An online detection system and control method for square ham

Abstract

The present application belongs to the field of packaging machinery detection equipment, and in particular to a square ham online detection system and control method, which is provided on a square ham online detection device, and a control system comprising a PLC control system, a specification detection system, a driving system and a man-machine interaction system; the square ham online detection device is used for receiving a control command of the PLC control system and performing corresponding movement; the PLC control system is used for receiving instruction parameters of the man-machine interaction system, and adjusting the matching form of the driving system and the synchronization of the electronic gear ratio according to the ham specification fed back by the specification detection system, so as to realize posture adjustment by respectively displaying the six outer surfaces of the square ham through the square ham online detection device, solve the physical problems such as centrifugal force, penetration and rebound that may be encountered in the sorting and overturning process, and provide support for subsequent visual detection and current non-contact detection.

Description

Technical Field

[0001] This invention belongs to the field of packaging machinery testing equipment, specifically an online testing system and control method for square ham. Background Technology

[0002] Spanish ham (also known as square ham) is widely popular among consumers for its unique taste and flavor. However, due to its complex production process, certain defects are unavoidable in its packaging. Traditional manual visual inspection methods can only identify larger cosmetic defects; there are virtually no means to detect minor defects such as punctures and scratches that are difficult to spot with the naked eye. Such products entering the market not only damage the brand image and competitiveness of companies but also seriously affect the quality of Spanish ham and the health of consumers.

[0003] Non-contact inspection methods such as vision and microcurrent are commonly used for appearance inspection. However, how to achieve online inspection of square ham sorting and flipping is a key factor restricting the level of automation in the industry and affecting the production efficiency of enterprises. At the same time, physical problems such as centrifugal force, inertia and springback that may be encountered during the sorting and flipping of square ham also need to be avoided through precise control. Summary of the Invention

[0004] The purpose of this invention is to provide a highly automated, intelligent, and efficient online inspection device and control method for square hams that utilizes a combination of vision, mechanical, and non-contact sensors to overcome the shortcomings of existing equipment in the industry.

[0005] The technical solution adopted by the present invention to achieve the above objectives is: an online inspection system for square ham, installed on an online inspection device for square ham, including: a PLC control system, a specification inspection system, a drive system and a human-machine interaction system;

[0006] The square ham online detection device is used as the execution device of the square ham online detection system, receiving control commands from the PLC control system and executing corresponding movements according to the control commands from the PLC control system.

[0007] The PLC control system is used to receive parameters from the human-machine interface system to adjust the online detection device for square ham, and control it to perform corresponding movements. Based on the detection results obtained by the specification detection system, it obtains the external specifications and calculated weight specifications of the square ham, and adjusts the torque and speed of the servo motor, adjusts the servo synchronization cycle and synchronization ratio, generates control commands, and sends control commands to each servo motor on the online detection device for square ham. At the same time, it is connected to the human-machine interface system through the bus.

[0008] The specification detection system is used to calculate the motion posture of the square ham. The specification detection system identifies the specification of the square ham being detected, and obtains the weight of the square ham by the average density of the square ham. Then, it calculates the torque and speed information of the motor during operation and feeds the results back to the PLC control system.

[0009] The drive system is used for coordination between multiple motors. Through real-time communication and control algorithms, it coordinates the precise movement and positioning of four servo motors. It is connected to the PLC control system via a bus and adjusts the control strategy according to the actual motion state to ensure that the servo motors can accurately execute the predetermined motion tasks.

[0010] The human-machine interaction system is used to display the detection results received from the PLC control system.

[0011] The PLC control system includes: a PLC and connected to it a servo motor limit and origin sensor, a position detection sensor, and a handover verification sensor.

[0012] The PLC is connected to the drive system via a bus and is used to send actual motion state adjustment control strategies to ensure that the servo motor can accurately execute the predetermined motion task and control the coordination between multiple motors in the drive system.

[0013] The servo motor limit and origin sensors are Hall sensors, which are located on the pulley side of each servo motor on the main frame, and are used to obtain the maximum and minimum stroke of the motor and to locate the starting position of the motor.

[0014] The positioning detection sensor is a photoelectric sensor, which is installed on the main frame and is used to detect the running status of the ham and feed the feedback to the PLC control system so that the drive system controls the motor to move in coordination.

[0015] The handover verification sensor is a laser sensor, which is installed on the side plate of the buffer acceleration conveyor belt. It is used to verify the status of the square ham when it is handed over to different mechanisms, detect the offset information of the square ham position and feed it back to the PLC control system so that the drive system can correct its actions.

[0016] The specification inspection system includes: an industrial control computer and a specification inspection camera and laser sensor group connected to it;

[0017] The specification detection camera is installed on the side plate of the buffer conveyor body of the buffer acceleration conveyor of the square ham online detection device, and is used to acquire planar information such as the length and width of the square ham and send it to the industrial control computer.

[0018] The laser sensor group is installed on the side plate of the buffer acceleration conveyor belt of the square ham online detection device, and is used to acquire planar information such as the length and width of the square ham and send it to the industrial control computer.

[0019] The industrial control computer is connected to the PLC and is used to summarize the length, width and height information obtained by the specification inspection camera and laser sensor group, and input the results to the PLC.

[0020] The drive system includes: a servo mounting plate, a servo driver assembly mounted on the servo mounting plate, and a servo motor connected thereto;

[0021] The specified servo driver assembly is fixed on the servo mounting plate and connected to the PLC of the PLC control system via a bus.

[0022] The servo motor is mounted on the main frame and drives the square ham online detection device.

[0023] The human-computer interaction system includes: a structural box and a touch screen, a start button, a stop button, a reset button and an emergency stop button installed on the structural box;

[0024] The touch screen, start button, stop button, reset button, and emergency stop button are respectively embedded on one side of the structural box;

[0025] The touchscreen, start button, stop button, reset button, and emergency stop button are connected to the PLC of the PLC control system via a bus.

[0026] The online inspection device for square ham includes: a main frame for defect inspection and a horizontal and rotating inspection mechanism, a primary flipping and clamping inspection mechanism, a secondary conveying inspection mechanism, a secondary flipping and clamping inspection mechanism, and a rejection mechanism sequentially arranged on the main frame. The horizontal and rotating inspection mechanisms are used to inspect the top surface and left and right sides of the square ham for defects; the flipping and clamping inspection mechanism is used to inspect the front side of the square ham for defects and flips it over; a loading / unloading clamping mechanism and a transfer conveying mechanism are arranged vertically between the flipping and clamping inspection mechanism and the secondary conveying inspection mechanism. The loading / unloading clamping mechanism and the transfer conveying mechanism work together to ensure a smooth transition of the square ham to the secondary conveying inspection mechanism; the secondary conveying inspection mechanism is used to inspect the rear side of the square ham for defects; the secondary flipping and clamping inspection mechanism is used to inspect the bottom surface of the square ham for defects; and the rejection mechanism is used to reject square hams that fail the inspection.

[0027] The horizontal and rotating detection mechanism includes a main frame, a rotating electrode detection mechanism, a detection conveying mechanism, a clamping mechanism, a horizontal electrode detection mechanism, and an image detection mechanism. The main frame is mounted on the main frame of the defect detection device, and the detection conveying mechanism is mounted on the main frame for conveying the square ham. The image detection mechanism, horizontal electrode detection mechanism, rotating electrode detection mechanism, and clamping mechanism are sequentially mounted on the main frame along the conveying direction of the detection conveying mechanism. The image detection mechanism is used to acquire image information of the square ham. The horizontal electrode detection mechanism is used for defect detection on the top surface of the square ham. The rotating electrode detection mechanism is used for defect detection on the left and right sides of the square ham. The clamping mechanism is located at the end of the detection conveying mechanism and cooperates with the detection conveying mechanism to clamp and convey the square ham.

