Automatic mask feeding method, system, intelligent terminal and mask processing device

Abstract

The present application relates to the field of mask processing technology, and in particular to a mask automatic feeding method, system, intelligent terminal and mask processing device, which comprises: obtaining a mask stacking area image and a feeding area image, analyzing the mask stacking area image to determine the mask stacking posture; analyzing the stacking posture to determine the position of the mask clamping point; analyzing the feeding area image to determine the current sleeve position; analyzing the current sleeve branch and the mask clamping point position to obtain the sleeve movement path; controlling a preset clamping device to move along the sleeve movement path and clamp the mask onto the sleeve mold; controlling a preset lighting device to illuminate the mask and obtain a front light-transmitting image of the mask; analyzing the current light-transmitting image to determine the orientation position of the mask; analyzing the orientation position to instruct the clamping mechanism to press the mask or instruct the sleeve mold to rotate and adjust. The present application has the effect of reducing the incidence of upper and lower position errors when the mask is sleeved onto the sleeve mold and pressed.

Description

Technical Field

[0001] The present application relates to the field of mask processing technology, and in particular to an automatic mask feeding method, system, intelligent terminal and mask processing device. Background Art

[0002] When processing the mask to be processed, the main steps are loading, clamping, installing the nose bridge support rod and welding the ear straps. During the loading and clamping process, the mask needs to be unfolded so that the opening of the mask to be processed facing the nose side is unfolded at a certain angle, so that when the nose bridge support is installed later, it can form an arc that adapts to the nose bridge.

[0003] In the related art, since some types of masks have relative upper and lower position differences, staff are required to identify the upper and lower positions, manually open the mask to be processed, and then put the mask to be processed on the prefabricated putting mold of the processing line, and then control the clamping mechanism to press the mask to be processed. Under the transportation and transmission of the processing line, the mask to be processed is transported toward the installation processing mechanism of the nose bridge support rod.

[0004] Regarding the above-mentioned related technologies, the upper and lower positions of the masks to be processed are manually distinguished by workers, and then put on the putting mold for clamping mechanism to press. The accuracy of distinguishing the upper and lower positions of the masks is easily affected by the work fatigue of the workers, resulting in misjudgment, thus resulting in unqualified masks. Summary of the Invention

[0005] In order to reduce the occurrence of upper and lower position errors during the pressing process of the mask sleeve on the sleeve mold and reduce the processing failure rate, the present application provides an automatic mask feeding method.

[0006] In the first aspect, the present application provides a method for automatically feeding masks, which adopts the following technical solutions:

[0007] A method for automatically feeding masks, comprising:

[0008] include:

[0009] Acquire images of the mask stacking area and the loading area on the conveyor belt;

[0010] Determine the stacking posture of masks based on the comparison analysis of the mask stacking area image and the preset mask stacking features;

[0011] Determine the mask clamping point position by comparing and analyzing the stacking posture and the preset mask clamping features;

[0012] Based on the comparative analysis of the loading area image and the preset sleeve mold features, the current sleeve mold position is determined;

[0013] Determine the mask installation movement path based on the mask clamping point position and the current installation position;

[0014] According to the position of the mask clamping point, the preset clamping device is controlled to clamp the mask, and moves along the sleeve moving path to sleeve the mask onto the sleeve mold;

[0015] Controlling the preset lighting device to illuminate the mask according to the current setting position and obtaining the current light transmission image of the mask;

[0016] Determine the orientation of the mask based on the current light transmission image and the preset light transmission position feature analysis;

[0017] An analysis and judgment is performed based on the orientation position and the preset standard position to determine whether to instruct the preset clamping mechanism to press the mask or to instruct the sleeve mold to rotate in a preset rotation method.

[0018] By adopting the above technical solution, after the preset clamping device clamps the mask at the clamping point position on the mask, the mask is moved along the sleeve path and sleeved on the sleeve mold, so that the mask and the conveyor belt are not prone to loosening, which is convenient for subsequent processing. At the same time, by analyzing the light-transmitting position characteristics, it is determined whether the orientation of the mask is different from the preset standard position, thereby instructing the sleeve mold to rotate and adjust, so that the mask is adjusted to the correct orientation, making it difficult for the mask to be processed into defective products due to orientation errors.

[0019] Optionally, the clamping method for clamping the mask before it is mounted on the mold includes:

[0020] Analyze the mask clamping point position and the feeding area image to determine the adjacent clamping position of the mask adjacent to the mask clamping point position;

[0021] Instruct the preset first clamping claw to clamp the clamping point position of the mask, and instruct the preset second clamping claw to clamp the adjacent clamping position of the mask;

[0022] Instructing the first clamping claw to rotate according to a preset rotation arc and rotation direction, and obtaining a real-time opening image of the mask;

[0023] The current opening curvature of the mask is determined by comparing and analyzing the real-time opening image with the preset opening curvature feature;

[0024] The current opening arc and the preset minimum arc are analyzed and judged to determine whether the first clamping jaw is instructed to continue rotating in the rotation direction or to stop rotating.

[0025] By adopting the above technical solution, the mask clamping point position and the adjacent clamping position on the mask are clamped, and the first clamping claw is driven to rotate, so that the opening of the mask is opened to a suitable arc value, so that the mask is not easily obstructed when it is put on the putting mold.

