a third suction disc manipulator, the horizontal straight pushing mechanism is arranged on the second rotary mechanism, the third suction disc manipulator is arranged on the horizontal straight pushing mechanism, the second rotary mechanism is used for driving the horizontal straight pushing mechanism to rotate, and the horizontal straight pushing mechanism is used for horizontally pushing out and retracting the third suction disc manipulator.

[0009] Preferably, the feeding belt line is provided with a visual contour detection mechanism and a liquid bag head lifting and flattening mechanism, the liquid bag head lifting and flattening mechanism includes a transparent lifting pressing plate, is used for flattening the liquid bag on the feeding belt line, and prevents the bag head of the liquid bag from being lifted, and the visual contour detection mechanism is used for shooting the flattened liquid bag to obtain an accurate contour of the liquid bag.

[0010] Preferably, the visual detection device comprises a liquid bag carousel conveying mechanism, a liquid bag clamping mechanism, an air knife assembly, a defoaming assembly, two sets of liquid bag patting and stirring mechanisms, a first surface photographing mechanism and a second surface photographing mechanism. The liquid bag clamping mechanism is arranged on the liquid bag carousel conveying mechanism, used to receive the liquid bag conveyed from the transplanting mechanism, and under the driving of the liquid bag carousel conveying mechanism, the liquid bag is sequentially conveyed to the air knife assembly for surface impurity removal, the defoaming assembly for bubble elimination, the first set of liquid bag patting and stirring mechanisms for patting and stirring to make impurities float, the first surface photographing mechanism for photographing the liquid bag, the second set of liquid bag patting and stirring mechanisms for again patting and stirring to make impurities float, and the second surface photographing mechanism for photographing the other surface of the liquid bag.

[0011] Preferably, the liquid bag clamping mechanism comprises a clamp body, a bag head clamping jaw and two bag shoulder clamping jaws. The clamp body is used to drive the bag shoulder clamping jaws and the bag head clamping jaw to open and close synchronously. The bag head clamping jaw is used to clamp the bag head of the liquid bag. The two bag shoulder clamping jaws are respectively used to clamp the two shoulders of the liquid bag.

[0012] Preferably, the liquid bag patting and stirring mechanism comprises a front patting assembly and a rear stirring back plate assembly. The front patting assembly comprises a mounting frame, a power motor, a rotating shaft, a plurality of crank sliders and a plurality of elastic patting plates. The power motor and the rotating shaft are arranged on the mounting frame. The plurality of crank sliders are arranged on the rotating shaft. The elastic patting plates are slidingly arranged on the mounting frame. The power motor is used to drive the rotating shaft to rotate. The rotating shaft drives the crank sliders to rotate. The crank sliders in turn drive the elastic patting plates to perform linear patting action. The rear stirring back plate assembly comprises a floating baffle and a power sliding table air cylinder. The power sliding table air cylinder is used to drive the floating baffle to move forward and backward. The front patting assembly and the rear stirring back plate assembly move towards each other to realize the patting effect on the liquid bag.

[0013] Preferably, the first surface photographing mechanism and the second surface photographing mechanism each comprise a background plate, a lens group and a lens position adjusting frame. The lens group is arranged on the lens position adjusting frame. The background plate is arranged on the opposite side of the lens group.

[0014] Preferably, the first surface photographing mechanism and the second surface photographing mechanism further comprise a patting air cylinder and two transparent patting clamping plates. The transparent patting clamping plates are arranged between the background plate and the lens group. The patting air cylinder is used to drive the two transparent patting clamping plates to open and close, so as to clamp and fix the liquid bag to prevent shaking during photographing.

[0015] Preferably, the automatic unloading device comprises a good product rotary unloading machine, a good product unloading belt line, a defective product rotary unloading machine, a defective product unloading belt line, a pushing cylinder and a pushing plate, the pushing plate is arranged on the pushing cylinder, the pushing cylinder is used to drive the pushing plate to move horizontally to push the liquid bag on the liquid bag clamping mechanism to the good product rotary unloading machine and the defective product rotary unloading machine, the good product rotary unloading machine is used to suck the good product liquid bag from the liquid bag clamping mechanism, rotate the good product liquid bag from a vertical state to a horizontal state, and place the good product liquid bag on the good product unloading belt line, and the defective product rotary unloading machine is used to suck the defective product liquid bag from the liquid bag clamping mechanism, rotate the defective product liquid bag from a vertical state to a horizontal state, and place the defective product liquid bag on the defective product unloading belt line.