[0028] The secondary conveying and inspection mechanism includes a main frame, a secondary electrode inspection mechanism, a secondary conveying mechanism, an image inspection mechanism III, and a clamping and conveying mechanism. The main frame is mounted on the main frame of the defect detection device, with feeding guide plates on both sides near the end of the primary flipping and clamping inspection mechanism. The image inspection mechanism III, the secondary electrode inspection mechanism, and the clamping and conveying mechanism are sequentially arranged on the main frame along the conveying direction. The image inspection mechanism III is used to collect image information of the square ham; the secondary electrode inspection mechanism is used for defect detection on the rear side of the square ham; and the clamping and conveying mechanism is located at the discharge end of the main frame of the conveying and inspection mechanism, and works in conjunction with the secondary conveying mechanism to clamp and convey the square ham.

[0029] A control method for an online detection system for square ham includes the following steps:

[0030] 1) The PLC (2001) controls the zero-return movement of each component of the square ham online detection device; the servo motor origin positioning and overload limit are detected by the servo motor limit and origin sensor (2002) and fed back to the PLC (2001);

[0031] 2) The specification inspection system acquires the appearance and weight information of the square hams, and feeds it back to the PLC via the industrial control computer to form a ham stack;

[0032] 3) When the square hams enter the inspection and conveying mechanism, the PLC controls the servo motor to perform synchronous control according to the stack of square hams through the drive system.

[0033] 4) The square hams are visually inspected and non-contactly inspected by the horizontal electrode detection mechanism and the image detection mechanism, respectively, and the results are filled into the corresponding ham stack.

[0034] In step 2), the specification detection system acquires the appearance and weight information of the square ham, specifically as follows:

[0035] The detection system obtains the appearance and weight information of square hams through specification testing, including the following steps:

[0036] 1-1) The square ham is triggered by a positioning sensor, and the specification detection camera takes pictures and obtains planar data, namely width W and length L;

[0037] 1-2) The square ham trigger position detection sensor and the laser sensor group obtain multi-point height information, and the height information H is obtained by fitting.

[0038] 1-3) Integrate the width W, length L, and height information H to obtain the volume information V of the square ham, and obtain the weight information M of the square ham according to the production information, to obtain the array (W, L, H, M).

[0039] 1-4) Push the data into the stack to get the ham stack {(W, L, H, M, ...)}.

[0040] In step 3), the drive system controls the servo motor to perform a synchronous control method, specifically as follows:

[0041] 2-1) The square ham triggers the buffer to accelerate the position detection sensor on the conveyor belt. The PLC obtains information from the ham stack {(W, L, H, M, ...)}, and the servo motor obtains the position signal and moves according to the predetermined electronic gear ratio (1, α, β, γ).

[0042] 2-2) With the top surface A of the square ham facing upwards, the visual inspection and non-contact current inspection results of the top surface A, side surface B, and side surface C are obtained through horizontal and rotating detection mechanisms and recorded in the ham stack.

[0043] 2-3) The square ham trigger is set at the junction of the horizontal and rotary detection mechanism and the flip-clamping detection mechanism of the detection device. The laser displacement information detected by the junction verification sensor is used to correct the deviation of the square ham caused by centrifugal force and inertia, and the ham early contact time t1 is calculated.

[0044] 2-4) Based on the ham stack, obtain the weight M of the square ham and the speed of the servo motor, calculate the rebound distance of the square ham, and calculate the rebound influence time t2 based on the speed of the contact process line.

[0045] 2-5) Calculate the correction time Δt using t1 and t2, and correct it according to the contact process line speed to obtain the electronic gear ratio α. ′ ;

[0046] 2-6) After the square ham passes through the horizontal and rotating detection mechanism, with the front surface D facing downwards, it passes through the detection and conveying mechanism to obtain the visual inspection and non-contact current results of the rear surface E, and these results are recorded in the ham stack; repeat steps 2-3) to 2-5 to obtain the electronic gear ratio β. ′ ;

[0047] 2-7) After the square ham is flipped and clamped by the detection device, the top surface A faces downwards. It passes through the secondary conveying detection mechanism (4) to obtain the visual inspection and non-contact current results of the bottom surface F, and records them in the ham stack. Repeat steps 2-3) to 2-5 to obtain the electronic gear ratio γ. ′ ;

[0048] 2-8) After the square ham passes through the device with its front surface D facing upward, it passes through a secondary conveying mechanism to obtain visual inspection and non-contact current detection of the front surface D, and record it in the ham stack.

[0049] 2-9) Obtain the adjusted electronic gear ratio (1, α) ′ ,β ′ γ ′ ), to complete synchronization; and then obtain the detection information of the six faces corresponding to the adjusted electronic gear ratio, namely: (A, B, C, D, E, F).

[0050] The present invention has the following beneficial effects and advantages:

[0051] 1. This invention obtains more accurate length, width, and height information through non-contact sensors and vision mechanisms, enabling the actuator to obtain more accurate action commands;

[0052] 2. This invention uses a combination of non-contact sensors and mechanical devices to accurately obtain the posture changes during the ham flipping and handover process, making the device's operation more stable and smooth, and avoiding damage to the ham;

[0053] 3. By using sensors, this invention can better understand the degree of completion of the actions of motors and other mechanisms, avoiding the use of open-loop control methods such as delays in the program, so as to achieve faster response time and more accurate action feedback, thereby improving efficiency and enhancing control over the actuators.

[0054] 4. This invention can obtain the length, width, and height information of a square ham, and the weight of the ham can be estimated through the ham density, avoiding the need for additional testing mechanisms;

[0055] 5. This invention uses an array to store a large amount of production information in the form of a ham stack, which can better cooperate with production management systems such as MES to achieve capacity management. Compared with traditional single folding equipment or mechanical adaptive equipment, it is more adaptable to intelligent production.

[0056] 6. This invention calculates the posture changes of the square ham using displacement and velocity information, enabling a rapid and accurate response in a short time, and achieving dynamic adjustment of the control mechanism;

[0057] 7. This invention corrects the synchronization of multi-axis electronic gears by using information such as weight and speed, thereby achieving dynamic synchronization of multiple axes and avoiding problems such as the difficulty in determining the fixed gear ratio and the damage to the ham caused by multi-axis synchronization.

[0058] 8. This invention achieves full surface exposure of square ham at different time sequences through multi-axis synchronization, facilitating non-contact inspection and processing;

[0059] 9. The present invention separates square hams in sequence by using a buffered and accelerated conveyor belt and a feeding and sorting mechanism, thereby achieving continuous conveying and detection;

[0060] 10. The present invention enables multi-directional image detection and electrode detection of square ham during the conveying process, and uses a novel rotating electrode detection method, which greatly improves the detection efficiency;

[0061] 11. This invention can flip square hams during the conveying process and simultaneously detect surface defects. It achieves synchronization of all processes through a synchronous belt drive mechanism, has a simple structure, and operates smoothly and reliably.

[0062] 12. All motors in this invention are servo driven, which ensures the positioning accuracy of each stage and improves the detection accuracy.

[0063] 13. Each defect detection step of the present invention can accurately detect defective products, provide signals to the rejection mechanism, and complete effective rejection. Attached Figure Description

[0064] Figure 1 A schematic diagram of the overall square ham online detection device of the present invention;

[0065] Figure 2 Schematic diagram of the PLC control system of this invention;

[0066] Figure 3 A schematic diagram of the auxiliary detection system of the present invention;

[0067] Figure 4 Schematic diagram of the drive system of the present invention;

[0068] Figure 5 A schematic diagram of the human-computer interaction system of the present invention;

[0069] Figure 6 This is one of the three-dimensional structural schematic diagrams of a defect detection device for square ham according to the present invention;

[0070] Figure 7This is a second three-dimensional structural schematic diagram of a defect detection device for square ham according to the present invention;

[0071] Figure 8 This is a schematic diagram of the three-dimensional structure of the detection device frame of the present invention;

[0072] Figure 9 This is a three-dimensional structural diagram of the horizontal and rotating detection mechanism of the detection device of the present invention;

[0073] Figure 10 This is a three-dimensional structural diagram of the flipping clamping detection mechanism of the present invention;

[0074] Figure 11 This is a three-dimensional structural diagram of the secondary conveying and detection mechanism of the present invention;

[0075] Figure 12 This is a three-dimensional structural diagram of the clamping and conveying mechanism of the present invention;

[0076] Figure 13 This is a three-dimensional structural diagram of the handover and conveying mechanism of the present invention;

[0077] Figure 14 This is a schematic diagram of the three-dimensional structure of the rejection mechanism of the present invention;

[0078] Figure 15 This is a schematic diagram of the three-dimensional structure of the cache acceleration band of the present invention;

[0079] Figure 16 This is a three-dimensional structural diagram of the feeding and sorting mechanism of the present invention;

[0080] Figure 17 This is a schematic diagram of the three-dimensional structure of the drive assembly of each conveying mechanism of the present invention.

