Machine vision assisted circulating conveying type linen washing automatic sorting and feeding device

Abstract

The invention relates to the technical field of linen sorting and feeding, in particular to a machine vision assisted circulating conveying type linen washing automatic sorting and feeding device which comprises a linen conveying and sorting machine, a sealing door is installed on one side of the linen conveying and sorting machine, and an indicator lamp is installed at one side corner of the bottom of the linen conveying and sorting machine. A data displayer is installed on one side of the linen conveying and sorting machine, a feeding hopper is installed on one side of the linen conveying and sorting machine in a penetrating mode, and a feeding and conveying assembly is installed on one side in the linen conveying and sorting machine, so that feeding, conveying and sorting are facilitated according to various specifications of towels, the towels are automatically conveyed, clamped, accurately recognized and sorted, and the efficiency is improved. According to the automatic sorting and feeding device, the sorting efficiency is prevented from being affected by stacking or other conditions, the towels can be quickly spread, the towels can be prevented from falling off during spreading, the spread size is adjusted in time according to the size of the towels, the towels are stably and completely spread and then conveyed to the next procedure, and the overall automatic sorting and feeding efficiency and quality are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of linen sorting and feeding, and in particular to a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device. Background Art

[0002] Linen is a professional term used in hotels. It is a general term used by the hotel housekeeping department to refer to towels, tablecloths, bed sheets, pillowcases, etc. placed in guest rooms. Hotel linen refers to almost everything related to "cloth" in modern hotels, including bedding such as quilt covers, cotton quilt cores, bed sheets, bedspreads, pillowcases and pillow cores, fitted sheets, bed skirts, bed foot pads, protective pads, and towel products such as face towels, hand towels, bath towels, floor towels, bathrobes, etc., as well as tablecloths and napkins, chair covers, table skirts, shower curtains, etc.

[0003] At present, the existing machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device has the following deficiencies in use: when operating the linen sorting machine, because the towels contained in the linens are made of soft cotton material, they have different shapes and stacking during sorting. It is difficult to unfold them flatly by only grabbing and sorting them. They are easy to slip and misplace, further affecting the folding and sorting quality. It is impossible to control the flatness well before conveying operations, and the error rate is high. Once they slip, the equipment will idle, increasing energy consumption. At the same time, it is difficult to accurately capture towels moving in different states. Therefore, if the number of cyclic sorting times is too many, the more towels are piled up, the higher the sorting difficulty, resulting in increased energy consumption of the equipment, affecting the overall use efficiency and quality of the device.

[0004] Therefore, those skilled in the art provide a machine vision-assisted circulating conveying type linen washing automatic sorting and loading device to solve the problems raised in the above-mentioned background technology. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device, which solves the following problems: when the existing linen sorting machine is used to operate the towels contained in the linens, because the material of the linen towels is soft cotton, the shapes are different during sorting, and there are factors such as stacking. It is difficult to flatten them only by grabbing and sorting them during sorting. They are easy to slip and misalign, further affecting the folding and finishing quality. It is impossible to control the flatness well before conveying operations, and the error rate is high. Once they slip, the equipment will idle, increasing energy consumption. At the same time, it is difficult to accurately capture the towels moving in different states. Therefore, if the number of cyclic sorting is too many, the more towels are piled up, the higher the sorting difficulty is, resulting in increased equipment energy consumption and other problems;