[0026] Optionally, when the mask opening curvature in the expanded image is greater than or equal to the minimum curvature, the mask expansion adjustment method includes:

[0027] The real-time expanded image and the preset opening feature analysis are used to determine the mask opening area and the mask opening position of the mask;

[0028] Determine whether the mask opening area is smaller than the preset standard opening area;

[0029] If the mask opening area is greater than or equal to the preset standard opening area, no control will be performed;

[0030] If the mask opening area is smaller than the preset standard opening area, the preset blowing device is instructed to blow air to the opening position of the mask and obtain the current opening area of ​​the mask in real time;

[0031] Determine whether the current opening area is smaller than the standard opening area;

[0032] If the current opening area is smaller than the preset standard opening area, the blowing device will continue to be instructed to blow air to the opening position of the mask;

[0033] If the current opening area is greater than or equal to the preset standard opening area, the blowing device is instructed to stop blowing.

[0034] By adopting the above technical solution, the blowing device is used to assist in the process of unfolding the mask through the first clamping claw, so that the mask can be evenly unfolded under the blowing of wind, reducing the probability of the mask being bent into an irregular shape during the bending and unfolding process when the first clamping claw cooperates with the second clamping claw, and facilitating the alignment of the mask and the sleeve mold.

[0035] Optionally, the mask adjustment method after the mask is set on the set mold includes:

[0036] According to the mask setting image and standard setting posture feature analysis, the setting depth between the mask and the setting mold is determined;

[0037] Analyze the set depth and the preset standard set depth to determine the remaining set distance;

[0038] Instructing the sleeve mold to swing along a preset swing trajectory based on the remaining sleeve distance, and determining whether the remaining sleeve distance is equal to a preset reference sleeve distance;

[0039] If the remaining sleeve distance is equal to the reference sleeve distance, the sleeve mold is instructed to stop swinging;

[0040] If the remaining sleeve distance is not equal to the reference sleeve distance, the sleeve mold is instructed to continue swinging until the sleeve distance is equal to the reference sleeve distance.

[0041] By adopting the above technical solution, when a mounting deviation occurs when the mask is mounted on the mounting mold, the mounting mold is instructed to swing so that the mask can be adjusted along with the swing of the mounting mold, so that the inner wall of the mask opening can fit tightly to the mounting mold, which helps to adjust and correct the orientation error of the mask.

[0042] Optionally, after the sleeve mold is swung, when the remaining sleeve distance is not equal to the reference sleeve distance, the adjustment method of the sleeve mold further includes:

[0043] Obtain the real-time depth of the mask as the mask mold swings;

[0044] Based on the mask set image and the preset inclined surface feature analysis of the mask, the inclined surface direction and inclined surface size of the mask are determined;

[0045] Instruct the blowing device to rotate the blowing port to a position parallel to the inclined surface, blow air toward the inclined surface, and simultaneously determine whether the real-time sleeve depth is equal to the remaining sleeve distance;

[0046] If the real-time sleeve depth is not equal to the remaining sleeve distance, increase the air flow rate;

[0047] If the real-time sleeve depth is equal to the remaining sleeve distance, the sleeve mold is instructed to stop swinging.

[0048] By adopting the above technical solution, when the mask is tightened due to the elastic force of its own material during the putting process, the two inclined side walls are blown by the blowing device, so that the mask is gradually put on the putting mold under the driving force of the air flow pressure, and it is not easy to separate from the putting mold.

[0049] Optionally, when the remaining sleeve distance is not equal to the reference sleeve distance, the sleeve mold adjustment method further includes:

[0050] Analyze the mask set image and the preset mask expansion characteristics to determine the area of ​​the mask to be expanded;

[0051] Obtaining the preset position of the inner wall blowing device on the sleeve mold;

[0052] According to the position of the inner wall blowing device and the area to be expanded, the blowing adjustment angle and the blowing increment value of the inner wall blowing device are determined;

[0053] The inner wall blowing device is instructed to blow air according to the blowing increment value and the blowing adjustment angle.

[0054] By adopting the above technical solution, when the airflow pressure of the blowing device increases, the airflow acts on the two inclined surfaces of the mask, thereby increasing the relative friction between the inner wall of the mask and the side wall of the sleeve mold. Under the blowing adjustment of the inner wall blowing device, an expansion gap is formed between the inner wall of the mask and the side wall of the mold, so that the mask can continue to slide downward to complete the sleeve operation.

[0055] Optionally, the method for detecting and replacing a mask when the clamping mechanism compresses the mask includes:

[0056] Analyze the mask set image and the preset ventilation hole characteristics to determine the distribution area of ​​the mask ventilation holes;

[0057] The dry ice spray device is instructed to blow air towards the opening of the mask and obtain an air permeability image of the mask's air hole distribution area;

[0058] Compare and analyze the breathable image with the preset standard breathable features to determine qualified and unqualified masks;

[0059] The first clamping claw and the second clamping claw are instructed to recycle the unqualified masks into a preset waste area when the clamping mechanism releases the unqualified masks.

[0060] By adopting the above technical solution, the gas Ganping spray device blows air to the opening position of the mask, so that the dry ice gas can flow out through the air holes on the mask and form a breathable image. By analyzing the breathable image, the masks with unqualified air permeability are screened out and clamped and recycled to the waste area to reduce the probability of unqualified masks.

[0061] In the second aspect, the present application provides an automatic mask feeding system, which adopts the following technical solutions:

[0062] A mask automatic feeding system, comprising:

[0063] The acquisition module is used to obtain the mask stacking area image, the feeding area image, the real-time sleeve depth, the inner wall blowing device position and the ventilation image;

[0064] A memory for storing a program of any one of the automatic mask feeding methods;

[0065] The program in the processor and the memory can be loaded and executed by the processor to implement any one of the automatic mask feeding methods.

