A visual detection-based anti-clamping piece feeding and placing device

Abstract

The application belongs to the technical field of visual detection equipment, and particularly relates to a kind of anti-jamming piece feeding and placing device based on visual detection, including feeding mechanism, placing mechanism, first visual detection mechanism and poking anti-jamming mechanism, in the process of feeding mechanism, cup body is transported to placing mechanism by feeding mechanism, when first visual detection mechanism detects cup body, driving placing mechanism is righted to cup body, and cup body is righted automatically by placing mechanism, saves manual work, improves production efficiency, and when first visual detection mechanism does not detect cup body, driving poking anti-jamming mechanism pokes cup body on feeding mechanism, so that cup body stuck on feeding mechanism is normally transported, without stopping to remove obstacles, production efficiency is higher, in addition, feeding mechanism includes two parallel feeding channels, further improves production efficiency.

Description

[0001] The application belongs to the technical field of visual detection equipment, and particularly relates to a clamping-preventing feeding and placing device based on visual detection.

[0002] During cup production, the cups need to be placed and boxed after being made. Generally, the cups are conveyed to a placing station by a feeding mechanism, placed by workers, and then boxed by a robot. However, the cups are often clamped during the feeding process, which requires stopping the machine to remove the obstacle, and the clamped cups are placed by workers to be conveyed to the placing station, which greatly reduces the production efficiency.

[0003] The application aims to provide a clamping-preventing feeding and placing device based on visual detection, which can realize automatic obstacle removal without stopping the machine, automatic placing, and high production efficiency.

[0004] The application is implemented by the following technical solutions.

[0005] A clamping-preventing feeding and placing device based on visual detection, comprising:

[0006] A feeding mechanism for conveying cups, wherein the feeding mechanism comprises two parallel feeding channels;

[0007] A placing mechanism for receiving and placing the cups conveyed by the feeding mechanism;

[0008] A first visual detection mechanism arranged above the placing mechanism and used for detecting the arrival of the cups conveyed from the feeding mechanism to the placing mechanism;

[0009] A clamping-preventing mechanism electrically connected to the first visual detection mechanism and used for pushing the cups on the feeding mechanism;

[0010] When the first visual detection mechanism detects the cups, the placing mechanism is driven to place the cups;

[0011] When the first visual detection mechanism does not detect the cups, the clamping-preventing mechanism is driven to push the cups on the feeding mechanism.

[0012] As described above, the first visual detection mechanism comprises stands arranged on both sides of the placing mechanism, detection mounting frames arranged on the stands, guide channels arranged on the detection mounting frames, and first detection members arranged in the guide channels. The guide channels are used for guiding the cups conveyed by the feeding mechanism to the placing mechanism. The guide channels are two, and the two guide channels are respectively connected to the two feeding channels. ​​​

[0013] As described above, in a vision-based anti-jamming feeding and placement device, the anti-jamming mechanism includes:

[0014] A toggle element, used to actuate the cup on the feeding mechanism;

[0015] A rotation drive component is used to drive the actuating component to rotate;

[0016] A lifting and traversing mechanism is mounted on a stand to drive the rotating drive component to move along the cup conveying direction and / or the vertical direction.

[0017] As described above, in a vision-based anti-jamming feeding and placement device, the actuating lifting and traversing mechanism includes:

[0018] The first actuating slide rail is disposed on the upright frame along the cup conveying direction;

[0019] The second sliding rail is arranged vertically and movably mounted on the first sliding rail;

[0020] The first toggle drive is mounted on the upright and is used to drive the second toggle slide rail to move.

[0021] The second toggle drive is movably mounted on the second toggle slide rail, and the second toggle drive is used to drive the rotation drive to move.

[0022] As described above, a vision-based anti-jamming feeding and placement device includes a placement mechanism comprising:

[0023] The first placement platform has multiple placement holes arranged along the cup conveying direction;

[0024] A aligning component is used to support the cup body, and multiple aligning components are provided in one-to-one correspondence with multiple placement holes;

[0025] The first placement drive is disposed on the first placement platform. Multiple first placement drive components are used to drive the corresponding placement component to extend into the corresponding placement hole to receive the corresponding cup.