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] The technical solution adopted by the present invention to solve its technical problems is: a machine vision-assisted circulating conveying type linen washing automatic sorting and loading device, including a linen conveying and sorting machine, a sealing door is installed on one side of the linen conveying and sorting machine, an indicator light is installed on one corner of the bottom of the linen conveying and sorting machine, a data display is installed on one side of the linen conveying and sorting machine, a feed hopper is installed on one side of the linen conveying and sorting machine, a feed conveying assembly is installed on one side of the inner side of the linen conveying and sorting machine, the feed conveying assembly includes a feed conveyor belt installed on one side of the inner side of the linen conveying and sorting machine, the feed conveyor belt corresponds to the feed hopper, a second telescopic device is installed horizontally inside the linen conveying and sorting machine, and a material picking area is arranged at one end of the feed conveyor belt. The extended end of the second telescopic device is fixedly connected to a push plate that slidably cooperates with the material picking area, and a material discharging unfolding assembly is installed inside the linen conveying and sorting machine, and the material discharging unfolding assembly includes two second linear motor conveying frames installed inside the linen conveying and sorting machine, and a first linear motor conveying frame is installed between the two second linear motor conveying frames, and two third sliding seats are slidably provided on one side of the first linear motor conveying frame, and a placement frame is rotatably connected to a side wall of the third sliding seat, and a limiting claw is rotatably connected to the inner side of the third sliding seat, and a plurality of linked rotating wheels are rotatably installed on one side of the third sliding seat, and the lower part of the third sliding seat is rotatably connected to a rotating rod, and one end of the rotating rod is fixedly connected to a rotating plate, and a side wall of the rotating plate is connected to the limiting claw. A belt is connected to the linen conveying and sorting machine, and the belt is respectively fitted with the first traction wheel or the linkage rotating wheel. A transfer conveyor belt is obliquely installed on the inner side of the linen conveying and sorting machine and above the feed conveyor belt. A sixth linear motor conveyor frame is installed on one side of the transfer conveyor belt, and a fourth sliding seat is installed on the side of the sixth linear motor conveyor frame close to the transfer conveyor belt. A first sensor is installed on the bottom end of the sixth linear motor conveyor frame. A second sensor is installed inside the linen conveying and sorting machine, and the second sensor is located above the transfer conveyor belt. A third linear motor conveyor frame is vertically installed inside the linen conveying and sorting machine, and a first sliding seat is slidably installed on one side of the third linear motor conveyor frame, and two corresponding ones are installed on the outer sides of the fourth sliding seat and the first sliding seat. A matching material transfer clamping component, one side of the third sliding seat is rotatably connected to a placement frame, the inner side of the placement frame is provided with a linkage block, one side of the linkage block is rotatably connected to a limiting wheel, one side of the linkage block is fixedly connected to a linkage triangle plate, one side of the third sliding seat is installed with a laying block, the limiting wheel corresponds to the laying block, one side of the second linear motor conveying frame is installed with a top rod frame, the interior of the linen conveying and sorting machine is provided with a material dividing and positioning component, the interior of the linen conveying and sorting machine is provided with a material transfer docking component, the interior of the linen conveying and sorting machine is provided with a limited position auxiliary component, the inner side of the third sliding seat is rotatably connected with a rotating rod, the linen conveying and sorting machine is installed with a large roller frame, and the interior of the linen conveying and sorting machine is installed with a mechanical arm.A clamping plate is installed at one end of the mechanical arm.

[0008] Preferably, the material transfer and clamping assembly includes telescopic frames fixedly mounted on one side of the first sliding seat and the fourth sliding seat respectively, elastic limiters are movably arranged in the middle of the two telescopic frames, a sensor is arranged on one side of the telescopic frame, one end of the telescopic frame is rotatably connected to a retractable sleeve matching the sensor, a chuck is rotatably arranged on the inner side of the retractable sleeve, and a sensor is arranged on the outer surface of the retractable sleeve.

[0009] Preferably, the inner wall of the placement frame is rotatably connected to a limit rod head, the back side of the linkage block is movably connected to a popping rod interlaced with the limit rod head, and the outer surface of the popping rod is sleeved with a second spring.

[0010] Preferably, a locking slide bar slidably arranged with the placement frame is fixedly connected to the upper surface of the linkage block, and a first spring is sleeved on the outer surface of the locking slide bar.

[0011] Preferably, a counterweight block is provided at the bottom end of the limiting claw.