[0066] By adopting the above technical solution, the memory executes the automatic feeding method of the mask to adjust the orientation of the mask when it is put on the setting mold, so that the mask is not likely to produce defective products due to orientation errors during subsequent processing.

[0067] In a third aspect, the present application provides a smart terminal that adopts the following technical solution:

[0068] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned automatic mask feeding methods.

[0069] By adopting the above technical solution and using a smart terminal, the position of the mask on the set mold is identified and then adjusted, so that the position of the mask is consistent with the standard position, thereby reducing the probability of defective products after mask processing.

[0070] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which has the characteristics of being less prone to upper and lower position errors during the pressing process of the mask sleeve onto the sleeve mold, and adopts the following technical solutions:

[0071] A mask processing device, applying and executing a computer program for any mask automatic feeding method, comprising:

[0072] A feeding mechanism, the feeding mechanism includes a conveyor belt and a motor, the motor drives the transmission belt to rotate, and a sleeve mold is provided on the conveyor belt, and the sleeve mold is used to sleeve the mask;

[0073] A clamping mechanism, provided on the conveyor belt, for pressing the mask sleeved on the sleeve mold;

[0074] A hot melt welding mechanism is provided adjacent to the conveyor belt and is used to weld the ear straps to the edge sidewalls of the mask;

[0075] A unloading clamping mechanism is provided on the side of the conveyor belt away from the loading mechanism, and is used to clamp and remove the processed masks from the conveyor belt;

[0076] The clamping mechanism is arranged adjacent to the feeding mechanism and is provided with a clamping manipulator for clamping the mask.

[0077] By adopting the above technical solution, when the mask is put on the putting mold, the clamping mechanism presses the mask tightly. Under the conveying action of the conveyor belt, the mask moves to the hot melt welding mechanism for ear strap welding, and moves to the unloading clamping mechanism for unloading, so as to realize the ear strap welding processing of the mask.

[0078] In summary, this application includes at least one of the following beneficial technical effects:

[0079] 1. After the preset clamping device clamps the mask at the clamping point position on the mask, the mask is moved along the sleeve path and sleeved onto the sleeve mold, so that the mask and the conveyor belt are not easily loosened for subsequent processing. At the same time, by analyzing the light transmission position characteristics, it is determined whether the orientation of the mask is different from the preset standard position, thereby instructing the sleeve mold to rotate and adjust the mask to the correct orientation, so that the mask is not easily processed into defective products due to orientation errors;

[0080] 2. Clamp the mask clamping point and adjacent clamping positions on the mask, and drive the first clamping claw to rotate so that the opening of the mask opens to a suitable arc, so that the mask is not easily obstructed when it is put on the putting mold;

[0081] 3. When the mask is tightened due to the elastic force of its own material during the sleeve process, the blowing device is used to blow air on the two inclined side walls, so that the mask is gradually sleeved onto the sleeve mold under the pressure of the air flow, and it is not easy to separate from the sleeve mold. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 This is a flow chart of an automatic mask feeding method in this application.

[0083] Figure 2 This is a flow chart of the method for bending and unfolding the opening of the mask in this application.

[0084] Figure 3 This is a flow chart of the auxiliary adjustment method of the blowing device in this application.

[0085] Figure 4 It is a flow chart of the swing control method of the sleeve mold in this application.

[0086] Figure 5 It is a flow chart of the method for coordinating the blowing device and the sleeve mold in this application.

[0087] Figure 6 This is a flow chart of the control method of the inner wall blowing device in this application.

[0088] Figure 7 It is a flow chart of the testing method for qualified masks in this application.

[0089] Figure 8 It is a schematic diagram of the overall structure of a mask processing device in this application.

[0090] Figure numerals: 1. feeding mechanism; 11. conveyor belt; 12. motor; 13. clamping robot; 14. sleeve mold; 2. clamping mechanism; 3. hot melt welding mechanism; 4. unloading clamping mechanism. DETAILED DESCRIPTION

[0091] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-8 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0092] The embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

[0093] The embodiment of the present application discloses a method for automatically feeding masks, which has the following effects.

[0094] Reference Figure 1 The method flow of the automatic mask feeding method includes the following steps:

[0095] Step S100: Acquire an image of the mask stacking area and an image of the loading area on the conveyor belt.

[0096] The mask stacking area image represents the area where masks are stacked before being loaded and processed. Multiple masks are stacked within the mask stacking area. The loading area image represents the end of the conveyor belt where masks are loaded. The locations of the loading area image and the mask stacking area image are determined by staff based on actual conditions and are not described in detail here. The images of the mask stacking area and loading area are captured using pre-installed cameras.

[0097] Step S101: Determine the stacking posture of the masks based on a comparison analysis of the mask stacking area image and preset mask stacking features.

[0098] Mask stacking features are the different posture characteristics of masks when stacked. They can be obtained by establishing a mask stacking feature database and conducting comparative analysis. By inputting the mask stacking area image into the mask stacking feature database, the stacking features corresponding to different masks in the mask stacking area image can be output. The stacking feature database can be established through multiple experiments. The method of establishing the database is common knowledge among those skilled in the art and will not be described in detail.

[0099] Step S102: Determine the position of the mask clamping point based on the stacking posture and the preset mask clamping features.

[0100] The mask clamping feature is a pre-set clamping feature. The clamping feature is the side of the mask that is open when folded. By establishing a clamping position database, the clamping point position and the corresponding stacking posture are stored in the clamping position database. When the corresponding clamping feature is input, the corresponding clamping point position can be determined. The method of establishing the database is common knowledge to those skilled in the art and will not be described in detail.