[0016] In summary, the present application includes at least one of the following beneficial technical effects:

[0017] 1. In the automatic feeding device of the present application, corresponding components are used to limit the bag head during the liquid bag feeding and transferring process, thereby better ensuring the certainty of the bag head position, facilitating the connection with the visual detection device, and reducing accidents;

[0018] 2. The feeding belt line in the automatic feeding device can be directly connected with the front-end liquid filling process to realize full automation of production and detection, the robot spider hand moves flexibly and has multiple degrees of freedom, the first vacuum chuck and the second vacuum chuck can stably adsorb the liquid bag to prevent it from flying in high-speed movement, the multi-station turntable can receive the feeding of multiple robot spider hands to improve the feeding efficiency, the rotary feeding manipulator can convert the liquid bag from a horizontal state to a vertical state, and then transfer it to the visual detection device through the transplanting mechanism, so that the liquid bag is always in a vertical state in the visual detection device, facilitating the photographing and detection operation;

[0019] 3. The present application can realize automatic feeding and unloading, and the automatic beating, stirring, surface impurity removal, defoaming, and photographing processes can be completed within one rotation of the liquid bag turntable conveying mechanism, thereby improving the accuracy of large-batch liquid bag detection, saving manpower, and improving the detection efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The overall diagram of the automatic feeding and unloading liquid bag lamp detection machine is shown;

[0021] Figure 2 The overall diagram of the automatic feeding device is shown;

[0022] Figure 3 The structural diagram of the feeding belt line, the visual contour detection mechanism, and the liquid bag head lifting and flattening mechanism is shown;

[0023] Figure 4A structural schematic diagram of the robot spider hand and the first suction cup manipulator according to the embodiment of the application is shown.

[0024] Figure 5 A structural schematic diagram of the first suction cup manipulator according to the embodiment of the application is shown.

[0025] Figure 6 A structural schematic diagram of the multi-station rotary table according to the embodiment of the application is shown.

[0026] Figure 7 A structural schematic diagram of the material carrying lifting platform, the material carrying disc, the second vacuum suction cup and the spring floating clamp block according to the embodiment of the application is shown.

[0027] Figure 8 A structural schematic diagram of the spring floating clamp block according to the embodiment of the application is shown.

[0028] Figure 9 A structural schematic diagram of the rotary material feeding manipulator according to the embodiment of the application is shown.

[0029] Figure 10 A structural schematic diagram of the second suction cup manipulator according to the embodiment of the application is shown.

[0030] Figure 11 A structural schematic diagram of the material moving mechanism according to the embodiment of the application is shown.

[0031] Figure 12 A structural schematic diagram of the second rotary mechanism and the horizontal straight pushing mechanism according to the embodiment of the application is shown.

[0032] Figure 13 A structural schematic diagram of the visual detection device and the automatic unloading device according to the embodiment of the application is shown.

[0033] Figure 14 A structural schematic diagram of the visual detection device according to the embodiment of the application is shown.

[0034] Figure 15 A structural schematic diagram of the liquid bag clamping mechanism according to the embodiment of the application is shown.

[0035] Figure 16 A structural schematic diagram of the defoaming assembly according to the embodiment of the application is shown.

[0036] Figure 17 A structural schematic diagram of the liquid bag patting and stirring mechanism according to the embodiment of the application is shown.

[0037] Figure 18 A structural schematic diagram of the front patting assembly according to the embodiment of the application is shown.

[0038] Figure 19The structure schematic diagram of the first surface photographing mechanism and the transparent pair photographing clamp is shown.

[0039] Figure 20 The structure schematic diagram of the transparent pair photographing clamp is shown.

[0040] Figure 21 The structure schematic diagram of the second surface photographing mechanism and the transparent pair photographing clamp is shown.

[0041] Figure 22 The structure schematic diagram of the good product rotary unloading machine and the defective product rotary unloading machine is shown.

[0042] BRIEF DESCRIPTION OF DRAWINGS 1, automatic feeding device; 11, feeding belt line; 12, robot spider hand; 13, first suction cup manipulator; 131, first vacuum suction cup; 132, finger cylinder; 14, multi-station turntable; 141, index plate; 142, load lifting platform; 143, load disc; 144, second vacuum suction cup; 145, spring floating clamp block; 15, rotary feeding manipulator; 151, first rotary mechanism; 152, second suction cup manipulator; 16, transplanting mechanism; 161, second rotary mechanism; 162, horizontal straight push mechanism; 163, third suction cup manipulator; 17, visual contour detection mechanism; 18, liquid bag head lifting and flattening mechanism; 181, transparent lifting press plate; 2, visual detection device; 21, liquid bag turntable conveying mechanism; 22, liquid bag clamping mechanism; 221, clamp body; 222, bag head clamping jaw; 223, bag shoulder clamping jaw; 23, air knife assembly; 24, defoaming assembly; 25, liquid bag beating and stirring mechanism; 251, front beating assembly; 2511, mounting frame; 2512, power motor; 2513, rotary shaft; 2514, crank slider; 2515, elastic beating plate; 252, rear stirring back plate assembly; 2521, floating baffle; 2522, power sliding table cylinder; 26, first surface photographing mechanism; 261, background plate; 262, lens group; 263, lens position adjusting frame; 264, pair photographing cylinder; 265, transparent pair photographing clamp; 27, second surface photographing mechanism; 3, automatic unloading device; 31, good product rotary unloading machine; 32, good product unloading belt line; 33, defective product rotary unloading machine; 34, defective product unloading belt line; 35, pushing cylinder; 36, pushing plate. DETAILED DESCRIPTION

[0043] The following will be described in detail below Figures 1-22 The application is further described in detail.