[0012] Preferably, the material dividing and positioning assembly includes a circulating conveyor belt installed inside the linen conveying and sorting machine, a first telescope is installed on the inner upper part of the linen conveying and sorting machine, a first pressure roller is movably provided on the inner upper part of the linen conveying and sorting machine, and the first telescope is used in conjunction with the first pressure roller.

[0013] Preferably, the material transfer docking assembly includes a fifth sliding seat installed on the fourth linear motor conveyor frame, a telescopic clamping rod is provided on the inner side of the fifth sliding seat, and a perforated strip plate used in conjunction with the telescopic clamping rod is provided on the lower part of the fifth sliding seat.

[0014] Preferably, the position limiting auxiliary component comprises a mounting frame fixedly mounted inside the linen conveying and sorting machine, and two matching large roller frames are vertically slidably mounted on the inner side of the mounting frame, and two small roller frames are laterally movably mounted.

[0015] Preferably, the rotating rod includes a fifth linear motor conveyor frame fixedly installed inside the linen conveying and sorting machine, a second sliding seat is slidably installed on one side of the fifth linear motor conveyor frame, a third telescope is laterally installed on the inner side of the second sliding seat, a clamp is rotatably installed on one side of the second sliding seat, and the protruding end of the third telescope is rotatably connected to the clamp.

[0016] Preferably, a material transfer cabinet for use with a material discharge and unfolding assembly is installed inside the linen conveying and sorting machine, an inclined conveyor belt is installed through one side wall of the interior of the linen conveying and sorting machine, the material transfer cabinet is used in conjunction with the inclined conveyor belt, and a through opening matching the inclined conveyor belt is opened on one side of the linen conveying and sorting machine.

[0017] Beneficial effects of the present invention:

[0018] 1. The machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device described in the present invention is to put the collected towels into the feed hopper, and then continuously convey the towels through the feed conveyor belt in the material dividing and positioning assembly, and the second telescopic device pushes the push plate to push the towels to be concentrated in the material taking area, and the first sliding seat slides downward on the third linear motor conveyor frame, and when it drops to a predetermined height, the retractable sleeve contacts the towel, and at the same time, the air valve opens the clamp to clamp the towel, and the expansion size of the clamp can also be adjusted by the expansion state of the retractable sleeve. After the clamped towel reaches the predetermined height, the upper material transfer clamping assembly transfers the clamped towel and drags it to the transfer conveyor belt for further conveying, which is conducive to feeding, conveying and sorting towels of various specifications together, and ensures the conveying quality;

[0019] 2. The machine vision-assisted circulating conveying type linen washing automatic sorting and loading device described in the present invention extends a telescopic card rod to press a corner of the captured towel into the perforated strip plate. When the towel passes through the circulating conveyor belt, the first telescopic device extends to push the first pressure roller to press the towel to prevent it from falling directly. The towel that is not clamped re-enters the feed conveyor belt for circulating transportation. Then the fifth sliding seat is reset as a whole, and the second sliding seat is driven to move by the fifth linear motor conveyor frame. Then the third telescopic device is automatically started to push the clamping hand to quickly clamp the towel that has just been clamped, and then quickly reset. When the towel is about to be pulled out of the large roller frame and the small roller frame, the large roller frame and the small roller frame clamp the rear part of the towel and keep it still, plus a corner clamped by the clamping hand. Then the mechanical arm automatically rotates in the direction, and the two clamping plates clamp the corners of the suspended towel. Then the limit auxiliary component and the rotating rod are reset, which is conducive to automatic and accurate identification and sorting of the towels after conveying and clamping, avoiding stacking or other situations that affect the sorting efficiency, and quickly spreading them out.