[0081] Figure 18 Overall flowchart of the control method of the present invention;

[0082] Figure 19 Flowchart of the specification testing method of this invention;

[0083] Figure 20 Flowchart of the synchronization control method of the present invention;

[0084] In the figure: 1 is the main frame of the defect detection device, 101 is the main frame, 102 is the upper frame of the detection device, 103 is the upper protective cover of the detection device, 104 is the synchronous drive tensioning seat, 105 is the base of the secondary flipping clamping mechanism, 106 is the outer protective cover of the rejection device, and 107 is the frame protective door.

[0085] 2 is the horizontal and rotating detection mechanism, 201 is the main frame of the detection mechanism, 202 is the rotating electrode detection mechanism, 203 is the detection conveying mechanism, 204 is the synchronous drive wheel of the conveying mechanism, 205 is the clamping and holding mechanism, 206 is the horizontal electrode detection mechanism, and 207 is the image detection mechanism I.

[0086] 3 is the first-level flipping clamping detection mechanism, 301 is the flipping clamping mechanism base, 302 is the flipping clamping mechanism drive motor, 303 is the flipping drive assembly, 304 is the image detection mechanism II, 305 is the flipping electrode detection mechanism, 306 is the synchronous drive pulley, and 307 is the discharge clamping mechanism.

[0087] 4 is the secondary conveying and detection mechanism, 401 is the main frame of the conveying and detection mechanism, 402 is the secondary electrode detection mechanism, 403 is the secondary conveying mechanism, 404 is the synchronous drive wheel, 405 is the image detection mechanism III, 406 is the feeding guide plate, and 407 is the clamping and conveying mechanism.

[0088] 5 is the loading and unloading clamping mechanism, 501 is the drive support, 502 is the clamping drive assembly I, 503 is the drive motor I, 504 is the floating linkage mechanism I, 505 is the drive motor II, 506 is the clamping drive assembly II, 507 is the floating wheel assembly, and 508 is the floating linkage mechanism II.

[0089] 6 is the handover conveying mechanism, 601 is the conveying drive assembly, 602 is the conveying transition plate, 603 is the transition plate bracket, and 604 is the conveying mechanism bracket leg;

[0090] 7 is the rejection mechanism, 701 is the transition support plate, 702 is the support plate, 703 is the rejection mechanism support leg, 704 is the rejection guide shaft, 705 is the guide shaft sleeve, 706 is the cylinder nozzle, 707 is the connecting plate, 708 is the rejection cylinder, and 709 is the rejection push block.

[0091] 8 is the buffered and accelerating conveyor belt, 801 is the buffer belt support leg, 802 is the buffered conveyor belt body, 803 is the buffered conveyor drive motor, 804 is the accelerating conveyor belt body, 805 is the accelerating conveyor belt drive motor, 806 is the detection position sensor, 807 is the limit cylinder, 808 is the support, and 809 is the square ham.

[0092] 9 is the feeding and sorting mechanism, 901 is the fullness detection sensor, 902 is the mechanism cavity, 903 is the positioning cylinder push block, 904 is the positioning cylinder bracket, 905 is the positioning cylinder, and 906 is the sensor bracket.

[0093] 10 is the synchronous drive wheel assembly, 1001 is the first synchronous drive wheel assembly, 1002 is the second synchronous drive wheel assembly; 11 is the pneumatic assembly; 12 is the operation display assembly; 13 is the control cabinet assembly; 14 is the two-stage flipping clamping and detection mechanism;

[0094] 20 is the PLC control system, 2001 is the PLC, 2002 is the servo motor limit and origin sensor, 2003 is the position detection sensor, and 2004 is the handover verification sensor.

[0095] 30 is the specification inspection system, 3001 is the industrial control computer, 3002 is the specification inspection camera, and 3003 is the laser sensor group;

[0096] 40 is the drive system, 4001 is the servo mounting plate, 4002 is the servo driver group, and 4003 is the servo motor.

[0097] 50 is the human-computer interaction system, 5001 is the structural box, 5002 is the touch screen, 5003 is the start button, 5004 is the stop button, 5005 is the reset button, and 5006 is the emergency stop button. Detailed Implementation

[0098] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0099] like Figure 1 The diagram shown is a schematic of the installation position of the square ham online detection system of the present invention. The square ham online detection system of the present invention includes: a square ham online detection device, a PLC control system 20, an auxiliary detection system 30, a drive system 40, and a human-machine interaction system 50.

[0100] The square ham online inspection device is used as the execution device of the square ham online inspection system. It is used to receive control commands from the PLC control system 20 and execute corresponding movements according to the control commands from the PLC control system 20.

[0101] The PLC control system 20 is used to receive the parameters of the square ham online detection device adjusted by the human-machine interaction system 50, and control it to perform corresponding movements. Based on the detection results of the specification detection system 30, it obtains the shape specifications and calculated weight specifications of the square ham, adjusts the torque and speed of the servo motor, adjusts the servo synchronization cycle and synchronization ratio, generates control commands, and sends control commands to the lid-folding and box-pushing device. At the same time, it is connected to the human-machine interaction system 50 through the bus.

[0102] The specification detection system 30 is used to calculate the motion posture of the square ham. It identifies the specification of the square ham being detected through the specification detection camera 3002 and the laser sensor group 3003 and calculates the approximate weight through the average density of the ham. It then calculates the torque, speed and other information of the motor during operation and feeds the results back to the PLC control system 20.

[0103] The drive system 40 is used for coordination among multiple motors. Through real-time communication and control algorithms, it coordinates the precise movement and positioning of four servo motors. It is connected to the PLC control system 20 via a bus and can adjust the control strategy according to the actual motion state to ensure that the servo motors can accurately execute the predetermined motion tasks.

[0104] The human-machine interaction system 50 is used to set parameters such as the target number of turnover box stacking layers and the execution speed of the device required for subsequent processes, and send them to the PLC control system 20, as well as to display the detection results received from the PLC control system 20.

[0105] like Figure 2 As shown, the PLC control system 20 of the present invention includes: a PLC 2001 and connected to it a servo motor limit and origin sensor 2002, an end position detection sensor 2003, and a handover verification sensor 2004.

[0106] The servo motor limit and origin sensor 2002 is installed on the pulley side of each servo motor on the main frame 1, and is used to obtain the maximum and minimum stroke of the motor and to locate the starting position of the motor.

[0107] The position detection sensor 2003 is a Hall sensor, which is installed on the main frame 101. It is used to detect the running status of the ham and feed back to the PLC control system 20 so that the drive system 40 controls the motor to move in coordination.

[0108] The handover verification sensor 2004 is a photoelectric sensor, which is installed on the side plate of the buffer acceleration conveyor belt (8) and is used to verify the status of the square ham when it is handed over in different processes, and to feed back to the PLC control system 20 so that the drive system 40 can correct its actions.

[0109] like Figure 3 As shown, the specification inspection system 30 of the present invention includes: an industrial control computer 3001 and a specification inspection camera 3002 and a laser sensor group 3003 connected thereto;

[0110] The specification inspection camera 3002 is installed on the side plate of the buffer conveyor belt body 802 of the buffer acceleration conveyor belt (8) of the square ham online inspection device. It is used to obtain the planar information such as the length and width of the square ham and send it to the industrial control computer 3001.

[0111] The laser sensor group 3003 is located on the side plate of the buffer acceleration conveyor belt 8, and is used to acquire planar information such as the length and width of the square ham and send it to the industrial control computer 3001.

[0112] The industrial control computer 3001 is connected to the PLC2001 and is used to summarize the length, width and height information obtained by the specification inspection camera 3002 and the laser sensor group 3003, and input the results to the PLC2001.

[0113] like Figure 4 As shown, the drive system 40 of the present invention includes: a servo mounting plate 4001, a servo driver group 4002 disposed on the servo mounting plate 4001, and a servo motor 4003 connected thereto.