[0101] Step S103: determining the current sleeve position of the sleeve mold based on a comparative analysis of the loading area image and the preset sleeve mold features.

[0102] The sleeve mold feature is a sleeve mold pre-installed on the conveyor belt. The shape of the sleeve mold is compatible with the shape of the inner wall of the mask opening. When the mask is put on the sleeve mold, it can play a role in positioning and limiting the mask. By comparing and analyzing the feeding area image and the sleeve mold feature, and establishing the corresponding grid coordinates, the position of the sleeve mold feature in the grid coordinates is obtained, and this position is defined as the current sleeve position of the sleeve mold.

[0103] Step S104: determining the mask installation moving path according to the mask clamping point position and the current mask installation position.

[0104] The minimum moving path between the grid coordinate position and the mask clamping point position is obtained by connecting the grid coordinate position and the mask clamping point position, and this path is defined as the sleeve moving path.

[0105] Step S105: controlling a preset clamping device to clamp the mask according to the position of the mask clamping point, and moving the mask along the sleeve moving path to sleeve the mask onto the sleeve mold.

[0106] The clamping device is a clamping robot, which is pre-installed on the adjacent side of the conveyor belt loading area. It is used to automatically clamp the masks to be processed. The clamping robot moves the masks along the sleeve moving path and sleeves them onto the sleeve mold, so that the clamping and transportation time of the masks is relatively reduced, and under the limiting effect of the sleeve mold, the masks are not easily offset during subsequent processing.

[0107] Step S106: controlling a preset lighting device to illuminate the mask according to the current mounting position, and obtaining a current light-transmitting image of the mask.

[0108] The illumination device is a searchlight, pre-installed on a conveyor belt with a mounting slot for the device. When the mask is unfolded and placed on the mold, the sides of the mask cover the illumination device. When the illumination device emits light, the light is emitted through the air holes in the mask. At this time, the mask is photographed by a camera, and the image is defined as the current light transmission image of the mask.

[0109] Step S107: Analyze the current light transmission image and the preset light transmission position characteristics to determine the orientation of the mask.

[0110] The light-transmitting position feature is the position of the air holes on the mask for ventilation. The air holes are located on the side of the mask close to the nose. When the lighting device is illuminated, the light emitted from the air holes is more obvious. This is used as a feature to judge the top of the mask. The staff establishes a mask orientation feature database. When the current light-transmitting image is input into the mask orientation feature database, it is compared and analyzed with the light-transmitting position feature to determine the current relative position of the mask.

[0111] Step S108: Analyze and judge based on the orientation position and the preset standard position to determine whether to instruct the preset clamping mechanism to press the mask or instruct the sleeve mold to rotate in a preset rotation method.

[0112] The standard position is the relative orientation of the vent holes when the mask is placed in the standard orientation. During analysis, the current orientation in the light-transmitting image is determined to be consistent with the standard position. If so, the clamping mechanism is instructed to compress and secure the mask. If not, the mold is controlled to rotate 180° to flip the mask upside down, and then the clamping mechanism is controlled to compress the mask.

[0113] Reference Figure 2 The clamping method of the mask before clamping the mask to the mold includes:

[0114] Step S200: Analyze the mask clamping point position and the loading area image to determine the adjacent mask clamping position adjacent to the mask clamping point position.

[0115] Adjacent clamping positions are positions on the mask adjacent to the clamping point positions. The adjacent clamping positions are stored in the mask clamping point database. When the mask clamping point position is input, the mask clamping point database can be matched according to the image features of the mask and the mask clamping point position to determine the adjacent clamping positions in the image of the mask. The method for establishing the database is well known to those skilled in the art and will not be elaborated on.

[0116] Step S201: instructing a preset first clamping claw to clamp a clamping point position of the mask, and instructing a preset second clamping claw to clamp an adjacent clamping position of the mask.

[0117] The first clamping claw and the second clamping claw are both pre-installed on the clamping mechanism. After the clamping point position and the adjacent clamping position are determined, the first clamping claw and the second clamping claw can be instructed to perform a clamping operation. The purpose of clamping is to subsequently control the mask.

[0118] Step S202: instructing the first clamping claw to rotate according to a preset rotation arc and rotation direction, and obtaining a real-time opening image of the mask.

[0119] The rotational arc and direction can be determined using a clamping jaw rotation database, which stores corresponding rotational directions and rotational arcs. When the first clamping jaw rotates along the corresponding rotational direction and through the corresponding rotational arc, the first and second clamping jaws approach each other, causing the mask opening to unfold and bend into a position with a certain opening arc. At this point, a camera captures an image of the unfolded and bent mask, and this image is defined as a real-time opening image.

[0120] Step S203: comparing and analyzing the real-time opening image and the preset opening curvature feature to determine the current opening curvature of the mask.

[0121] The opening curvature feature is the expanded curvature formed by the opening edge of the mask during the rotation of the first clamping claw of the mask. The staff established an opening curvature database and stored different curvature features in the opening curvature database. When the real-time opening image is input, the current opening curvature of the current mask can be output.

[0122] Step S204: Analyze and judge based on the current opening arc and the preset minimum arc to determine whether to instruct the first clamping jaw to continue rotating in the rotation direction or stop rotating.