[0044] Reference Figure 1 , Figure 2 and Figure 13The embodiment of the application discloses an automatic feeding and discharging liquid bag lamp detection machine, which comprises an automatic feeding device 1, a visual detection device 2 and an automatic discharging device 3. The automatic feeding device 1 comprises a feeding belt line 11, a robot spider hand 12, a first suction disc manipulator 13, a multi-station turntable 14, a rotary feeding manipulator 15 and a transplanting mechanism 16. The first suction disc manipulator 13 is arranged on the robot spider hand 12 and comprises a plurality of first vacuum suction discs 131 and finger air cylinders 132, which are used for sucking liquid bags on the feeding belt line 11. The first vacuum suction discs 131 are used for adsorbing the main bodies of the liquid bags, and the finger air cylinders 132 are used for fixing the bag heads of the liquid bags. The robot spider hand 12 is used for driving the first suction disc manipulator 13 to move and transferring the liquid bags sucked by the first suction disc manipulator 13 to the multi-station turntable 14. The rotary feeding manipulator 15 is used for grabbing the liquid bags on the multi-station turntable 14 and rotating the horizontal liquid bags to the vertical state. The transplanting mechanism 16 is used for receiving the liquid bags on the rotary feeding manipulator 15 and delivering the liquid bags to the visual detection device 2. The multi-station turntable 14 comprises an index plate 141, a load lifting platform 142 and a load disc 143. The load lifting platform 142 is distributed on the index plate 141, and the load disc 143 is arranged on the load lifting platform 142. The index plate 141 is used for driving the load lifting platform 142 to rotate. The load lifting platform 142 is used for driving the load disc 143 to lift. The load disc 143 is provided with second vacuum suction discs 144 and spring floating clamping blocks 145. The second vacuum suction discs 144 are used for adsorbing the main bodies of the liquid bags. The spring floating clamping blocks 145 are used for fixing the bag heads of the liquid bags.

[0045] In the embodiment, the multi-station turntable 14 has three stations in total. The index plate 141 rotates by 120 degrees each time, and the station carrying the liquid bags is rotated to the rotary feeding manipulator 15. Each station is also provided with two parallel liquid bag discharge discs. The rotary feeding manipulator 15 can take away two liquid bags at a time. The spring floating clamping blocks 145 fix the bag heads by using the elastic force of the springs, which can effectively prevent the bag heads from swinging. The inner surface of the spring floating clamping blocks 145 is a straight surface, which is free to take and place and does not need to be provided with a power mechanism. The second vacuum suction discs 144 are used for adsorbing the main bodies of the liquid bags and preventing the liquid bags from flying out due to centrifugal force when the multi-station turntable 14 rotates at high speed. After the index plate 141 rotates each time, the load lifting platform 142 drives the load disc 143 to lift, so as to facilitate the rotary feeding manipulator 15 to suck the liquid bags and complete the delivery docking work.

[0046] Reference Figure 9 and Figure 10The rotating feeding manipulator 15 comprises a first rotating mechanism 151 and a second suction cup manipulator 152, the second suction cup manipulator 152 is arranged on the first rotating mechanism 151, and the second suction cup manipulator 152 is used for sucking the liquid bag on the multi-station turntable 14; the first rotating mechanism 151 is used for driving the second suction cup manipulator 152 to rotate by 90 degrees, so that the liquid bag sucked by the second suction cup manipulator 152 is converted from a horizontal state to a vertical state.

[0047] With reference to Figure 11 And Figure 12 The transplanting mechanism 16 comprises a second rotating mechanism 161, a horizontal straight pushing mechanism 162 and a third suction cup manipulator 163, the horizontal straight pushing mechanism 162 is arranged on the second rotating mechanism 161, the third suction cup manipulator 163 is arranged on the horizontal straight pushing mechanism 162, the second rotating mechanism 161 is used for driving the horizontal straight pushing mechanism 162 to rotate, and the horizontal straight pushing mechanism 162 is used for horizontally pushing out and retracting the third suction cup manipulator 163.