[0020] 3. The machine vision-assisted circulating conveying type linen washing automatic sorting and loading device described in the present invention first passes through one of the laying blocks, and the clamping plate contacts with the linkage triangular plate and pushes it up, thereby driving the limiting wheel to rise or swing slightly, so that the towel is laid over the laying block. At the same time, the movement of the clamping plate can also drive the rotating plate to move. When the clamping plate drives the towel to move to one side of the laying block, the clamping plate can smoothly pass over. After passing over, the limiting wheel limits the towel and rolls with the movement of the towel. At the same time, the swing of the rotating plate can drive the belt to slide outside multiple linkage rotating wheels, so that the multiple linkage rotating wheels rotate, and under the guidance of the first traction wheel arranged above, the belt pulls the limiting claw Lift it upwards, and when the turntable is reset, the limiting claw can be reset to clamp the towel and clamp it quickly and forcefully with the cooperation of the counterweight block. When the towel is unfolded on the two laying blocks, the first linear motor conveyor frame moves on the second linear motor conveyor frame to drive the unfolded towel to slide on the transfer cabinet until it reaches the predetermined position above the inclined conveyor belt. The set top rod frame pushes the limiting claw to rotate on the third sliding seat, thereby releasing the clamped unfolded towel and transporting it out on the inclined conveyor belt. This is beneficial to avoid the towel slide from falling off during the unfolding, and after adjusting the unfolded size in time according to the size of the towel, it is smoothly and completely unfolded and then transported to the next process, ensuring the overall automatic sorting and feeding efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0023] Figure 2 For the present invention Figure 1 Schematic diagram of the external structure from the middle side;

[0024] Figure 3 For the present invention Figure 2 Schematic diagram of the overall cross-sectional structure;

[0025] Figure 4 For the present invention Figure 3 Schematic diagram of the internal components of the linen conveying and sorting machine;

[0026] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged cross-sectional structure of the center material positioning assembly;

[0027] Figure 6 For the present invention Figure 4 Schematic diagram of the multi-component enlarged structure;

[0028] Figure 7 For the present invention Figure 4 Schematic diagram of the cross-sectional structure of the middle nesting expansion component;

[0029] Figure 8 For the present invention Figure 7 Schematic diagram of the structure on the third sliding seat;

[0030] Fig. 9 For the present invention Figure 8 Schematic diagram of the structure from the middle side and rear view;

[0031] Fig.10 For the present invention Figure 4 Schematic diagram of the enlarged structure of the transfer material clamping component.

[0032] In the figure: 1. Linen conveying and sorting machine; 2. Indicator light; 3. Data display; 4. Feed hopper; 551. Feed conveying assembly; 552. Discharge unfolding assembly; 553. Transfer material clamping assembly; 554. Material distribution positioning assembly; 555. Transfer material docking assembly; 556. Limit auxiliary assembly; 6. Inclined conveyor belt; 7. First linear motor conveyor frame; 8. Sealing door; 9. Through hole; 10. First sensor; 11. Second linear motor conveyor frame; 12. Feed conveyor belt; 13. Circulating conveyor belt; 14. First pressure roller; 15. Robotic arm; 16. First telescopic device; 17. Clamp; 18. Third linear motor conveyor frame; 19. First sliding seat; 20. Telescopic frame; 21. Transfer conveyor belt; 22. Second sensor; 23. Material picking area; 24. Second telescopic device; 25. Push plate; 26. Transfer cabinet; 27. Large roller frame; 28 , the fourth linear motor conveyor frame; 29, the fifth linear motor conveyor frame; 30, the second sliding seat; 31, the third telescopic device; 32, the gripper; 33, the elastic limiter; 34, the linkage triangle plate; 35, the sensor; 36, the limiting wheel; 37, the linkage block; 38, the retractable sleeve; 39, the sensor; 40, the chuck; 41, the limiting claw; 42, the first traction wheel; 43, the linkage rotating wheel; 44, the belt; 45, the laying block ; 46. Mounting frame; 47. First spring; 48. Second spring; 49. Limiting rod head; 50. Turntable; 57. Turnbar; 58. Plate with holes; 59. Telescopic rod; 60. Small roller frame; 61. Push rod frame; 62. Third sliding seat; 63. Counterweight; 64. Fourth sliding seat; 65. Sixth linear motor conveyor frame; 66. Fifth sliding seat; 67. Mounting frame; 68. Pop-up rod; 69. Positioning slide bar. DETAILED DESCRIPTION