[0123] The minimum curvature is the opening curvature required for the mask to be fitted onto the fitting mold. It is set by the staff based on the actual situation of the fitting mold. The specific value is not explained. The current opening curvature is compared with the minimum curvature. If the front opening curvature is less than the minimum curvature, the first clamping jaw is controlled to continue rotating. If the front opening curvature is equal to or greater than the minimum curvature, the first clamping jaw is controlled to stop rotating.

[0124] Reference Figure 3 When the mask opening curvature in the unfolded image is greater than or equal to the minimum curvature, the mask unfolding adjustment method includes:

[0125] Step S300: Analyze the real-time expanded image and the preset opening features to determine the mask opening area and the mask opening position of the mask.

[0126] The opening feature is the opening shape, position and area of ​​the mask when the opening is unfolded. It is determined by establishing a mask opening database. The mask opening database stores the opening area value corresponding to the opening shape, as well as the opening direction feature. By inputting the real-time unfolded image into the mask opening database, the opening area value of the current mask and the opening direction of the mask can be obtained.

[0127] Step S301: Determine whether the mask opening area is smaller than a preset standard opening area.

[0128] The standard opening area is the opening area required for the mask to be fitted onto the fitting mold. The purpose of the judgment is to find out whether the mask and the fitting mold can be fitted.

[0129] Step S302: If the mask opening area is greater than or equal to the preset standard opening area, no control is performed.

[0130] If the mask opening area is greater than or equal to the preset standard opening area, it means that the mask can be fitted with the fitting mold. At this time, there is no need to adjust the mask opening, so no additional control is performed.

[0131] Step S303: If the mask opening area is smaller than the preset standard opening area, the preset blowing device is instructed to blow air to the mask opening position, and the current opening area of ​​the mask is obtained in real time.

[0132] If the opening area of ​​the mask is smaller than the preset standard opening area, it means that the mask is not in place when unfolded under the rotation adjustment of the first clamping claw, and further adjustment is required. The opening position of the mask is blown by the pre-installed blowing device so that the mask can expand and unfold accordingly, and the opening area of ​​the mask is obtained when blowing.

[0133] Step S304: Determine whether the current opening area is smaller than the standard opening area.

[0134] The standard opening area is the area at which the mask opening is deformed to the size that meets the opening requirements of the mold when the blowing device blows air at the opening position of the mask. The purpose of this judgment is to facilitate the subsequent control of the blowing device.

[0135] Step S305: If the current opening area is smaller than the preset standard opening area, continue to instruct the blowing device to blow air to the opening position of the mask.

[0136] If the current opening area is smaller than the preset standard opening area, it means that the mask still needs to be adjusted. At this time, the blowing device still needs to continue blowing air into the mask, so the blowing device is controlled to continue blowing air.

[0137] Step S306: If the current opening area is greater than or equal to the preset standard opening area, instruct the blowing device to stop blowing.

[0138] If the current opening area is greater than or equal to the preset standard opening area, it means that the current opening area of ​​the mask meets the requirements of the set mold and no further blowing is needed. At this time, the blowing device is controlled to stop blowing.

[0139] Reference Figure 4 , the mask adjustment method after the mask is set to the set mold includes:

[0140] Step S400: Analyze the mask putting image and standard putting posture features to determine the putting depth between the mask and the putting mold.

[0141] The standard setting posture feature is the standard posture of the mask when it is set on the setting mold. When the mask is in the standard posture, the mask and the setting mold are in a completely set state. The setting depth is the setting distance in the vertical direction when the mask is set on the setting mold. The analysis method is to establish a height feature database, and store the setting features of the mask and the setting mold, as well as the setting distance corresponding to the setting features in the height feature database. When the mask setting image is input, the mask setting distance can be analyzed and output, and the distance is marked as the mask setting depth.

[0142] Step S401: Analyze the set depth and the preset standard set depth to determine the remaining set distance.

[0143] The standard setting depth is the setting depth corresponding to when the mask is completely set on the setting mold. The difference between the standard depth and the setting depth is calculated, and the difference is defined as the remaining setting distance, that is, the distance that needs to be set when the mask does not reach the standard setting depth.

[0144] Step S402: instructing the sleeve mold to swing along a preset swing trajectory based on the remaining sleeve distance, and determining whether the remaining sleeve distance is equal to a preset reference sleeve distance.

[0145] The preset swing trajectory is used to control the sleeve mold to swing back and forth in the horizontal direction at a certain frequency. The swing frequency is set by the staff based on experiments and will not be elaborated on here. The sleeve mold is driven by gears and motors to achieve horizontal rotation control. The purpose of controlling the sleeve mold swing is to ensure that the mask can swing with the sleeve mold if it deviates during the sleeve process, and slide along the side wall of the sleeve mold during the swing process, so that the mask and the sleeve mold remain aligned. Determining whether the remaining sleeve distance is equal to the preset reference sleeve distance is to facilitate subsequent control of the sleeve mold.

[0146] Step S403: If the remaining sleeve distance is equal to the reference sleeve distance, the sleeve mold is instructed to stop swinging.

[0147] When the remaining sleeve distance is equal to the reference sleeve distance, it means that the mask and the sleeve mold are in a facing position, and there is no need to swing the sleeve mold for adjustment.

[0148] Step S404: If the remaining sleeve distance is not equal to the reference sleeve distance, the sleeve mold is instructed to continue swinging until the sleeve distance is equal to the reference sleeve distance.

[0149] The remaining sleeve distance is not equal to the reference sleeve distance, which means that the mask and the sleeve mold are not in a facing position. It is necessary to continue to adjust until the remaining sleeve distance is equal to the reference sleeve distance. At this time, the sleeve mold is controlled to continue swinging.