[0048] The application is provided with two sets of feeding belt lines 11 and two sets of robot spider hands 12, which can synchronize feeding and improve the efficiency of feeding. The second suction cup manipulator 152 and the third suction cup manipulator 163 have basically the same structure as the first suction cup manipulator 13, and all comprise a vacuum suction cup and a finger cylinder, the vacuum suction cup is used for adsorbing the bag body, the liquid bag is not easy to shake, and a large number of air bubbles generated due to shaking of the liquid bag are avoided, which is not conducive to subsequent lamp inspection, and the finger cylinder is used for clamping the bag head. The transplanting mechanism 16 comprises two sets of third suction cup manipulators 163, which can realize alternate action and effectively improve the liquid bag transfer efficiency.

[0049] In the embodiment, the finger cylinder of the second suction cup manipulator 152 of the rotating feeding manipulator 15 is used for clamping the lower part of the bag head, and the finger cylinder of the third suction cup manipulator 163 of the transplanting mechanism 16 is used for clamping the upper part of the bag head, in the docking process, the positions of the two finger cylinders can be avoided upward and downward, to avoid interference and collision, and the accurate docking of the bag head can be ensured.

[0050] With reference to Figure 3 The feeding belt line 11 is provided with a visual contour detection mechanism 17 and a liquid bag head tilting flattening mechanism 18, the liquid bag head tilting flattening mechanism 18 comprises a transparent lifting pressing plate 181, which is used for flattening the liquid bag on the feeding belt line 11, preventing the bag head of the liquid bag from tilting, and the visual contour detection mechanism 17 is used for shooting the flattened liquid bag to obtain the accurate contour of the liquid bag.

[0051] The normal liquid bag is placed on the feeding belt line 11, and the bag body and the bag head are horizontally placed. When the feeding belt line 11 conveys the liquid bag to pass through the visual profile detection mechanism 17, the visual profile detection mechanism 17 can detect the profile of the bag head of the liquid bag to lock the position of the liquid bag. However, the profile of the bag head of the liquid bag with a tilted head is not obvious, and the visual profile detection mechanism 17 cannot pick up the position of the bag head of the liquid bag. In the embodiment, a transparent lifting press plate 181 is arranged above the feeding belt line 11, which does not affect the profile recognition of the visual profile detection mechanism 17. A liquid bag sensor is generally arranged at the liquid bag tilted head flattening mechanism 18. When the liquid bag sensor senses that the liquid bag passes through, the transparent lifting press plate 181 is pressed down. After the liquid bag is pressed, the bag head will naturally extend to a normal position. The visual profile detection mechanism 17 can accurately lock the position of the liquid bag. The liquid bag is sucked by the robot spider hand 12 and the first suction cup manipulator 13, and the bag head is clamped by the finger air cylinder 132 to realize the grasping and fixing of the liquid bag. The structure solves the problems of unable to recognize and grasp the liquid bag with a tilted head and poor grasping due to large recognition deviation.

[0052] Moreover, since the visual profile detection mechanism 17 can lock the profile of the liquid bag, the posture requirement of the liquid bag on the feeding belt line 11 is very low. The liquid bag no longer needs to be uniformly placed (the patent application with the publication number CN113125451A strictly limits the feeding posture), and can even be placed randomly, because the robot spider hand 12 can accurately suck the liquid bag with the first suction cup manipulator 13.

[0053] The first suction cup manipulator 13 in the automatic feeding device 1 includes a first vacuum suction cup 131 and a finger air cylinder 132. The first vacuum suction cup 131 is used for adsorbing the main body of the liquid bag, and the finger air cylinder 132 is used for fixing the bag head of the liquid bag. The second vacuum suction cup 144 and the spring floating clamping block 145 are arranged on the multi-station turntable 14. The second vacuum suction cup 144 is used for adsorbing the main body of the liquid bag, and the spring floating clamping block 145 is used for fixing the bag head of the liquid bag. During the feeding and transferring of the liquid bag, corresponding components limit the bag head, thereby better ensuring the certainty of the position of the bag head, and enabling the liquid bag to be smoothly transferred to the visual detection device 2, thereby reducing accidents.

[0054] In addition, the feeding belt line 11 in the automatic feeding device 1 can be directly connected with the front-end liquid filling process to realize full automation of production and detection. The robot spider hand 12 moves flexibly and has multiple degrees of freedom. The first vacuum suction cup 131 and the second vacuum suction cup 144 can stably adsorb the liquid bag to prevent the liquid bag from being thrown and flying in high-speed movement. The multi-station turntable 14 can receive the feeding of multiple robot spider hands 12 to improve the feeding efficiency. The rotary feeding manipulator 15 can convert the liquid bag in a horizontal state into a vertical state, and then transfer the liquid bag to the visual detection device 2 through the transplanting mechanism 16. The liquid bag is always in a vertical state in the visual detection device 2, which facilitates the photographing and detection operations.