[0114] The specification servo drive group 4001 is fixed on the servo mounting plate 4001 and is connected to the PLC2001 of the PLC control system 20 via a bus.

[0115] Servo motor 4003 is mounted on the gripper head 202 of the mechanical gripper and drives the corresponding mechanical structure to operate.

[0116] like Figure 5 As shown, the human-computer interaction system 50 of the present invention includes: a structural box 5001 and a touch screen 5002, a start button 5003, a stop button 5004, a reset button 5005 and an emergency stop button 5006 disposed on the structural box 5001.

[0117] Touch screen 5002, start button 5003, stop button 5004, reset button 5005 and emergency stop button 5006 are respectively embedded on one side of the structural box;

[0118] Touch screen 5002, start button 5003, stop button 5004, reset button 5005 and emergency stop button 5006 are connected to PLC2001 of PLC control system 20 via bus.

[0119] like Figures 6-17 The attached diagram shows a summary of the components of the square ham online inspection device.

[0120] Among them, such as Figure 6 , Figure 7 As shown, the square ham online inspection device of the present invention includes a main frame 1 for defect detection and a horizontal and rotating inspection mechanism 2, a primary flipping and clamping inspection mechanism 3, a secondary conveying inspection mechanism 4, a secondary flipping and clamping inspection mechanism 14, and a rejection mechanism 7 sequentially arranged on the main frame 1. The horizontal and rotating inspection mechanism 2 is used to detect defects on the top surface and left and right sides of the square ham; the flipping and clamping inspection mechanism 3 is used to detect defects on the front side of the square ham and flips it over; between the flipping and clamping inspection mechanism 3 and the secondary conveying and inspection mechanism 4, there is a vertically arranged loading and unloading clamping mechanism 5 and a transfer conveying mechanism 6. The loading and unloading clamping mechanism 5 and the transfer conveying mechanism 6 work together to achieve a smooth transition of the square ham to the secondary conveying and inspection mechanism 4; the secondary conveying and inspection mechanism 4 is used to detect defects on the rear side of the square ham; the secondary flipping and clamping inspection mechanism 14 is used to detect defects on the bottom surface of the square ham; and the rejection mechanism 7 is used to reject square hams that fail the inspection.

[0121] like Figure 8 As shown, in an embodiment of the present invention, the main frame 1 of the defect detection device includes a main frame 101, an upper frame 102 of the detection device, an upper protective cover 103 of the detection device, a synchronous drive tensioning seat 104, a secondary flipping clamping mechanism via a base 105, an outer protective cover 106, and a frame protective door 107. The base is fixed to the four corners of the main frame 101. The upper frame 102 of the detection device is fixed to the top of the main frame 101 by screws and is flush with the rear end of the main frame 101. The upper protective cover 103 of the detection device is tightly fixed around the upper frame 102. The synchronous drive tensioning seat 104 is fixed to the left crossbeam of the main frame 101 by screws. The base 105 of the secondary flipping clamping mechanism is fixed to the end crossbeam of the main frame 101. The outer protective cover 106 is fixed to the outside of the vertical beam of the upper frame 102 of the detection device by screws. The frame protective door 107 is connected and fixed to the vertical beam of the upper frame 102 of the detection device by hinges and is installed symmetrically front and rear. The pneumatic assembly 11 is fixed to the rear of the control cabinet assembly 13, the operation display assembly 12 is fixed to the side of the upper frame 102 of the detection device, at eye level for easy operation, and the control cabinet assembly 13 is fixed to the front interior of the main frame 101.

[0122] like Figure 9 As shown in the embodiment of the present invention, the horizontal and rotating detection mechanism 2 includes a main frame 201, a rotating electrode detection mechanism 202, a detection conveying mechanism 203, a clamping mechanism 205, a horizontal electrode detection mechanism 206, and an image detection mechanism 207. The main frame 201 is mounted on the main frame 1 of the defect detection device, and the detection conveying mechanism 203 is mounted on the main frame 201 for conveying the square ham. The image detection mechanism 207, the horizontal electrode detection mechanism 206, the rotating electrode detection mechanism 202, and the clamping mechanism 205 are sequentially mounted on the main frame 201 along the conveying direction of the detection conveying mechanism 203. The image detection mechanism 207 is used to collect image information of the square ham. The horizontal electrode detection mechanism 206 is used for defect detection on the top surface of the square ham. The rotating electrode detection mechanism 202 is used for defect detection on the left and right sides of the square ham. The clamping mechanism 205 is located at the end of the detection conveying mechanism 203 and cooperates with the detection conveying mechanism 203 to clamp and convey the square ham.

[0123] Specifically, the horizontal and rotating detection mechanism 2 is located inside the front end of the main frame 1 of the defect detection device, with both ends of its bottom surface fixed to the main frame 101 of the main frame 1. A conveyor chain is embedded inside the main frame 201 of the detection mechanism, and a chain support plate is fixed to the upper end of the main frame 201. Polymer push blocks are equidistantly installed on the conveyor chain of the detection conveyor mechanism 203, effectively separating the products. The rotating electrode detection mechanism 202 is directly connected to the upper part of the main frame 201 of the detection mechanism, and the lower conveyor of the detection conveyor mechanism 203 passes through the rotating electrode detection mechanism 202, facilitating product detection. The clamping mechanism 205 is connected to the synchronous drive wheel assembly 10 via the synchronous drive wheel 204 of the conveyor mechanism, achieving synchronization between the two mechanisms. The clamping mechanism 205 is a belt drive mechanism, fixed to the drive end of the detection conveyor mechanism 203 via a bracket, and maintains a certain angle with the detection conveyor mechanism 203 to achieve stable product conveying. The horizontal electrode detection mechanism 206 is fixed to the upper end of the main frame 201 of the detection mechanism via a bracket, and to the front end of the rotating electrode detection mechanism 202. The image detection mechanism 207 is fixed to the upper end of the main frame 201 of the detection mechanism via a bracket, and to the front end of the horizontal electrode detection mechanism 206, thereby realizing multi-faceted defect detection of the product. Specifically, both the rotating electrode detection mechanism 202 and the horizontal electrode detection mechanism 206 are existing technologies, achieving defect detection through a discharge-collection closed-loop mechanism.

[0124] like Figure 10 As shown, in an embodiment of the present invention, the primary flipping clamping detection mechanism 3 includes a flipping clamping mechanism base 301, a flipping clamping mechanism drive motor 302, a flipping drive assembly 303, an image detection mechanism II 304, a flipping electrode detection mechanism 305, and a discharge clamping mechanism 307. The flipping clamping mechanism base 301 is mounted on the main frame 1 of the defect detection device. The flipping drive assembly 303 is rotatably mounted on the flipping clamping mechanism base 301 and connected to the flipping clamping mechanism drive motor 302. The flipping clamping mechanism drive motor 302 is fixed to the flipping clamping mechanism base 301 via a flange. The flipping clamping mechanism drive motor 302 uses... The rotating drive assembly 303 is driven to rotate. The rotating drive assembly 303 has multiple positioning grooves along the circumferential direction for positioning the square ham. The rotating electrode detection mechanism 305 is mounted on the top of the rotating clamping mechanism base 301 via a bracket. The image detection mechanism II 304 is fixed on the inclined surface of the rotating electrode detection mechanism 305 and is perpendicular to the cross-section of the rotating drive assembly 303. The image detection mechanism II 304 is used to collect image information of the square ham. The rotating electrode detection mechanism 305 is used for defect detection on the front side of the square ham. The discharge clamping mechanism 307 clamps and conveys the square ham above the discharge end of the rotating clamping mechanism base 301.

[0125] Specifically, the primary flipping and clamping detection mechanism 3 is fixed to the main frame 101 of the defect detection device main frame 1 via the flipping and clamping mechanism base 301, and is tightly integrated with the horizontal and rotating detection mechanism 2 without interference. The other end of the drive shaft of the flipping drive assembly 303 is equipped with a synchronous drive pulley 306. The discharge clamping mechanism 307 is fixed to the support leg of the flipping electrode detection mechanism 305 and forms a certain angle with the flipping drive assembly 303 to ensure normal product discharge. Specifically, the discharge clamping mechanism 307 is a belt drive mechanism, capable of flexibly clamping and conveying square hams.