[0150] In addition, during the continuous swinging process, if the mask still cannot be put on to the standard putting distance, the swinging speed of the putting mold is increased.

[0151] Reference Figure 5 After the sleeve mold swings, when the remaining sleeve distance is not equal to the reference sleeve distance, the adjustment method of the sleeve mold also includes:

[0152] Step S500: obtaining the real-time depth of the mask as the mask mold swings.

[0153] The real-time setting depth is the setting image of the mask gradually approaching the reference setting distance as the setting mold swings. It is obtained through the camera. The purpose of obtaining the real-time setting depth is to facilitate the subsequent adjustment and control of the mask.

[0154] Step S501: Analyzing the mask set image and the preset inclined surface features of the mask to determine the inclined surface direction and inclined surface size of the inclined surface on the mask.

[0155] The preset inclined surface feature is the originally set inclined surface feature of the mask. When the mask is unfolded, the mask is set in an inverted cone shape in the vertical direction. It can be identified and analyzed by establishing a mask inclined surface database. The mask inclined surface database stores the inclined surface orientation features corresponding to the mask set image, and the inclined surface area corresponding to the inclined surface features. Therefore, when the mask set image is input, the inclined surface area size and inclined surface direction of the mask can be obtained.

[0156] Step S502: instructing the blowing port of the blowing device to rotate to a position parallel to the inclined surface, and blowing air toward the inclined surface, while determining whether the real-time sleeve depth is equal to the remaining sleeve distance.

[0157] When the blowing port of the blowing device is parallel to the inclined surface, the blowing device is perpendicular to the inclined surface. At this time, the airflow of the blowing device acts vertically on the inclined surface of the mask to blow air on the two conical inclined surfaces of the mask, so that the inner wall of the mask has a tendency to gradually move toward the reference sleeve distance along the side wall of the sleeve mold, and continue to compare the real-time sleeve depth and the remaining sleeve distance. The purpose of comparative analysis is to subsequently control the blowing device.

[0158] Step S503: If the real-time sleeve depth is not equal to the remaining sleeve distance, the air flow rate of the blowing is increased.

[0159] The real-time setting depth is not equal to the remaining setting distance, indicating that the mask still cannot be well adjusted under the action of the airflow of the blowing device. At this time, by increasing the airflow of the blowing device, the thrust acting on the inclined surface of the mask is increased, so that the mask can be further moved toward the setting position corresponding to the reference setting distance.

[0160] Step S504: If the real-time sleeve depth is equal to the remaining sleeve distance, the sleeve mold is instructed to stop swinging.

[0161] If the real-time sleeve depth is equal to the remaining sleeve distance, it means that the mask has reached the sleeve position corresponding to the reference sleeve distance. At this time, no further adjustment is required, and the sleeve mold is controlled to stop swinging.

[0162] Reference Figure 6 When the remaining sleeve distance is not equal to the reference sleeve distance, the adjustment method of the sleeve mold also includes:

[0163] Step S600: Analyze the mask installation image and preset mask expansion characteristics to determine the area to be expanded of the mask.

[0164] The mask expansion feature is the angle between the two inclined surfaces when the mask is unfolded. It is analyzed by pre-setting the expansion feature database. The expansion feature database stores the mask expansion features corresponding to different inclined surface angles. When the mask set image is input, the inclined surface angle value corresponding to the expansion area can be obtained.

[0165] Step S601: obtaining the preset position of the inner wall blowing device on the sleeve mold.

[0166] The inner wall blowing device is a blowing nozzle pre-installed on the side wall of the sleeve mold. The blowing nozzle is connected to the source. When the mask is put on the sleeve mold, the inner wall of the mask and the blowing nozzle are in contact. The relative position relationship between the blowing nozzle and the sleeve mold can be known from the design drawing of the sleeve mold. The position of the blowing nozzle is defined as the position of the inner wall blowing device.

[0167] Step S602: Analyze the position of the inner wall blowing device and the area to be expanded to determine the blowing adjustment angle and the blowing increment value of the inner wall blowing device.

[0168] During analysis, the standard expansion area value and the blowing adjustment database are pre-set. The standard expansion area value is the angle formed by the two inclined surfaces of the mask when the inner wall of the mask and the side wall of the sleeve mold are not completely fitted. The blowing adjustment database stores the corresponding blowing adjustment angle and blowing increment value. When the inclined surface angle corresponding to the area to be expanded is input, the corresponding blowing adjustment angle and blowing increment value can be output.

[0169] Step S603: instructing the inner wall blowing device to blow air according to the blowing increment value and the blowing adjustment angle.

[0170] When the inner wall blowing device adjusts the blowing according to the blowing adjustment angle and the blowing increment value, a gap can be formed between the inner wall of the mask and the sleeve mold, making it difficult for the mask to be completely fitted with the sleeve mold, making it easier for the mask to slide.

[0171] Reference Figure 7 , the mask detection and replacement method when the clamping mechanism presses the mask tightly includes:

[0172] Step S700: Analyze the mask set image and the preset ventilation hole features to determine the distribution area of ​​the mask ventilation holes.

[0173] The vent features are the vents on the mask, which are pre-set for the staff and determined by establishing a vent distribution database. The vent distribution database stores vent distribution areas corresponding to the vent features. By inputting the mask set image into the vent distribution database, the vent distribution area corresponding to the vent features can be input.

[0174] Step S701: instructing the dry ice spray device to blow air toward the opening of the mask and obtaining a ventilation image of the ventilation hole distribution area of ​​the mask.