[0026] The second placement platform is provided on the second placement platform along the cup conveying direction;

[0027] The second placement drive unit is disposed on the second placement platform and is used to drive the first placement platform to move.

[0028] As described above, the anti-jamming feeding and placement device based on vision detection further includes a second vision detection mechanism disposed on the detection mounting frame and located above the placement mechanism, and a defective product removal mechanism connected to the second vision detection mechanism. When the second vision detection mechanism detects a defective cup, it drives the defective product removal mechanism to remove the defective cup.

[0029] As described above, a visual inspection-based anti-jamming feeding and placement device includes a defective product removal mechanism comprising a removal slide plate movably mounted on a first placement platform in a direction perpendicular to the cup conveying direction, and a defective product removal drive component for driving the removal slide plate. Multiple removal slide plates are respectively configured in one-to-one correspondence with multiple first placement drive components, and the first placement drive components are mounted on their respective removal slide plates. The multiple defective product removal drive components are electrically connected to a second visual inspection mechanism. When the second visual inspection mechanism detects a defective cup, it drives the corresponding defective product removal drive component to drive the corresponding removal slide plate to move in a direction perpendicular to the cup conveying direction, thereby removing the defective cup located on the corresponding alignment component.

[0030] As described above, in a vision-based anti-jamming feeding and placement device, a first lifting mechanism is provided between the upright frame and the detection mounting frame for driving the lifting and lowering movement of the detection mounting frame.

[0031] As described above, a visual inspection-based anti-jamming feeding and placement device includes a first lifting mechanism comprising a first slide rail arranged vertically on the upright, a first slider movably arranged on the first slide rail, and a first lifting drive component for driving the first slider. The two first slide rails are arranged opposite to each other on the two uprights and are respectively connected to both sides of the inspection mounting frame.

[0032] As described above, the vision-based anti-jamming feeding and placement device further includes a direct vibration feeding device connected to the feeding mechanism.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] This invention provides a vision-based anti-jamming feeding and placement device, including a feeding mechanism, a placement mechanism, a first vision detection mechanism, and a toggle anti-jamming mechanism. During the feeding process, the feeding mechanism transports the cup to the placement mechanism. When the first vision detection mechanism detects the cup, it drives the placement mechanism to align the cup, automatically aligning it and saving labor, thus improving production efficiency. When the first vision detection mechanism does not detect the cup, it drives the toggle anti-jamming mechanism to move the cup on the feeding mechanism, allowing cups jammed on the feeding mechanism to be transported normally without stopping the machine for troubleshooting, further increasing production efficiency. Additionally, the feeding mechanism includes two parallel feeding channels, further improving production efficiency. [Attached Image Description]

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0036] Figure 1 This is a schematic diagram of the anti-jamming feeding and placement device based on vision detection in a specific embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the anti-jamming feeding and placement device based on vision detection in a specific embodiment of the present invention;

[0038] Figure 3 This is a partial structural diagram of the anti-jamming feeding and placement device based on vision detection in a specific embodiment of the present invention;

[0039] Figure 4 This is a partial structural diagram of the anti-jamming feeding and placement device based on vision detection in a specific embodiment of the present invention;

[0040] Figure 5 This is a partial structural diagram of the anti-jamming feeding and placement device based on vision detection in a specific embodiment of the present invention.