[0055] With reference to Figure 14 The visual detection device 2 comprises a liquid bag carousel conveying mechanism 21, a liquid bag clamping mechanism 22, an air knife assembly 23, a defoaming assembly 24, two sets of liquid bag patting and stirring mechanisms 25, a first surface photographing mechanism 26 and a second surface photographing mechanism 27. The liquid bag clamping mechanism 22 is arranged on the liquid bag carousel conveying mechanism 21, and is used to receive the liquid bag conveyed from the transplanting mechanism 16, and to convey the liquid bag to the air knife assembly 23 for surface impurity removal, to the defoaming assembly 24 for bubble elimination, to the first set of liquid bag patting and stirring mechanisms 25 for patting and stirring to make impurities float, to the first surface photographing mechanism 26 for photographing, to the second set of liquid bag patting and stirring mechanisms 25 for again patting and stirring to make impurities float, and to the second surface photographing mechanism 27 for photographing the other surface of the liquid bag.

[0056] With reference to Figure 15 The liquid bag clamping mechanism 22 comprises a clamp body 221, a bag head clamping jaw 222 and two bag shoulder clamping jaws 223. The clamp body 221 is used to drive the bag shoulder clamping jaws 223 and the bag head clamping jaw 222 to open and close synchronously. The bag head clamping jaw 222 is used to clamp the bag head of the liquid bag. The two bag shoulder clamping jaws 223 are respectively used to clamp the two shoulders of the liquid bag. Specifically, the clamp body 221 comprises an opening and closing stretching shaft for opening and closing and clamping the clamp and hook, and a linear motion power component. In use, the linear motion power component pulls the opening and closing stretching shaft, and the clamp and hook are opened and clamped. The liquid bag clamping mechanism 22 fixes the liquid bag at three points (two shoulders and a bag head), which can effectively fix the bag body of the liquid bag, and lays a good foundation for subsequent patting and stirring, defoaming and other series of actions.

[0057] With reference to Figure 17 and Figure 18The liquid bag beating and stirring mechanism 25 comprises a front beating assembly 251 and a rear stirring back plate assembly 252. The front beating assembly 251 comprises a mounting frame 2511, a power motor 2512, a rotating shaft 2513, a plurality of crank sliders 2514 and a plurality of elastic beaters 2515. The power motor 2512 and the rotating shaft 2513 are arranged on the mounting frame 2511. The plurality of crank sliders 2514 are arranged on the rotating shaft 2513. The elastic beaters 2515 are slidingly arranged on the mounting frame 2511. The power motor 2512 is used to drive the rotating shaft 2513 to rotate. The rotating shaft 2513 drives the crank sliders 2514 to rotate. The crank sliders 2514 drive the elastic beaters 2515 to perform linear beating action. The rear stirring back plate assembly 252 comprises a floating baffle 2521 and a power sliding table air cylinder 2522. The power sliding table air cylinder 2522 is used to drive the floating baffle 2521 to move forward and backward. The front beating assembly 251 and the rear stirring back plate assembly 252 move towards each other to achieve beating effect on the liquid bag. Some sediment impurities can be floated in the liquid bag under the beating and stirring, which is beneficial to the detection of the subsequent impurities. The floating space of the floating baffle 2521 is suitable for liquid bags with different thicknesses.

[0058] With reference to Figures 19 to 21 The first face photographing mechanism 26 and the second face photographing mechanism 27 each comprise a background plate 261, a lens group 262 and a lens position adjusting frame 263. The lens group 262 is arranged on the lens position adjusting frame 263. The background plate 261 is arranged on the opposite side of the lens group 262.

[0059] With reference to Figures 19 to 21 The first face photographing mechanism 26 and the second face photographing mechanism 27 further comprise a beating air cylinder 264 and two transparent beating clamping plates 265. The transparent beating clamping plates 265 are arranged between the background plate 261 and the lens group 262. The beating air cylinder 264 is used to drive the two transparent beating clamping plates 265 to open and close, so as to clamp and fix the liquid bag, preventing shaking during photographing.

[0060] The first face photographing mechanism 26 and the second face photographing mechanism 27 upload the judgment module after photographing. The algorithm detects impurities to give good product signal and bad product signal.

[0061] With reference to Figure 13 and Figure 22The automatic unloading device 3 includes a good product rotary unloading machine 31, a good product unloading belt line 32, a defective product rotary unloading machine 33, a defective product unloading belt line 34, a pushing cylinder 35, and a pushing plate 36 arranged on the pushing cylinder 35, wherein the pushing cylinder 35 is used to drive the pushing plate 36 to move horizontally to push the liquid bag on the liquid bag clamping mechanism 22 to the good product rotary unloading machine 31 and the defective product rotary unloading machine 33, the good product rotary unloading machine 31 is used to suck the good product liquid bag from the liquid bag clamping mechanism 22, rotate the good product liquid bag from a vertical state to a horizontal state, and place the good product liquid bag on the good product unloading belt line 32, and the defective product rotary unloading machine 33 is used to suck the defective product liquid bag from the liquid bag clamping mechanism 22, rotate the defective product liquid bag from a vertical state to a horizontal state, and place the defective product liquid bag on the defective product unloading belt line 34.