[0033] The embodiment of the present invention provides a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device, which solves the following problems: when operating the existing linen sorting machine, the existing towels contained in the linens are difficult to be spread out flatly by grabbing and sorting because the linen towels are made of soft cotton material and have different shapes and layers during sorting. They are easy to slip and misalign, further affecting the folding and sorting quality, and cannot be well controlled before conveying operations. The error rate is high. Once they slip, the equipment will idle, increasing energy consumption. At the same time, it is difficult to accurately capture towels moving in different states. Therefore, if the number of cyclic sorting times is too many, the more towels are piled up, the higher the sorting difficulty, resulting in increased equipment energy consumption, affecting the overall use efficiency and quality of the device, and other problems;

[0034] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] like Figure 1-Figure 10As shown, a machine vision-assisted circulating conveying type linen washing automatic sorting and loading device of the present invention comprises a linen conveying and sorting machine 1, a sealing door 8 is installed on one side of the linen conveying and sorting machine 1, an indicator light 2 is installed at a corner of the bottom side of the linen conveying and sorting machine 1, a data display 3 is installed on one side of the linen conveying and sorting machine 1, a feed hopper 4 is installed through one side of the linen conveying and sorting machine 1, a feed conveying assembly 551 is installed on one side of the interior of the linen conveying and sorting machine 1, the feed conveying assembly 551 comprises a feed conveying belt 12 installed on one side of the interior of the linen conveying and sorting machine 1, the feed conveying belt 12 corresponds to the feed hopper 4, a second telescopic device 24 is installed transversely inside the linen conveying and sorting machine 1, and a material picking area 23 is provided at one end of the feed conveying belt 12. The extended end of the second telescopic device 24 is fixedly connected with a push plate 25 which slides with the material picking area 23. A discharge unfolding assembly 552 is installed inside the linen conveying and sorting machine 1. The discharge unfolding assembly 552 includes two second linear motor conveying frames 11 installed inside the linen conveying and sorting machine 1. A first linear motor conveying frame 7 is installed between the two second linear motor conveying frames 11. Two third sliding seats 62 are slidably provided on one side of the first linear motor conveying frame 7. A placement frame 46 is rotatably connected to a side wall of the third sliding seat 62. A limiting claw 41 is rotatably connected to the inner side of the third sliding seat 62. A plurality of linked rotating wheels 43 are rotatably installed on one side of the third sliding seat 62. The lower part of the third sliding seat 62 is rotatably connected to a rotating rod 57. One end of the rotating rod 57 is inserted with a fixed A rotating plate 50 is fixedly connected, and a side wall of the rotating plate 50 and the limiting claw 41 are jointly connected with a belt 44, and the belt 44 is respectively fitted with the first traction wheel 42 or the linkage rotating wheel 43. A transfer conveyor belt 21 is obliquely installed on the inner side of the linen conveying and sorting machine 1 and located above the feed conveyor belt 12. A sixth linear motor conveyor frame 65 is installed on one side of the transfer conveyor belt 21. A fourth sliding seat 64 is installed on the side of the sixth linear motor conveyor frame 65 close to the transfer conveyor belt 21. A first sensor 10 is installed on the bottom end of the sixth linear motor conveyor frame 65. A second sensor 22 is installed inside the linen conveying and sorting machine 1. The second sensor 22 is located above the transfer conveyor belt 21. A third linear motor conveyor frame 18 is vertically installed inside the linen conveying and sorting machine 1 A first sliding seat 19 is slidably installed on one side of the third linear motor conveyor frame 18, and two matching material transfer clamping components 553 are installed on the outer sides of the fourth sliding seat 64 and the first sliding seat 19. A placement frame 46 is rotatably connected to one side of the third sliding seat 62, and a linkage block 37 is provided on the inner side of the placement frame 46. A limiting wheel 36 is rotatably connected to one side of the linkage block 37, and a linkage triangle plate 34 is fixedly connected to one side of the linkage block 37. A laying block 45 is installed on one side of the third sliding seat 62, and the limiting wheel 36 corresponds to the laying block 45. A top rod frame 61 is installed on one side of the second linear motor conveyor frame 11. A material dividing positioning component 554 is provided inside the linen conveying and sorting machine 1, and a material transfer docking component 555 is provided inside the linen conveying and sorting machine 1.A limited position auxiliary component 556 is arranged inside the linen conveying and sorting machine 1, a rotating rod 57 is rotatably connected to the inner side of the third sliding seat 62, a large roller frame 27 is installed on the linen conveying and sorting machine 1, a mechanical arm 15 is installed inside the linen conveying and sorting machine 1, and a clamping plate 17 is installed at one end of the mechanical arm 15. The material transfer and clamping component 553 includes a telescopic frame 20 fixedly mounted on one side of the first sliding seat 19 and the fourth sliding seat 64, respectively, and elastic limiters 33 are movably arranged in the middle of the two telescopic frames 20. A sensor 35 is arranged on one side of the telescopic frame 20, and a retractable sleeve 38 cooperating with the sensor 35 is rotatably connected to one end of the telescopic frame 20. A clamp 40 is rotatably arranged on the inner side of the retractable sleeve 38, and a sensor 39 is arranged on the outer surface of the retractable sleeve 38.