[0126] like Figure 11 As shown in the embodiment of the present invention, the secondary conveying and detection mechanism 4 includes a main frame 401, a secondary electrode detection mechanism 402, a secondary conveying mechanism 403, an image detection mechanism III 405, and a clamping and conveying mechanism 407. The main frame 401 is mounted on the main frame 1 of the defect detection device, and feeding guide plates 406 are provided on both sides of one end near the primary flipping and clamping detection mechanism 3. The image detection mechanism III 405, the secondary electrode detection mechanism 402, and the clamping and conveying mechanism 407 are sequentially arranged on the main frame 401 along the conveying direction. The image detection mechanism III 405 is used to collect image information of the square ham. The secondary electrode detection mechanism 402 is used for defect detection on the rear side of the square ham. The clamping and conveying mechanism 407 is located at the discharge end of the main frame 401 of the conveying and detection mechanism, and the clamping and conveying mechanism 407 and the secondary conveying mechanism 403 cooperate to clamp and convey the square ham.

[0127] Specifically, the secondary conveying and detection mechanism 4 is fixed in the rear section of the main frame 101 of the main frame 1 of the defect detection device, and is tightly integrated with the primary flipping and clamping detection mechanism 3 without interference. The secondary conveying mechanism 403 is embedded inside the main frame 401 of the conveying and detection mechanism, and the driving and driven parts are fixed to the front and rear ends of the main frame 401 of the conveying and detection mechanism by screws. The secondary electrode detection mechanism 402 and the image detection mechanism Ⅲ 405 are fixed to the main frame 401 of the conveying and detection mechanism using the same bracket, arranged in a front-to-back arrangement. The synchronous drive wheel 404 is fixed to one end of the drive shaft of the secondary conveying mechanism 403, and the feeding guide plate 406 is fixed to the driven end side plate of the secondary conveying mechanism 403. The clamping and conveying mechanism 407 is fixed to the main frame 401 of the conveying and detection mechanism by a bracket, close to the front end. In this embodiment, the secondary electrode detection mechanism 402 is existing technology and uses a discharge and collection closed-loop form for detection; the clamping and conveying mechanism 407 is a belt transmission mechanism that can flexibly clamp and convey square hams.

[0128] like Figure 12As shown, in an embodiment of the present invention, the loading and unloading clamping mechanism 5 includes a drive support 501, a clamping drive assembly I 502, a drive motor I 503, a floating linkage mechanism I 504, a drive motor II 505, a clamping drive assembly II 506, a floating wheel assembly 507, and a floating linkage mechanism II 508. The drive support 501 is mounted on the primary flipping clamping detection mechanism 3. The clamping drive assembly I 502 is mounted on the drive support 501 perpendicular to the feeding direction and is rotatable. The drive motor I 503 is mounted on the drive support 501 and connected to the clamping drive assembly I 502. The clamping drive assembly II 506, floating linkage mechanism II 507, and floating linkage mechanism II 508... The wheel assembly 507 is arranged parallel to the clamping drive assembly I 502, and the drive motor II 505 is connected to the clamping drive assembly II 506. The clamping drive assembly II 506 is connected to the drive support 501 through the floating linkage mechanism I 504, and the floating wheel assembly 507 is connected to the drive support 501 through the floating linkage mechanism II 508. The clamping drive assembly I 502 and the clamping drive assembly II 506 are both connected to the floating wheel assembly 507 through two sets of transmission belts. The two sets of transmission belts clamp and transport the square ham above it. The tilt angle of the two sets of transmission belts can be adjusted through the floating linkage mechanism I 504 and the floating linkage mechanism II 508.

[0129] Specifically, the loading and unloading clamping mechanism 5 is fixed on the bracket of the flipping electrode detection mechanism 305 on the primary flipping clamping detection mechanism 3, and is closely connected to the primary flipping clamping detection mechanism 3 and the secondary conveying detection mechanism 4. The clamping drive assembly I is fixed on the drive support 501 via a flange support, and the two sides of the drive support 501 are symmetrical. The drive motor I 503 is fixed to the drive support 501 via a flange and is connected to the clamping drive assembly I 502 via a coupling. One end of the floating linkage mechanism I 504 is connected to the drive support 501, and the other end is connected to the clamping drive assembly II 506 at a certain angle. The drive motor II 505 is connected to the flange seat of the floating linkage mechanism I 504 and is connected to the clamping drive assembly II 506 via a coupling. The floating wheel assembly 507 is suspended below the clamping drive assembly I 502 and the clamping drive assembly II 506 via the floating linkage mechanism II 508 and moves via an O-belt. Both the floating linkage mechanism I 504 and the floating linkage mechanism II 508 can be adjusted at a certain angle on the drive support 501, which can ensure the clamping and smooth transition of the product.

[0130] like Figure 13As shown in the embodiment of the present invention, the transfer conveying mechanism 6 includes a conveying drive assembly 601, a conveying transition plate 602, a transition plate bracket 603, and a conveying mechanism support leg 604. The conveying mechanism support leg 604 is connected to the main frame 1 of the defect detection device. The conveying transition plate 602 is disposed on the upper end of the conveying mechanism support leg 604 through the transition plate bracket 603. The conveying transition plate 602 is used to assist the first-stage flipping clamping detection mechanism 3 in supporting the square ham. The conveying drive assembly 601 is disposed on the upper end of the conveying mechanism support leg 604. The conveying drive assembly 601 is used to receive the square ham falling from the conveying transition plate 602 and cooperates with the loading and unloading clamping mechanism 5 to clamp the square ham and convey it forward.

[0131] Specifically, the transfer conveying mechanism 6 is fixed on the main frame 101 of the main frame 1 of the defect detection device and embedded inside the primary flipping clamping detection mechanism 3 and the secondary conveying detection mechanism 4, ensuring the stability of product conveying during the transition between the two structures. In this embodiment, the conveying drive assembly 601 is a chain conveying mechanism. The conveying drive assembly 601 is connected to the driven shaft of the secondary conveying mechanism 403 of the secondary conveying detection mechanism 4 and moves synchronously with the secondary conveying mechanism 403. The driven end of the conveying drive assembly 601 is fixed on the conveying mechanism support leg 604, the transition plate support 603 is fixed to the upper side of the conveying mechanism support leg 604, and the conveying transition plate 602 is fixed directly above the transition plate support 603, part of which matches the conveying drive assembly 601, making product conveying smoother.

[0132] like Figure 14 As shown in the embodiment of the present invention, the rejection mechanism 7 includes a transition support plate 701, a support plate 702, a rejection mechanism support leg 703, a rejection guide shaft 704, a rejection cylinder 708, and a rejection push block 709. The rejection mechanism support leg 703 is mounted on the main frame 1 of the defect detection device. The transition support plate 701 is fixed on the support plate 702. The support plate 702 is fixed to the top of the rejection mechanism support leg 703 via a connecting plate 707. The transition support plate 701 is used to assist the secondary flip-clamping detection mechanism 14 in supporting the square ham. The rejection guide shaft 704 and the rejection cylinder 708 are arranged parallel to each other on the rejection mechanism support leg 703, and the rejection guide shaft 704 is slidably engaged with the guide sleeve 705 at the upper front end of the rejection mechanism support leg 703. The output end of the rejection cylinder 708 is connected to the rejection push block 709. The rejection cylinder 708 extends and passes through the rejection push block 709 to reject the unqualified square ham. The rejection cylinder 708 is equipped with a cylinder nozzle 706. When a detection signal is sent to the rejection mechanism 7, the rejection cylinder 708 is activated to effectively reject defective products.

[0133] Specifically, the rejection mechanism 7 is embedded inside the secondary flipping clamping detection mechanism 14 and fixed on the main frame 101 of the main frame of the defect detection device, and does not interfere with any rotating parts, thus effectively rejecting defective products.

[0134] like Figure 6 As shown, based on the above embodiments, the defect detection device for square ham provided by the present invention further includes a buffer acceleration conveyor belt 8 and a feeding sorting mechanism 9; the buffer acceleration conveyor belt 8 is located at the left front of the main frame 1 of the defect detection device and is connected to the main frame 1 of the defect detection device, and its outlet corresponds to the feeding sorting mechanism 9.