[0062] The implementation principle of the automatic feeding and unloading liquid bag inspection machine is as follows: the liquid bag can be automatically fed, the feeding belt line 11 receives the liquid bag transferred from the previous process and continues to convey forward, the liquid bag inductor detects the passing of the liquid bag, the transparent lifting press plate 181 of the liquid bag head lifting and flattening mechanism 18 is pressed down to flatten the liquid bag and prevent the bag head from lifting, the visual profile detection mechanism 17 starts to take pictures and locks the position of the bag head, the liquid bag continues to convey forward, the robot spider hand 12 accurately grabs the liquid bag, the first vacuum suction cup 131 adsorbs the main body of the liquid bag, the finger cylinder 132 fixes the bag head of the liquid bag, the robot spider hand 12 moves the liquid bag above the load disc 143 of the multi-station turntable 14, the index plate 141 of the multi-station turntable 14 rotates 120 degrees to rotate out the empty load disc 143, the load lifting platform 142 lifts the load disc 143, the second vacuum suction cup 144 on the load disc 143 adsorbs the main body of the liquid bag, and the spring floating clamp 145 fixes the bag head of the liquid bag to realize the butt joint transmission of the liquid bag, the load lifting platform 142 lowers the load disc 143, the index plate 141 continues to rotate 120 degrees to convey the liquid bag to the rotary feeding manipulator 15, the load lifting platform 142 lifts the load disc 143 again, the second suction cup manipulator 152 on the rotary feeding manipulator 15 sucks the liquid bag, and the first rotary mechanism 151 drives the second suction cup manipulator 152 to rotate 90 degrees upward to rotate the horizontal liquid bag to a vertical state. The horizontal straight pushing mechanism 162 of the transplanting mechanism 16 pushes the third suction cup manipulator 163 horizontally out to suck the liquid bag from the rotary feeding manipulator 15, then pulls the third suction cup manipulator 163 back horizontally, the second rotary mechanism 161 rotates the horizontal straight pushing mechanism 162 and the third suction cup manipulator 163 horizontally by 180 degrees, the horizontal straight pushing mechanism 162 pushes the third suction cup manipulator 163 horizontally out again, and the liquid bag clamping mechanism 22 of the visual inspection device 2 can grab the liquid bag, thereby realizing the automatic feeding of the liquid bag.

[0063] The working principle of the visual detection device 2 is as follows: a plurality of liquid bag clamping mechanisms 22 are uniformly arranged on the liquid bag rotating disc conveying mechanism 21, used for clamping the liquid bag to ensure the stability of the position of the liquid bag, and the liquid bag rotating disc conveying mechanism 21 rotates to convey the liquid bag to each station; first, the liquid bag is conveyed to the air knife assembly 23, the dirt and moisture on the surface of the liquid bag will affect the shooting effect, so the surface needs to be blown dry before shooting, and the dirt on the surface of the liquid bag is blown away to ensure the cleanliness of the surface of the liquid bag; then the liquid bag is conveyed to the defoaming assembly 24, the dynamic bubbles will not affect the manual subjective judgment of impurities, but the bubbles on the surface of the liquid bag will affect the photo effect when shooting, and then affect the algorithm recognition of impurities, so the bubbles must be defoamed in advance. The defoaming assembly 24 comprises a main shaft motor, a synchronous belt and a rubber strip, the main shaft motor drives the rubber strip to rotate, the rubber strip strikes the bag body of the liquid bag, causes the vibration of the surface of the liquid bag, and shakes the bubbles in the liquid bag to make the bubbles rise, thereby achieving the defoaming effect; then the liquid bag is conveyed to the first liquid bag striking and stirring mechanism 25, the front striking assembly 251 and the rear stirring back plate assembly 252 are oppositely clamped to the liquid bag to form a striking effect, and the foreign matter in the liquid medicine will float up under the agitation, which is for the subsequent shooting to shoot the impurities; then the liquid bag is conveyed to the first surface shooting mechanism 26, the pair of shooting air cylinder 264 drives the transparent pair of shooting clamping plate 265 to move, clamps the liquid bag to prevent the liquid bag from shaking, helps the lens group 262 to focus, and shoots; then the liquid bag is conveyed to the second liquid bag striking and stirring mechanism 25, the foreign matter in the liquid medicine is made to float up again, and then the liquid bag is conveyed to the second surface shooting mechanism 27, the secondary shooting structure is uploaded to the judgment module, the impurities are detected through the algorithm, the good product signal and the defective product signal are given, and the liquid bag is continuously conveyed to the good product discharge station and the defective product discharge station.