[0036] According to the above technical solution, the collected towels are put into the feed hopper 4, and then the feed conveyor belt 12 in the material dividing and positioning component 554 continuously conveys the towels. When the end of the feed conveyor belt 12 is about to be reached, the second telescopic device 24 operates to push the push plate 25 to push and concentrate the towels conveyed on the feed conveyor belt 12 in the material taking area 23, so that it is convenient for the upper material transfer clamping component 553 to clamp, and then the first sliding seat 19 slides downward on the third linear motor conveying frame 18. After sliding downward for a predetermined distance, the sensor 39 detects the height of the contact feed conveyor belt 12. When it drops to a predetermined height, the retractable sleeve 38 It contacts the towel, and at the same time, the air valve opens so that the clamp 40 opens first and then begins to contract to clamp the towel. The expansion state of the retractable sleeve 38 can also be used to adjust the expansion size of the clamp 40. The elastic limiter 33 is in an elastic and retractable state, and flexibly clamps. When it is extended or retracted, it will act with the spring of the main body, and automatically start the air valve after it is separated from the sensor 35. It also has the function of detecting whether a towel is clamped. After the clamped towel reaches a predetermined height, the same material transfer and clamping component 553 above will transfer the clamped towel and drag it to the transfer conveyor belt 21 for continued transportation, which is conducive to the rapid transportation of the towels, sorting them one by one, and ensuring efficiency.