Detailed Implementation Methods

[0041] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0042] When ordinal numbers such as "first" and "second" are mentioned in the embodiments of the present invention, unless they actually express the meaning of order according to the context, they should be understood as being used only for differentiation.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] Specific embodiments, such as Figures 1-5 The illustrated anti-jamming feeding and placement device based on vision detection includes a feeding mechanism 1 for conveying cups, the feeding mechanism 1 including two parallel feeding channels 11; a placement mechanism 2 for receiving and aligning the cups conveyed by the feeding mechanism 1; a first vision detection mechanism 3, located above the placement mechanism 2, for detecting the positioning of the cups from the feeding mechanism 1 to the placement mechanism 2; and an anti-jamming actuation mechanism 4, electrically connected to the first vision detection mechanism 3, for actuating the cups on the feeding mechanism 1; and a device that actuates the cups on the feeding mechanism 1 during feeding. During the process, the cup is conveyed to the placement mechanism via the feeding mechanism. When the first vision detection mechanism detects the cup, it drives the placement mechanism to straighten the cup. The placement mechanism receives the cup and automatically straightens it, saving labor and improving production efficiency. When the first vision detection mechanism does not detect the cup, it drives the anti-jamming mechanism to move the cup on the feeding mechanism, allowing the cup stuck on the feeding mechanism to be conveyed normally without stopping the machine to troubleshoot, resulting in higher production efficiency. In addition, the feeding mechanism includes two parallel feeding channels, which further improves production efficiency.

[0045] Specifically, the first visual inspection mechanism 3 includes uprights 31 on both sides of the placement mechanism 2, an inspection mounting frame 32 on the uprights 31, a guide channel 33 on the inspection mounting frame 32, and a first inspection element 34 within the guide channel 33. The guide channel 33 is used to guide the cups conveyed by the feeding mechanism 1 to the placement mechanism 2. There are two guide channels 33, each connected to one of the two feeding channels 11. Specifically, the first inspection element 34 can be a sensor. When the first inspection element 34 senses a cup, it drives the placement mechanism 2; when the first inspection element 34 does not sense a cup, it drives the anti-jamming mechanism 4 to move the cups on the feeding channel 11. The guide channel 33 serves to position and prevent slippage.

[0046] Additionally, the anti-jamming mechanism 4 includes a toggle member 41 for toggle the cups on the feeding mechanism 1; a rotation drive member 42 for driving the toggle member 41 to rotate; and a toggle lifting and traversing mechanism 43, mounted on the upright 31, for driving the rotation drive member 42 to move along the cup conveying direction and / or vertically. When the first detection member 34 does not sense a cup, the rotation drive member 42 drives the toggle member 41 to rotate and toggle the cups, and adjusts the height of the toggle member 41 by the toggle lifting and traversing mechanism 43, and drives the toggle member to reciprocate along the cup conveying direction to sequentially toggle the cups on the feeding channel, ensuring automatic anti-jamming and obstacle removal. Optionally and non-limitingly, the rotation drive member 42 may be a rotary cylinder.

[0047] Specifically, the actuating lifting and traversing mechanism 43 includes a first actuating slide rail 431, which is disposed on the upright frame 31 along the cup conveying direction; a second actuating slide rail 432, which is disposed vertically and movably disposed on the first actuating slide rail 431; a first actuating drive member 433, which is disposed on the upright frame 31 for driving the second actuating slide rail 432 to move; and a second actuating drive member 434, which drives the rotation drive member 42 to move, with the rotation drive member 42 movably disposed on the second actuating slide rail 432. The first actuating drive member 433 drives the actuating member 41 to move along the cup conveying direction, and the second actuating drive member 434 drives the actuating member 41 to move vertically. Optionally and non-limitingly, the first actuating drive member 433 and the second actuating drive member 434 can be telescopic cylinders.

[0048] Further, the placement mechanism 2 includes: a first placement platform 21, which has a plurality of placement holes 211 arranged along the cup conveying direction; a straightening member 22, which is used to receive the cup, and the plurality of straightening members 22 are arranged one-to-one with the plurality of placement holes 211; a first placement driving member 23, which is disposed on the first placement platform 21, and the plurality of first placement driving members 23 are respectively used to drive the corresponding straightening member 22 to extend into the corresponding placement hole 211 to receive the corresponding cup; a second placement platform 24, on which the first placement platform 21 is movably disposed along the cup conveying direction; and a second placement driving member 25, which is disposed on the second placement platform 24 and is used to drive the first placement platform 21 to move. When the first detection element 34 senses a cup, the first placement drive element 23 drives the corresponding alignment element 22 to extend into the corresponding placement hole 211 to receive the detected cup. After receiving the cup, the second placement drive element 25 drives the first placement platform 21 to move forward along the cup conveying direction to the next placement hole 211 opposite to the guide channel 33. The spacing between adjacent placement holes 211 is consistent, thereby realizing the placement of the cups. Finally, a robotic arm removes multiple cups placed on the first placement platform 21 and packs them into boxes at once, achieving automated placement and packing with high production efficiency. Optionally and non-limitingly, the first placement drive element 23 and the second placement drive element 25 can be telescopic cylinders.