[0064] The working principle of the automatic discharge device 3 of the present application is as follows: when the judgment module gives the good product signal, the pushing air cylinder 35 pushes out the pushing plate 36, the good product rotary discharge machine 31 sucks the good product liquid bag, and the good product liquid bag discharge is completed; when the judgment module gives the defective product signal, the pushing air cylinder 35 does not act, the defective product liquid bag continues to move to the next position, and when the defective product liquid bag reaches the defective product discharge station, the pushing air cylinder 35 pushes out the pushing plate 36, the defective product rotary discharge machine 33 sucks the defective product liquid bag, and the defective product liquid bag discharge is completed.

[0065] The present application can realize automatic feeding and discharging, automatic striking and stirring, surface impurity removal, defoaming, shooting and other processes within one rotation of the liquid bag rotating disc conveying mechanism 21, improves the accuracy of large-batch liquid bag detection, saves manpower, and improves the detection efficiency.

[0066] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An automatic feeding and discharging liquid bag inspection machine, comprising an automatic feeding device (1), a visual inspection device (2) and an automatic discharging device (3), characterized in that, The automatic feeding device (1) comprises a feeding belt line (11), a robot spider hand (12), a first suction cup manipulator (13), a multi-station turntable (14), a rotary feeding manipulator (15) and a transplanting mechanism (16), the first suction cup manipulator (13) is arranged on the robot spider hand (12) and comprises a plurality of first vacuum suction cups (131) and finger cylinders (132), which are used to suck liquid bags on the feeding belt line (11), the first vacuum suction cups (131) are used to adsorb the main body of the liquid bag, and the finger cylinders (132) are used to fix the bag head of the liquid bag, the robot spider hand (12) is used to drive the first suction cup manipulator (13) to move and transfer the liquid bag sucked by the first suction cup manipulator (13) to the multi-station turntable (14), the rotary feeding manipulator (15) is used to grab the liquid bag on the multi-station turntable (14) and rotate the horizontal liquid bag to the vertical state, and the transplanting mechanism (16) is used to catch the liquid bag on the rotary feeding manipulator (15) and deliver it to the visual detection device (2), the multi-station turntable (14) comprises an index plate (141), a load lifting platform (142) and a load disc (143), the load lifting platforms (142) are distributed on the index plate (141), the load disc (143) is arranged on the load lifting platform (142), the index plate (141) is used to drive the load lifting platform (142) to rotate, the load lifting platform (142) is used to drive the load disc (143) to lift, and the load disc (143) is provided with second vacuum suction cups (144) and spring floating clamping blocks (145), the second vacuum suction cups (144) are used to adsorb the main body of the liquid bag, and the spring floating clamping blocks (145) are used to fix the bag head of the liquid bag.

2. The automatic loading and unloading liquid bag inspection machine according to claim 1, characterized in that, The rotary feeding manipulator (15) comprises a first rotary mechanism (151) and a second suction cup manipulator (152), the second suction cup manipulator (152) is arranged on the first rotary mechanism (151), the second suction cup manipulator (152) is used to suck the liquid bag on the multi-station turntable (14), and the first rotary mechanism (151) is used to drive the second suction cup manipulator (152) to rotate by 90 degrees, so that the liquid bag sucked by the second suction cup manipulator (152) is converted from the horizontal state to the vertical state.

3. The automatic loading and unloading liquid bag inspection machine according to claim 2, characterized in that, The transplanting mechanism (16) comprises a second rotary mechanism (161), a horizontal straight pushing mechanism (162) and a third suction cup manipulator (163), the horizontal straight pushing mechanism (162) is arranged on the second rotary mechanism (161), the third suction cup manipulator (163) is arranged on the horizontal straight pushing mechanism (162), the second rotary mechanism (161) is used to drive the horizontal straight pushing mechanism (162) to rotate, and the horizontal straight pushing mechanism (162) is used to horizontally push out and retract the third suction cup manipulator (163).

4. The automatic loading and unloading liquid bag inspection machine according to claim 1, characterized in that, The feeding belt line (11) is provided with a visual profile detection mechanism (17) and a liquid bag head lifting flattening mechanism (18), the liquid bag head lifting flattening mechanism (18) comprises a transparent lifting pressing plate (181) for flattening the liquid bag on the feeding belt line (11) to prevent the bag head of the liquid bag from lifting, and the visual profile detection mechanism (17) is used for shooting the flattened liquid bag to obtain the accurate profile of the liquid bag.