[0037] A further technical solution is that the inner wall of the placement frame 46 is rotatably connected to the limit card rod head 49, the back of the linkage block 37 is movably connected to a pop-up rod 68 interlaced with the limit card rod head 49, the outer surface of the pop-up rod 68 is covered with a second spring 48, the upper surface of the linkage block 37 is fixedly connected to a positioning slide bar 69 slidably arranged with the placement frame 46, the outer surface of the positioning slide bar 69 is covered with a first spring 47, the bottom end of the limiting claw 41 is provided with a counterweight block 63, the material dividing and positioning assembly 554 includes a circulating conveyor belt 13 installed inside the linen conveying and sorting machine 1, the inner upper part of the linen conveying and sorting machine 1 is installed with a first telescopic device 16, the inner upper part of the linen conveying and sorting machine 1 is movably provided with a first pressure roller 14, and the first telescopic device 16 is used in conjunction with the first pressure roller 14 The material transfer docking component 555 includes a fifth sliding seat 66 installed on the fourth linear motor conveying frame 28, a telescopic card rod 59 is arranged on the inner side of the fifth sliding seat 66, and a perforated strip plate 58 used in conjunction with the telescopic card rod 59 is arranged at the lower part of the fifth sliding seat 66. The position limiting auxiliary component 556 includes a mounting frame 67 fixedly installed inside the linen conveying and sorting machine 1, and two matching large roller frames 27 and two small roller frames 60 are vertically slidably installed on the inner side of the mounting frame 67. The rotating rod 57 includes a fifth linear motor conveying frame 29 fixedly installed inside the linen conveying and sorting machine 1, and a second sliding seat 30 is slidably installed on one side of the fifth linear motor conveying frame 29, and a third telescopic device 31 is laterally installed on the inner side of the second sliding seat 30. A gripper 32 is rotatably installed on one side of the second sliding seat 30, and the extended end of the third telescopic device 31 is rotatably connected to the gripper 32. A transfer cabinet 26 used in conjunction with the material discharging and unfolding component 552 is installed inside the linen conveying and sorting machine 1. An inclined conveyor belt 6 is inserted and installed on one side wall of the interior of the linen conveying and sorting machine 1. The transfer cabinet 26 is used in conjunction with the inclined conveyor belt 6. A through opening 9 matching the inclined conveyor belt 6 is opened on one side of the linen conveying and sorting machine 1. The passing towels are sensed and recognized by the second sensor 22, so that the fifth sliding seat 66 slides as a whole on the fourth linear motor conveying frame 28, and quickly moves to between the transfer conveyor belt 21 and the circulating conveyor belt 13. The signal is transmitted through the second sensor 22, and the telescopic clamping rod 59 is extended to capture the towels. One corner is pressed in the perforated strip 58. When the towel passes through the circulating conveyor belt 13, the first retractor 16 extends out to push the first pressure roller 14 to press the towel to prevent it from falling directly. The towel that is not clamped re-enters the feed conveyor belt 12 for circulating transportation. Then the fifth sliding seat 66 is reset as a whole, and the second sliding seat 30 is driven to move by the fifth linear motor conveyor frame 29, thereby driving the third retractor 31 to move in the direction of clamping the towel and pass through the large roller frame 27 and the small roller frame 60. Then the third retractor 31 is automatically started. After the third retractor 31 is extended, the extended end pushes the clamping hand 32 to rotate on the third retractor 31, quickly clamps the towel that has just been clamped, and then quickly resets. As the towel is dragged, when the towel is about to be pulled out of the large roller frame 27 and the small roller frame 60,The large roller frame 27 and the small roller frame 60 clamp the back of the towel and keep it still. Together with the edge clamped by the clamping hand 32, the other edge of the towel is suspended at the front end of the first sensor 10. Then the mechanical arm 15 automatically rotates in the direction, and the two clamps 17 clamp the suspended edge of the towel. Then the limit auxiliary component 556 and the rotating rod 57 are reset, and the mechanical arm 15 transfers the towel to the direction of the material discharging and unfolding component 552, ready to be placed on the laying block 45. The detailed process is as follows. First, when passing through one of the laying blocks 45, the clamp 17 contacts the linkage triangle plate 34 and pushes it up, thereby driving the limiting wheel When the towel is spread over the laying block 45, the movement of the clamping plate 17 can also drive the rotating plate 50 to move, so that the rotating plate 50 rotates around the rotating rod 57. When the clamping plate 17 drives the towel to move to one side of the laying block 45, the rotating plate 50 is squeezed to form an oblique angle, so that the clamping plate 17 can pass through smoothly. After passing through, the limiting wheel 36 limits the position of the towel and rolls with the movement of the towel. At the same time, the swing of the rotating plate 50 can drive the belt 44 to slide outside the multiple linked rotating wheels 43, so that the multiple linked rotating wheels 43 rotate, and under the guidance of the first traction wheel 42 arranged above, the belt 44 pulls the limiting claw 41 to lift it upward. When the rotating plate 50 is reset, the limiting claw 41 can be reset to clamp the towel and clamp it quickly and forcefully with the cooperation of the counterweight block 63. When the towel is unfolded on the two laying blocks 45, the first linear motor conveyor frame 7 moves on the second linear motor conveyor frame 11 as a whole, driving the unfolded towel to slide on the rotating cabinet 26 until it reaches the inclined conveyor belt 6 When the towel is at the predetermined position above the towel, the push rod frame 61 pushes the limiting claw 41 to rotate on the third sliding seat 62, thereby releasing the clamped and unfolded towel, and entering the next process under the transportation of the inclined conveyor belt 6, thereby effectively completing the entire towel transportation and sorting work, which is conducive to automatic and accurate identification and sorting of towels after transportation and clamping, avoiding stacking or other situations that affect the sorting efficiency, and quickly spreading them out, and can prevent the towel slide from falling off during the unfolding. After adjusting the unfolded size according to the size of the towel in time, it is smoothly and completely unfolded and then transported to the next process, ensuring the overall automatic sorting and feeding efficiency and quality.