[0175] The gas dry ice spray device is an air pump connected to dry ice gas. The air pump is connected to the air nozzle installed on the conveyor belt to blow the dry ice gas into the mask. The dry ice gas is discharged through the air vents. Since the dry ice gas has color, when the dry ice gas is discharged from the air vents, a visual airflow can be formed. The image formed by the visual airflow is defined as a ventilation image. The ventilation image can also be obtained by rotating and aiming the camera.

[0176] Step S702: comparing and analyzing the breathable image with preset standard breathable features to determine qualified masks and unqualified masks.

[0177] The standard breathable feature is the area of ​​dry ice gas ejected when dry ice gas flows out of the breathable hole without obstruction. The area will be compared based on the breathable image and the standard breathable feature. If the area of ​​the breathable image is smaller than the area corresponding to the standard breathable feature, the mask will be defined as an unqualified mask. If the area of ​​the breathable image is equal to or greater than the area corresponding to the standard breathable feature, the mask will be defined as a qualified mask.

[0178] Step S703: Instruct the first clamping claw and the second clamping claw to recycle the unqualified masks to a predetermined waste area when the clamping mechanism releases the unqualified masks.

[0179] The waste area is where unqualified masks are stored. The first clamping claw and the second clamping claw cooperate to move unqualified masks to the waste area and release the masks so that the unqualified masks can be recycled and processed to avoid unqualified products during subsequent processing.

[0180] Based on the same inventive concept, an embodiment of the present invention provides an automatic mask feeding system, comprising:

[0181] The acquisition module is used to obtain the mask stacking area image, feeding area image, real-time sleeve depth, inner wall blowing device position and ventilation image.

[0182] A memory for storing a program of the automatic mask feeding method according to any one of the claims above.

[0183] The program in the processor and the memory can be loaded and executed by the processor to realize the above-mentioned automatic feeding method for the middle mask.

[0184] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0185] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the automatic mask feeding method.

[0186] Based on the same inventive concept, an embodiment of the present invention provides a mask processing device for loading, welding ear straps and unloading masks. Figure 8 The mask processing device includes a feeding mechanism 1, a clamping mechanism 2, a hot melt welding mechanism 3, a unloading clamping mechanism 4 and a nose pad reinforcement rod processing mechanism 5.

[0187] Reference Figure 8 The feeding mechanism 1 includes a conveyor belt 11, a motor 12 and a clamping manipulator 13. The clamping manipulator 13 is connected to the PLC control system and is provided with a sensor. The clamping manipulator 13 clamps the mask under the control of the PLC control system.

[0188] The clamping mechanism 2 is mounted on a conveyor belt 11. A sleeve mold 14 is mounted on the conveyor belt 11. The sleeve mold 14 is configured to match the inner wall of the mask and is arranged in a trapezoidal shape. When the mask is sleeved onto the sleeve mold 14, the clamping mechanism 2 clamps and presses the edge of the mask. The conveying distance of the conveyor belt 11 and the clamping control of the clamping mechanism 2 are both controlled by connecting to a PLC control system.

[0189] The hot melt welding mechanism 3 is arranged adjacent to the conveyor belt 11. The hot melt welding mechanism 3 is a hot melt welding machine, which is used to weld the ear straps to the side of the mask. The use of the hot melt welding machine is a prior art in this field, and the specific structure of the hot melt welding machine will not be described in detail.

[0190] The unloading clamping mechanism 4 is an automatic clamping mechanical claw. The unloading clamping mechanism 4 is connected to the PLC control system. After the mask is hot-melt processed, it moves toward the side of the unloading clamping mechanism 4 under the conveyor belt 11. When the mask reaches the end of the conveyor belt 11, the clamping mechanism 2 releases the mask, and the unloading clamping mechanism 4 removes the mask from the conveyor belt 11.

[0191] The nose pad reinforcement rod processing mechanism 5 includes a telescopic cylinder 51 and a clamping block 52 fixedly connected to the telescopic shaft of the telescopic cylinder. The clamping block 52 is provided with a clamping groove, and the clamping groove is adapted to the shape of the sleeve mold. When the nose pad reinforcement rod is placed in the clamping groove, the telescopic cylinder 51 extends the output shaft so that the clamping groove is pressed against the mask, and the nose pad reinforcement rod is pressed against the mask. Subsequently, the nose pad reinforcement rod and the mask can be bonded and fixed.