[0049] More specifically, the anti-jamming feeding and placing device also includes a second vision inspection mechanism 5 mounted on the detection mounting frame 32 and located above the placing mechanism 2, and a defective product removal mechanism 6 connected to the second vision inspection mechanism 5. When the second vision inspection mechanism 5 detects a defective cup, it drives the defective product removal mechanism 6 to remove the defective cup. This device features a high degree of automation, facilitates the removal of defective products, and improves production efficiency.

[0050] Furthermore, the defective product removal mechanism 6 includes a removal slide plate 61 movably mounted on the first placement platform 21 in a direction perpendicular to the cup conveying direction, and a defective product removal driving member 62 for driving the removal slide plate 61. The plurality of removal slide plates 61 are respectively corresponding to the plurality of first placement driving members 23, and the first placement driving members 23 are mounted on the corresponding removal slide plate 61. The plurality of defective product removal driving members 62 are respectively electrically connected to the second visual inspection mechanism 5. When the second visual inspection mechanism 5 detects a defective cup, it drives the corresponding defective product removal driving member 62 to drive the corresponding removal slide plate 61 to move in a direction perpendicular to the cup conveying direction, thereby removing the defective cup located on the corresponding alignment member 22. Optionally and non-limitingly, the second visual inspection mechanism 5 uses a CCD industrial camera to photograph the appearance of the cup. When a defective product is detected, the first placement drive 23 drives the alignment member 22 to move the cup down to the disengagement placement hole 211, and then drives the corresponding defective product removal drive 62 to drive the corresponding removal slide plate 61 to move in a direction perpendicular to the cup conveying direction, thereby removing the defective cup located on the corresponding alignment member 22.

[0051] Furthermore, a first lifting mechanism 7 is provided between the upright frame 31 and the detection mounting frame 32 for driving the detection mounting frame 32 to move up and down. When the cup gets stuck in the guide channel 33, the first lifting mechanism 7 can drive the detection mounting frame 32 to rise, thereby raising the guide channel 33.

[0052] Specifically, the first lifting mechanism 7 includes a first slide rail 71 arranged vertically on the upright 31, a first slider 72 movably arranged on the first slide rail 71, and a first lifting drive member 73 for driving the first slider 72 to move. The two first slide rails 71 are arranged opposite to each other on the two uprights 31 and are respectively connected to both sides of the detection mounting frame 32.

[0053] More specifically, the anti-jamming feeding and placing device also includes a direct vibration feeding device 8 connected to the feeding mechanism 1. This results in high feeding efficiency.

[0054] The above description is one embodiment provided in conjunction with specific content, and does not imply that the specific implementation of the present invention is limited to these descriptions. Furthermore, due to differences in industry naming conventions, the invention is not limited to the above names or English names. Any methods or structures similar to or identical to those of the present invention, or any technical deductions or substitutions made based on the concept of the present invention, should be considered within the scope of protection of the present invention.