[0135] like Figure 15 As shown, in an embodiment of the present invention, the buffer acceleration conveyor belt 8 includes a buffer belt support leg 801, a buffer conveyor belt body 802, an acceleration conveyor belt body 804, a detection positioning sensor 806, a limit cylinder 807, and a bracket 808. The buffer belt support leg 801 is vertically disposed at the feed end of the main frame 1 of the defect detection device. The buffer conveyor belt body 802 and the acceleration conveyor belt body 804 are sequentially disposed on the buffer belt support leg 801 and have the same transmission direction. The buffer conveyor belt body 802 and the acceleration conveyor belt body 804 achieve effective separation of the square hams through a speed difference. The detection positioning sensor 806 and the limit cylinder 807 are disposed on the buffer belt support leg 801 via the bracket 808 and are located on one side of the acceleration conveyor belt body 804. The detection positioning sensor 806 is used to detect whether the square hams have separated. If any square hams have not separated, they are effectively separated by the limit cylinder 807.

[0136] Specifically, the buffer conveyor belt body 802 is fixed on the buffer belt support leg 801, and the buffer conveyor drive motor 803 is fixed at the front end of the buffer conveyor belt body 802 and connected to the drive shaft, enabling the square hams 809 to be arranged in a row in sequence. The acceleration conveyor belt body 804 is fixed on the buffer belt support leg 801, and the acceleration conveyor belt drive motor 805 is fixed at the front end of the acceleration conveyor belt body 804 and connected to the drive shaft. The limit cylinder 807 is fixed at the middle and rear of the acceleration conveyor belt body 804 via the bracket 808 and is higher than the belt surface. The detection position sensor 806 is fixed at the upper middle and rear of the acceleration conveyor belt body 804 via the bracket 808, used to detect whether the square hams 809 have been spaced apart. If any square hams 809 have not been spaced apart, they are effectively separated by the limit cylinder 807, ultimately achieving accelerated separation of the products.

[0137] like Figure 16As shown, in an embodiment of the present invention, the feeding and sorting positioning mechanism 9 includes a full-gut detection sensor 901, a mechanism cavity 902, a positioning cylinder pusher 903, a positioning cylinder bracket 904, a positioning cylinder 905, and a sensor bracket 906. The mechanism cavity 902 is located at the feeding end of the main frame 1 of the defect detection device and is used to receive the square ham conveyed by the buffer acceleration conveyor belt 8. The side of the mechanism cavity 902 has an opening. The positioning cylinder 905 is located at the side opening of the mechanism cavity 902 through the positioning cylinder bracket 904, and its output end is connected to the positioning cylinder pusher 903. The positioning cylinder 905 extends through the positioning cylinder pusher 903 to position the square ham inside the mechanism cavity 902. The full-gut detection sensor 901 is located at the top of the mechanism cavity 902 through the sensor bracket 906 and is used to detect whether the mechanism cavity 902 is full of square ham.

[0138] Specifically, the feeding and sequencing mechanism 9 is fixed to the driven end side plate of the horizontal and rotary detection mechanism 2, providing products to the horizontal and rotary detection mechanism 2 in sequence. The fullness detection sensor 901 is fixed directly above the mechanism cavity 902 via the sensor bracket 906, and the inlet of the mechanism cavity 902 corresponds to the outlet of the accelerating conveyor belt body 804. When the fullness detection sensor 901 detects that the mechanism cavity 902 is full of products, the buffer accelerating conveyor belt 8 stops running, and the positioning cylinder 905 orderly places the products onto the conveyor belt of the detection conveyor mechanism 203 according to the time interval.

[0139] In the embodiments of the present invention, the primary flipping clamping detection mechanism 3 and the secondary flipping clamping detection mechanism 14 have the same structure and are respectively connected to two sets of synchronous drive wheel assemblies 10. The synchronous drive wheel assemblies 10 are used for transmission connection with adjacent process units. Specifically, the synchronous drive wheel assemblies 10 are fixed to the main frame 101 of the main frame 1 of the defect detection device, which can realize the synchronization of the horizontal and rotational detection mechanism 2 with the primary and secondary flipping clamping detection mechanisms.

[0140] like Figure 17 As shown, in the embodiment of the present invention, the two sets of synchronous drive wheel assemblies 10 are respectively the first synchronous drive wheel assembly 1001 and the second synchronous drive wheel assembly 1002, both of which are belt drive mechanisms. The flipping clamping mechanism drive motor 302 of the flipping clamping detection mechanism 3 transmits power to the horizontal and rotating detection mechanism 2 through the first synchronous drive wheel assembly 1001, achieving synchronization between the two; similarly, the drive motor of the secondary flipping clamping detection mechanism 14 transmits power to the secondary conveying detection mechanism 4 through the second synchronous drive wheel assembly 1002, simultaneously driving the conveying drive assembly 601 to work, achieving synchronization among the three.

[0141] This invention provides a defect detection device for square ham, the working principle of which is as follows:

[0142] The square hams 809, arranged in an orderly manner on the buffered and accelerated conveyor belt 8, are effectively separated by the accelerated conveyor belt body 804 and enter the mechanism cavity 902 of the feeding and sorting positioning mechanism 9 in sequence. Through the action of the positioning cylinder 905, the square hams 809 enter the conveyor belt of the detection conveyor mechanism 203 sequentially at time intervals, passing through the image detection mechanism I 207, the horizontal electrode detection mechanism 206, and the rotating electrode detection mechanism 202, thus achieving defect detection on the top and left and right sides of the square hams 809. After passing through the clamping mechanism 205, the square ham 809 is smoothly transferred to the push block of the flipping drive assembly 303 of the first-stage flipping clamping and detection mechanism 3. During this rotation, the square ham 809 undergoes single-sided detection (front side) through the image detection mechanism II 304 and the flipping electrode detection mechanism 305, and is flipped so that the rear side of the square ham 809 faces upward. Under the combined action of the loading and unloading clamping mechanism 5 and the transfer conveying mechanism 6, the square ham 809 is smoothly transferred to the conveyor chain of the second-stage conveying mechanism 403 of the second-stage conveying and detection mechanism 4. After passing through the image detection mechanism III 405 and the second-stage electrode detection mechanism 402, defects on the rear side of the square ham 809 are detected, and it is smoothly conveyed to the second-stage flipping clamping and detection mechanism 14 through the clamping conveying mechanism 407 above the discharge port. Similarly, during this rotation process, the square ham 809 undergoes final (bottom) inspection via a two-stage flipping image detection mechanism and a two-stage flipping electrode detection mechanism. After multi-stage image and electrode inspection, any defective square ham 809 is effectively removed at the exit of the two-stage flipping clamping detection mechanism 14 by the rejection mechanism 7. If the inspection is successful, the square ham 809 proceeds to the next stage for packaging, ultimately completing the comprehensive defect inspection of the square ham 809.

[0143] Specifically, the pneumatic assembly mainly includes an air source processor, switching valve, solenoid valve, regulating valve, etc., and is mainly used to control the movement of all cylinders.

[0144] like Figure 18 As shown, the present invention relates to a control method for an online inspection system for square hams. This method adjusts the drive system's engagement configuration and electronic gear ratio to achieve synchronization based on the ham specifications fed back by the specification inspection system. The method uses an online inspection device to display the six outer surfaces of the square ham for posture adjustment. Specifically, the method includes the following steps:

[0145] 1) PLC2001 controls the zero-return movement of each component of the square ham online detection device; the servo motor limit and origin sensor 2002 detect the origin positioning and overload limit of the servo motor and feed back to PLC2001;

[0146] 2) The specification inspection system 30 acquires the appearance and weight information of the square ham, and feeds it back to the PLC2001 through the industrial control computer 3001 to form a ham stack;

[0147] Among them, such as Figure 19 As shown, the specification inspection system 30 obtains the appearance and weight information of the square ham through specification inspection, including the following steps:

[0148] 1-1) The square ham trigger position detection sensor 2003 and the specification detection camera 3002 take pictures and obtain planar data, namely width W and length L;

[0149] 1-2) The square ham trigger positioning detection sensor 2003 and the laser sensor group 3003 obtain multi-point height information, and obtain the height information H by fitting.