5. The automatic loading and unloading liquid bag inspection machine according to claim 1, characterized in that, The visual detection device (2) comprises a liquid bag carousel conveying mechanism (21), a liquid bag clamping mechanism (22), an air knife assembly (23), a defoaming assembly (24), two sets of liquid bag patting and stirring mechanisms (25), a first surface photographing mechanism (26) and a second surface photographing mechanism (27), the liquid bag clamping mechanism (22) is arranged on the liquid bag carousel conveying mechanism (21) and is used for receiving the liquid bag conveyed from the transplanting mechanism (16) and conveying the liquid bag to the air knife assembly (23) in sequence under the driving of the liquid bag carousel conveying mechanism (21) to remove the impurities on the surface, to the defoaming assembly (24) to eliminate the bubbles, to the first set of liquid bag patting and stirring mechanisms (25) to pat and stir to make the impurities float, to the first surface photographing mechanism (26) to photograph the liquid bag, to the second set of liquid bag patting and stirring mechanisms (25) to pat and stir again to make the impurities float, and to the second surface photographing mechanism (27) to photograph the other surface of the liquid bag.

6. The automatic loading and unloading liquid bag inspection machine according to claim 5, characterized in that, The liquid bag clamping mechanism (22) comprises a clamp body (221), a bag head clamping jaw (222) and two bag shoulder clamping jaws (223), the clamp body (221) is used for driving the bag shoulder clamping jaws (223) and the bag head clamping jaw (222) to open and close synchronously, the bag head clamping jaw (222) is used for clamping the bag head of the liquid bag, and the two bag shoulder clamping jaws (223) are respectively used for clamping the two shoulders of the liquid bag.

7. The automatic loading and unloading liquid bag inspection machine according to claim 5, characterized in that, The liquid bag patting and stirring mechanism (25) comprises a front patting assembly (251) and a rear stirring back plate assembly (252), the front patting assembly (251) comprises a mounting frame (2511), a power motor (2512), a rotating shaft (2513), a plurality of crank sliders (2514) and a plurality of elastic patting plates (2515), the power motor (2512) and the rotating shaft (2513) are arranged on the mounting frame (2511), the plurality of crank sliders (2514) are arranged on the rotating shaft (2513), and the elastic patting plates (2515) are slidably arranged on the mounting frame (2511), the power motor (2512) is used for driving the rotating shaft (2513) to rotate, the rotating shaft (2513) drives the crank sliders (2514) to rotate, and the crank sliders (2514) drive the elastic patting plates (2515) to make a straight patting action, and the rear stirring back plate assembly (252) comprises a floating baffle (2521) and a power sliding table air cylinder (2522), the power sliding table air cylinder (2522) is used for driving the floating baffle (2521) to move forward and backward, and the front patting assembly (251) and the rear stirring back plate assembly (252) move towards each other to realize the patting effect on the liquid bag.

8. The automatic loading and unloading liquid bag inspection machine according to claim 5, characterized in that, The first side photographing mechanism (26) and the second side photographing mechanism (27) each comprise a background plate (261), a lens group (262) and a lens position adjusting frame (263), the lens group (262) is arranged on the lens position adjusting frame (263), and the background plate (261) is arranged on the opposite side of the lens group (262).

9. The automatic loading and unloading liquid bag inspection machine according to claim 8, characterized in that, The first side photographing mechanism (26) and the second side photographing mechanism (27) further comprise a photographing cylinder (264) and two transparent photographing clamping plates (265), the transparent photographing clamping plates (265) are arranged between the background plate (261) and the lens group (262), and the photographing cylinder (264) is used to drive the two transparent photographing clamping plates (265) to open and close, so as to clamp and fix the liquid bag and prevent the liquid bag from shaking during photographing.

10. The automatic loading and unloading liquid bag inspection machine according to claim 5, characterized in that, The automatic discharging device (3) comprises a good product rotating discharging machine (31), a good product discharging belt line (32), a poor product rotating discharging machine (33), a poor product discharging belt line (34), a pushing cylinder (35) and a pushing plate (36), the pushing plate (36) is arranged on the pushing cylinder (35), the pushing cylinder (35) is used to drive the pushing plate (36) to move horizontally, so as to push the liquid bag on the liquid bag clamping mechanism (22) to the good product rotating discharging machine (31) and the poor product rotating discharging machine (33), the good product rotating discharging machine (31) is used to suck the good product liquid bag from the liquid bag clamping mechanism (22), rotate the good product liquid bag from a vertical state to a horizontal state, and place the good product liquid bag on the good product discharging belt line (32), and the poor product rotating discharging machine (33) is used to suck the poor product liquid bag from the liquid bag clamping mechanism (22), rotate the poor product liquid bag from a vertical state to a horizontal state, and place the poor product liquid bag on the poor product discharging belt line (34).

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