[0192] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0193] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise specified, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise specified, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A method for automatically feeding masks, characterized in that: include: Acquire images of the mask stacking area and the loading area on the conveyor belt; Determine the stacking posture of masks based on the comparison analysis of the mask stacking area image and the preset mask stacking features; Determine the mask clamping point position by comparing and analyzing the stacking posture and the preset mask clamping features; Based on the comparative analysis of the loading area image and the preset sleeve mold features, the current sleeve mold position is determined; Determine the mask installation movement path based on the mask clamping point position and the current installation position; According to the position of the mask clamping point, the preset clamping device is controlled to clamp the mask, and moves along the sleeve moving path to sleeve the mask onto the sleeve mold; Controlling the preset lighting device to illuminate the mask according to the current setting position and obtaining the current light transmission image of the mask; Determine the orientation of the mask based on the current light transmission image and the preset light transmission position feature analysis; Analyze and judge based on the orientation position and the preset standard position to determine whether to instruct the preset clamping mechanism to press the mask or instruct the sleeve mold to rotate in a preset rotation method; The clamping method of the mask before clamping the mask to the mold includes: Analyze the mask clamping point position and the feeding area image to determine the adjacent clamping position of the mask adjacent to the mask clamping point position; Instruct the preset first clamping claw to clamp the clamping point position of the mask, and instruct the preset second clamping claw to clamp the adjacent clamping position of the mask; Instructing the first clamping claw to rotate according to a preset rotation arc and rotation direction, and obtaining a real-time opening image of the mask; The current opening curvature of the mask is determined by comparing and analyzing the real-time opening image with the preset opening curvature feature; Analyzing and judging the current opening arc and the preset minimum arc to determine whether to instruct the first clamping jaw to continue rotating in the rotation direction or to stop rotating; When the mask opening curvature in the unfolded image is greater than or equal to the minimum curvature, the mask unfolding adjustment method includes: The real-time expanded image and the preset opening feature analysis are used to determine the mask opening area and the mask opening position of the mask; Determine whether the mask opening area is smaller than the preset standard opening area; If the mask opening area is greater than or equal to the preset standard opening area, no control will be performed; If the mask opening area is smaller than the preset standard opening area, the preset blowing device is instructed to blow air to the opening position of the mask and obtain the current opening area of ​​the mask in real time; Determine whether the current opening area is smaller than the standard opening area; If the current opening area is smaller than the preset standard opening area, the blowing device will continue to be instructed to blow air to the opening position of the mask; If the current opening area is greater than or equal to the preset standard opening area, the blowing device is instructed to stop blowing.

2. A mask automatic feeding method according to claim 1, characterized in that, The mask adjustment method after the mask is set to the set mold includes: According to the mask setting image and standard setting posture feature analysis, the setting depth between the mask and the setting mold is determined; Analyze the set depth and the preset standard set depth to determine the remaining set distance; Instructing the sleeve mold to swing along a preset swing trajectory based on the remaining sleeve distance, and determining whether the remaining sleeve distance is equal to a preset reference sleeve distance; If the remaining sleeve distance is equal to the reference sleeve distance, the sleeve mold is instructed to stop swinging; If the remaining sleeve distance is not equal to the reference sleeve distance, the sleeve mold is instructed to continue swinging until the sleeve distance is equal to the reference sleeve distance.

3. The automatic mask feeding method according to claim 2, characterized in that: After the sleeve mold is swung, when the remaining sleeve distance is not equal to the reference sleeve distance, the adjustment method of the sleeve mold also includes: Obtain the real-time depth of the mask as the mask mold swings; Based on the mask set image and the preset inclined surface feature analysis of the mask, the inclined surface direction and inclined surface size of the mask are determined; Instruct the blowing device to rotate the blowing port to a position parallel to the inclined surface, blow air toward the inclined surface, and simultaneously determine whether the real-time sleeve depth is equal to the remaining sleeve distance; If the real-time sleeve depth is not equal to the remaining sleeve distance, increase the air flow rate; If the real-time sleeve depth is equal to the remaining sleeve distance, the sleeve mold is instructed to stop swinging.

4. The automatic mask feeding method according to claim 2, characterized in that: When the remaining sleeve distance is not equal to the reference sleeve distance, the adjustment method of the sleeve mold also includes: Analyze the mask set image and the preset mask expansion characteristics to determine the area of ​​the mask to be expanded; Obtaining the preset position of the inner wall blowing device on the sleeve mold; According to the position of the inner wall blowing device and the area to be expanded, the blowing adjustment angle and the blowing increment value of the inner wall blowing device are determined; The inner wall blowing device is instructed to blow air according to the blowing increment value and the blowing adjustment angle.

5. The automatic mask feeding method according to claim 3, characterized in that: The method for detecting and replacing a mask when the clamping mechanism presses the mask tightly includes: Analyze the mask set image and the preset ventilation hole characteristics to determine the distribution area of ​​the mask ventilation holes; The dry ice spray device is instructed to blow air towards the opening of the mask and obtain an air permeability image of the mask's air hole distribution area; Compare and analyze the breathable image with the preset standard breathable features to determine qualified and unqualified masks; The first clamping claw and the second clamping claw are instructed to recycle the unqualified masks into a preset waste area when the clamping mechanism releases the unqualified masks.

6. A mask automatic feeding system, characterized in that: include: The acquisition module is used to obtain the mask stacking area image, the feeding area image, the real-time sleeve depth, the inner wall blowing device position and the ventilation image; A memory for storing a program of the automatic mask feeding method according to any one of claims 1 to 5; The program in the processor and the memory can be loaded and executed by the processor to implement the automatic mask feeding method as claimed in any one of claims 1 to 5.

7. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes any one of the automatic mask feeding methods according to claims 1 to 5.

8. A mask processing device, applying and executing a computer program according to any one of claims 1 to 5 for the automatic mask feeding method, characterized in that: include: A feeding mechanism (1), the feeding mechanism (1) comprising a conveyor belt (11) and a motor (12), the motor (12) driving the conveyor belt to rotate, a sleeve mold (14) being provided on the conveyor belt (11), the sleeve mold (14) being used for sleeve mounting of the mask; A clamping mechanism (2) is provided on the conveyor belt (11) and is used to press the mask mounted on the mounting mold (14); A hot melt welding mechanism (3) is provided adjacent to the conveyor belt (11) and is used for welding the ear straps to the edge side walls of the mask; A discharge clamping mechanism (4) is provided on a side of the conveyor belt (11) away from the loading mechanism (1) and is used for clamping and removing the processed masks from the conveyor belt (11); The clamping mechanism (2) is arranged adjacent to the feeding mechanism (1), and is provided with a clamping manipulator (13), which is used to clamp the mask.

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