[0150] 1-3) Integrate the width W, length L, and height information H to obtain the volume information V of the square ham, and obtain the weight information M of the square ham according to the production information, to obtain the array (W, L, H, M).

[0151] 1-4) Push the data into the stack to get the ham stack {(W, L, H, M, ...)}.

[0152] 3) The square ham enters the detection and conveying mechanism 203. PLC 2001 controls the servo motor 4003 to perform synchronous control according to the stack of square hams through the drive system 40.

[0153] like Figure 20 As shown, the drive system 40 controls the servo motor 4003 to perform synchronous control, specifically as follows:

[0154] 2-1) The position detection sensor 2003 on the square ham trigger buffer acceleration conveyor belt 8, the PLC obtains information from the ham stack {(W, L, H, M, ...)}, the servo motor obtains the position signal and moves according to the predetermined electronic gear ratio (1, α, β, γ);

[0155] 2-2) With the top surface A of the square ham facing upwards, the visual inspection and non-contact current inspection results of the top surface A, side surface B, and side surface C are obtained through the horizontal and rotating detection mechanism 2 and recorded in the ham stack.

[0156] 2-3) The square ham trigger is set at the junction of the horizontal and rotation detection mechanism 2 and the flip clamping detection mechanism 3 of the detection device. The laser displacement information detected by the junction verification sensor 2004 is used to correct the deviation of the square ham caused by centrifugal force and inertia, and the ham early contact time t1 is calculated.

[0157] 2-4) Based on the ham stack, obtain the weight M of the square ham and the speed of the servo motor, calculate the rebound distance of the square ham, and calculate the rebound influence time t2 based on the speed of the contact process line.

[0158] 2-5) Calculate the correction time Δt using t1 and t2, and correct it according to the contact process line speed to obtain the electronic gear ratio α. ′ ;

[0159] 2-6) After the square ham passes through the horizontal and rotating detection mechanism 2, with the front surface D facing downwards, it passes through the detection conveying mechanism (203) to obtain the visual inspection and non-contact current results of the rear surface E, and records them in the ham stack; repeat steps 2-3) to 2-5 to obtain the electronic gear ratio β. ′ ;

[0160] 2-7) After the square ham passes through the detection device and is flipped and clamped by the detection mechanism 3, with its top surface A facing downwards, it passes through the secondary conveying detection mechanism 4 to obtain the visual inspection and non-contact current results of the bottom surface F, and these results are recorded in the ham stack; repeat steps 2-3) to 2-5 to obtain the electronic gear ratio γ. ′ ;

[0161] 2-8) After the square ham passes through the device with its front surface D facing upward, it passes through the secondary conveying mechanism 403 to obtain visual inspection and non-contact current detection of the front surface D, and record it in the ham stack.

[0162] 2-9) Obtain the adjusted electronic gear ratio (1, α) ′ ,β ′ γ ′ ), to complete synchronization; and then obtain the detection information of the six faces corresponding to the adjusted electronic gear ratio, namely: (A, B, C, D, E, F).

[0163] 4) The square hams are visually inspected and non-contactly inspected by the horizontal electrode detection mechanism 206 and the image detection mechanism 207 respectively. The results are filled into the corresponding ham stack to complete the online inspection of the square hams.

[0164] In summary, the square ham online inspection device of this invention can perform multi-directional defect detection on square hams and effectively reject defective products, reducing manual labor intensity, improving inspection efficiency, and enhancing overall work efficiency. This defect detection device can not only detect defects on all six sides of square hams, but also effectively sort, transport, clamp, and flip them. It also includes a detection and rejection mechanism that promptly alarms, rejects, and collects defective square hams, reducing visual fatigue and labor intensity caused by prolonged manual inspection, greatly improving the inspection efficiency of square hams and increasing enterprise production efficiency. Furthermore, the square ham online inspection and control system of this invention achieves high automation, high intelligence, and high efficiency through the coordinated use of vision, mechanical, and non-contact sensors. It uses information such as weight and speed to synchronously correct multi-axis electronic gears, achieving multi-axis dynamic synchronization and avoiding problems such as difficulty in determining fixed gear ratios and damage to hams caused by multi-axis synchronization.

[0165] The control method of the square ham online detection device of the present invention uses the ham specifications fed back by the specification detection system to adjust the matching form of the drive system and the electronic gear ratio to achieve synchronization, and displays the six outer surfaces of the square ham to achieve posture adjustment. This solves the physical problems such as centrifugal force, inertia and springback that may be encountered during sorting and flipping, thereby promoting the automation level of the industry.

[0166] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. An online inspection system for square ham, characterized in that, The device is installed on a square ham online inspection device and includes: a PLC control system (20), a specification inspection system (30), a drive system (40), and a human-machine interaction system (50). The square ham online detection device is used as the execution device of the square ham online detection system, receives control commands from the PLC control system (20), and performs corresponding movements according to the control commands from the PLC control system (20). The PLC control system (20) is used to receive the parameters of the square ham online detection device adjusted by the human-machine interaction system (50) and control it to perform corresponding movements. According to the detection results obtained by the specification detection system (30), the external shape specification and the calculated weight specification of the square ham are obtained. The torque and speed of the servo motor are adjusted, the servo synchronization cycle and synchronization ratio are adjusted, control commands are obtained, and control commands are sent to each servo motor on the square ham online detection device. At the same time, it is connected to the human-machine interaction system (50) through the bus. The specification detection system (30) is used to calculate the motion posture of the square ham. The specification detection system (30) identifies the specification of the square ham being detected, and obtains the weight of the square ham by the average density of the square ham. Then, it calculates the torque and speed information of the motor during operation and feeds the result back to the PLC control system (20). The drive system (40) is used for coordination between multiple motors. Through real-time communication and control algorithms, it coordinates the precise movement and positioning of four servo motors. It is connected to the PLC control system (20) via a bus and adjusts the control strategy according to the actual motion state to ensure that the servo motors can accurately execute the predetermined motion tasks. The human-machine interaction system (50) is used to display the detection results received from the PLC control system (20).

2. The online inspection system for square ham according to claim 1, characterized in that, The PLC control system (20) includes: a PLC (2001) and connected to it a servo motor limit and origin sensor (2002), an end position detection sensor (2003), and a handover verification sensor (2004). The PLC (2001) is connected to the drive system (40) via a bus to send actual motion state adjustment control strategies to ensure that the servo motor can accurately execute the predetermined motion task to the drive system (40) to control the coordination between multiple motors; The servo motor limit and origin sensor (2002) is a Hall sensor, which is located on the pulley side of each servo motor on the main frame (1) to obtain the maximum and minimum stroke of the motor and to locate the starting position of the motor. The position detection sensor (2003) is a photoelectric sensor, which is installed on the main frame (101) to detect the running status of the ham and feed back to the PLC control system (20) so that the drive system (40) controls the motor to move in coordination. The handover verification sensor (2004) is a laser sensor, which is installed on the side plate of the buffer acceleration conveyor belt (8). It is used to verify the status of the square ham when it is handed over to different mechanisms, detect the offset information of the square ham position and feed it back to the PLC control system (20) so that the drive system (40) can correct the action.

3. The online inspection system for square ham according to claim 1, characterized in that, The specification inspection system (30) includes: an industrial control computer (3001) and a specification inspection camera (3002) and a laser sensor group (3003) connected thereto. The specification detection camera (3002) is installed on the side plate of the buffer conveyor belt body (802) of the buffer acceleration conveyor belt (8) of the square ham online detection device, and is used to obtain the planar information such as the length and width of the square ham and send it to the industrial control computer (3001). The laser sensor group (3003) is located on the side plate of the buffer acceleration conveyor belt (8) of the square ham online detection device, and is used to obtain the planar information such as the length and width of the square ham and send it to the industrial control computer (3001). The industrial control computer (3001) is connected to the PLC (2001) to summarize the length, width and height information obtained by the specification inspection camera (3002) and the laser sensor group (3003) and input the results to the PLC (2001).