Claims

1. A vision-based anti-jamming feeding and placement device, characterized in that, include: The feeding mechanism (1) is used to convey the cup body, and the feeding mechanism (1) includes two parallel feeding channels (11). The placement mechanism (2) is used to receive and straighten the cup body conveyed by the feeding mechanism (1); the placement mechanism (2) includes a first placement frame (21) with a plurality of placement holes (211) arranged along the cup body conveying direction, a plurality of straightening parts (22) arranged one-to-one with the plurality of placement holes (211) for receiving the cup body, a plurality of first placement driving parts (23) arranged on the first placement frame (21) for driving the corresponding straightening parts (22) to move into the corresponding placement holes (211) to receive the corresponding cup body, a second placement frame (24) arranged on the first placement frame (21) for moving along the cup body conveying direction, and a second placement driving part (25) arranged on the second placement frame (24) for driving the first placement frame (21) to move. The first visual inspection mechanism (3) is located above the placement mechanism (2) and is used to detect the position of the cup body from the feeding mechanism (1) to the placement mechanism (2). The first visual inspection mechanism (3) includes a stand (31) on both sides of the placement mechanism (2), an inspection mounting frame (32) on the stand (31), a guide channel (33) on the inspection mounting frame (32), and a first inspection piece (34) in the guide channel (33). The guide channel (33) is used to guide the cup body conveyed by the feeding mechanism (1) to the placement mechanism (2). There are two guide channels (33), and the two guide channels (33) are respectively connected to the two feeding channels (11). The anti-jamming mechanism (4) is electrically connected to the first vision detection mechanism (3) and is used to move the cup on the feeding mechanism (1); When the first visual detection mechanism (3) detects the cup, it drives the placement mechanism (2) to straighten the cup; when the first visual detection mechanism (3) does not detect the cup, it drives the anti-jamming mechanism (4) to move the cup on the feeding mechanism (1).

2. The anti-jamming feeding and placement device based on vision detection according to claim 1, wherein the anti-jamming mechanism (4) comprises: A toggle (41) for actuating the cup on the feeding mechanism (1); Rotation drive (42) is used to drive the toggle (41) to rotate; The lifting and traversing mechanism (43), which is mounted on the upright (31), is used to drive the rotating drive (42) to move along the cup conveying direction and / or the vertical direction.

3. The anti-jamming feeding and placement device based on vision detection according to claim 2, characterized in that, The actuating lifting and traversing mechanism (43) includes: The first actuating slide rail (431) is arranged on the stand (31) along the cup conveying direction; The second actuating slide rail (432) is arranged vertically and movably mounted on the first actuating slide rail (431); The first toggle drive (433) is mounted on the stand (31) and is used to drive the second toggle slide rail (432) to move. The second toggle drive (434) is movably mounted on the second toggle slide rail (432), and the second toggle drive (434) is used to drive the rotation drive (42) to move.

4. The anti-jamming feeding and placement device based on vision detection according to claim 1, characterized in that, It also includes a second visual inspection mechanism (5) located on the inspection mounting frame (32) and above the placement mechanism (2), and a defect removal mechanism (6) connected to the second visual inspection mechanism (5). When the second visual inspection mechanism (5) detects a defective cup, it drives the defect removal mechanism (6) to remove the defective cup.

5. A visual detection-based anti-jamming feeding and placement device according to claim 4, characterized in that, The defect removal mechanism (6) includes a take-out slide plate (61) movably mounted on a first placement platform (21) in a direction perpendicular to the cup conveying direction, and a defect removal drive member (62) for driving the take-out slide plate (61) to move. The multiple take-out slide plates (61) are respectively arranged in a one-to-one correspondence with the multiple first placement drive members (23), and the first placement drive members (23) are mounted on the corresponding take-out slide plate (61). The multiple defect removal drive members (62) are respectively electrically connected to the second visual inspection mechanism (5). When the second visual inspection mechanism (5) detects a defective cup, it drives the corresponding defect removal drive member (62) to drive the corresponding take-out slide plate (61) to move in a direction perpendicular to the cup conveying direction, thereby taking out the defective cup located on the corresponding alignment member (22).

6. The anti-jamming feeding and placement device based on vision detection according to claim 1, characterized in that, A first lifting mechanism (7) for driving the lifting and lowering of the inspection mounting frame (32) is provided between the upright frame (31) and the inspection mounting frame (32).

7. A visual detection-based anti-jamming feeding and placement device according to claim 6, characterized in that, The first lifting mechanism (7) includes a first slide rail (71) arranged vertically on the upright (31), a first slider (72) movably arranged on the first slide rail (71), and a first lifting drive member (73) for driving the first slider (72) to move. The two first slide rails (71) are arranged opposite to each other on the two uprights (31) and are respectively connected to both sides of the detection mounting frame (32).

8. A vision-based anti-jamming feeding and placement device according to claim 1, characterized in that, It also includes a direct vibration feeding device (8) connected to the feeding mechanism (1).

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