4. The online inspection system for square ham according to claim 1, characterized in that, The drive system (40) includes: a servo mounting plate (4001), a servo driver assembly (4002) disposed on the servo mounting plate (4001), and a servo motor (4003) connected thereto. The servo driver group (4002) is connected to the PLC (2001) of the PLC control system (20) via a bus; The servo motor (4003) is installed on the main frame (1) and drives the square ham online detection device to operate.

5. The online inspection system for square ham according to claim 1, characterized in that, The human-computer interaction system (50) includes: a structural box (5001) and a touch screen (5002), a start button (5003), a stop button (5004), a reset button (5005) and an emergency stop button (5006) disposed on the structural box (5001). The touch screen (5002), start button (5003), stop button (5004), reset button (5005) and emergency stop button (5006) are respectively embedded on one side of the structural box; The touch screen (5002), start button (5003), stop button (5004), reset button (5005) and emergency stop button (5006) are connected to the PLC (2001) of the PLC control system (20) via a bus.

6. The online inspection system for square ham according to claim 1, characterized in that, The square ham online inspection device includes: a defect inspection device main frame (1) and a horizontal and rotating inspection mechanism (2), a first-level flipping and clamping inspection mechanism (3), a second-level conveying inspection mechanism (4), a second-level flipping and clamping inspection mechanism (14) and a rejection mechanism (7) arranged sequentially on the defect inspection device main frame (1). The horizontal and rotating inspection mechanism (2) is used to detect defects on the top surface and left and right sides of the square ham; the flipping and clamping inspection mechanism (3) is used to detect defects on the front side of the square ham and flip it over. Between the flipping clamping detection mechanism (3) and the secondary conveying detection mechanism (4), there is an upper and lower arrangement of a loading and unloading clamping mechanism (5) and a transfer conveying mechanism (6). Under the coordinated action of the loading and unloading clamping mechanism (5) and the transfer conveying mechanism (6), the square ham is smoothly transferred to the secondary conveying detection mechanism (4). The secondary conveying detection mechanism (4) is used for defect detection on the rear side of the square ham. The secondary flipping clamping detection mechanism (14) is used for defect detection on the bottom surface of the square ham. The rejection mechanism (7) is used to reject the square ham that fails the inspection.

7. The online inspection system for square ham according to claim 6, characterized in that, The horizontal and rotating detection mechanism (2) includes a main frame (201), a rotating electrode detection mechanism (202), a detection conveying mechanism (203), a clamping mechanism (205), a horizontal electrode detection mechanism (206), and an image detection mechanism I (207). The main frame (201) is mounted on the main frame (1) of the defect detection device, and the detection conveying mechanism (203) is mounted on the main frame (201) for conveying the square ham. The image detection mechanism I (207), the horizontal electrode detection mechanism (206), and the rotating electrode detection mechanism I (207) are also mounted on the main frame (201) of the detection mechanism. The electrode detection mechanism (202) and the clamping mechanism (205) are sequentially arranged on the main frame (201) of the detection mechanism along the conveying direction of the detection conveying mechanism (203). The image detection mechanism I (207) is used to collect image information of the square ham. The horizontal electrode detection mechanism (206) is used to detect defects on the top surface of the square ham. The rotating electrode detection mechanism (202) is used to detect defects on the left and right sides of the square ham. The clamping mechanism (205) is located at the end of the detection conveying mechanism (203) and cooperates with the detection conveying mechanism (203) to realize the clamping and conveying of the square ham. The secondary conveying and detection mechanism (4) includes a main frame (401), a secondary electrode detection mechanism (402), a secondary conveying mechanism (403), an image detection mechanism III (405), and a clamping and conveying mechanism (407). The main frame (401) of the conveying and detection mechanism is set on the main frame (1) of the defect detection device, and a feeding guide plate (406) is provided on both sides of the end near the primary flipping clamping and detection mechanism (3). The image detection mechanism III (405), the secondary electrode detection mechanism (402), and the clamping and conveying mechanism (407) are arranged sequentially on the main frame (401) of the conveying and detection mechanism along the conveying direction. The image detection mechanism III (405) is used to collect image information of square ham. The secondary electrode detection mechanism (402) is used for defect detection on the rear side of the square ham. The clamping and conveying mechanism (407) is located at the discharge end of the main frame (401) of the conveying and detection mechanism. The clamping and conveying mechanism (407) and the secondary conveying mechanism (403) work together to clamp and convey the square ham.

8. The control method of the online detection system for square ham according to claim 1, characterized in that, Includes the following steps: 1) The PLC (2001) controls the zero-return movement of each component of the square ham online detection device; the servo motor origin positioning and overload limit are detected by the servo motor limit and origin sensor (2002) and fed back to the PLC (2001). 2) The specification inspection system (30) acquires the appearance and weight information of the square ham and feeds it back to the PLC (2001) through the industrial control computer (3001) to form a ham stack; 3) The square ham enters the detection and conveying mechanism (203). The PLC (2001) controls the servo motor (4003) to perform synchronous control according to the square ham stack through the drive system (40). 4) The square hams are visually inspected and non-contactly inspected by the horizontal electrode detection mechanism (206) and the image detection mechanism I (207), respectively, and the results are filled into the corresponding ham stack.

9. The control method of the online detection system for square ham according to claim 8, characterized in that, In step 2), the specification detection system (30) acquires the appearance and weight information of the square ham, specifically as follows: The detection system (30) obtains the appearance and weight information of the square ham through specification detection method, including the following steps: 1-1) A square ham trigger position detection sensor (2003) and a specification detection camera (3002) take pictures and obtain planar data, namely width W and length L; 1-2) The square ham trigger positioning detection sensor (2003) and the laser sensor group (3003) obtain multi-point height information, and obtain the height information H by fitting; 1-3) Integrate the width W, length L, and height information H to obtain the volume information V of the square ham, and obtain the weight information M of the square ham based on the production information, resulting in the array (W, L, H, M). 1-4) Push the data into the stack to get the ham stack {(W, L, H, M, ...)}.

10. The control method of the online detection system for square ham according to claim 9, characterized in that, In step 3), the drive system (40) controls the servo motor (4003) to perform a synchronous control method, specifically: 2-1) The position detection sensor (2003) on the square ham trigger buffer acceleration conveyor belt (8) is used. The PLC obtains information from the ham stack {(W, L, H, M, ...)}, and the servo motor obtains the position signal and moves according to the predetermined electronic gear ratio (1, α, β, γ). 2-2) With the top surface A of the square ham facing upward, the visual inspection and non-contact current results of the top surface A, side surface B, and side surface C are obtained through the horizontal and rotating detection mechanism (2), and recorded in the ham stack. 2-3) The square ham trigger is set at the junction of the horizontal and rotating detection mechanism (2) and the flip clamping detection mechanism (3) of the detection device. The laser displacement information detected by the junction verification sensor (2004) is used to correct the deviation of the square ham caused by centrifugal force and inertia, and the ham early contact time t1 is calculated. 2-4) Based on the ham stack, obtain the weight M of the square ham and the speed of the servo motor, calculate the rebound distance of the square ham, and calculate the rebound influence time t2 based on the speed of the contact process line. 2-5) Calculate the correction time Δt using t1 and t2, and correct it according to the line speed of the contact process to obtain the electronic gear ratio. ; 2-6) After the square ham passes through the horizontal and rotating detection mechanism (2), the front surface D faces downwards and passes through the detection conveying mechanism (203) to obtain the visual detection and non-contact current results of the rear surface E, and record them in the ham stack; repeat 2-3) to 2-5) to obtain the electronic gear ratio. ; 2-7) After the square ham is flipped and clamped by the detection device (3), the top surface A is facing down. It passes through the secondary conveying detection mechanism (4) to obtain the visual inspection and non-contact current results of the bottom surface F, and records them in the ham stack; repeat 2-3) to 2-5) to obtain the electronic gear ratio. ; 2-8) After the square ham passes through the device with its front surface D facing upward, it passes through the secondary conveying mechanism (403) to obtain visual inspection and non-contact current detection of the front surface D and record it in the ham stack; 2-9) Obtain the adjusted electronic gear ratio (1, , , Synchronization is completed; and then the detection information of the six faces corresponding to the adjusted electronic gear ratio is obtained, namely: (A, B, C, D, E, F).

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