[0038] The embodiment of the present invention also provides a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device, and the specific working principle includes the following steps:

[0039] The entire device is turned on by personnel from an external controller. First, the collected towels are put into the feed hopper 4, and then the towels are continuously conveyed by the feed conveyor belt 12 in the material dividing and positioning component 554. When the end of the feed conveyor belt 12 is about to be reached, the second telescopic device 24 operates to push the push plate 25 to push and concentrate the towels conveyed on the feed conveyor belt 12 in the material picking area 23, so that it is convenient for the upper material transfer clamping component 553 to clamp, and then the first sliding seat 19 slides downward on the third linear motor conveyor frame 18. After sliding downward for a predetermined distance, the sensor 39 detects the height of the contact feed conveyor belt 12. When it drops to a predetermined height, the retractable sleeve 38 contacts the towel, and at the same time the air valve opens to make the clamp 40 open first and then begin to shrink. Clamp the towel, and the expansion size of the clamp 40 can also be adjusted by the expansion state of the retractable sleeve 38. The elastic limiter 33 is in an elastic and retractable state, and is flexibly clamped. When it is extended and retracted, it will act on the spring of the main body, and automatically start the air valve to work after it is separated from the sensor 35. It also has the function of detecting whether the towel is clamped. After the clamped towel reaches a predetermined height, the same material transfer clamping component 553 above transfers and drags the clamped towel to the transfer conveyor belt 21 for continued transportation. The second sensor 22 senses and recognizes the passing towel, so that the fifth sliding seat 66 slides as a whole on the fourth linear motor conveyor frame 28, and quickly moves between the transfer conveyor belt 21 and the circulating conveyor belt 13, and transmits a signal through the second sensor 22. The telescopic clamping rod 59 extends out to press a corner of the captured towel into the perforated strip 58. When the towel passes through the circulating conveyor belt 13, the first telescopic device 16 extends out to push the first pressure roller 14 to press the towel to prevent it from falling directly. The towel that is not clamped re-enters the feed conveyor belt 12 for circular transportation. Then the fifth sliding seat 66 is reset as a whole, and the second sliding seat 30 is driven to move by the fifth linear motor conveyor frame 29, thereby driving the third telescopic device 31 to move in the direction of clamping the towel and pass through the large roller frame 27 and the small roller frame 60. Then the third telescopic device 31 is automatically started. After the third telescopic device 31 is extended, the extended end pushes the clamping hand 32 to rotate on the third telescopic device 31, quickly clamps the towel that has just been clamped, and then quickly resets. The towel is dragged, when the towel is about to be pulled out of the large roller frame 27 and the small roller frame 60, the large roller frame 27 and the small roller frame 60 clamp the back of the towel and keep it still, and the clamping hand 32 clamps one corner, so that the other corner of the towel is suspended at the front end of the first sensor 10, and then the mechanical arm 15 automatically rotates in the direction, and the two clamps 17 clamp the suspended corners of the towel, and then the limit auxiliary component 556 and the rotating rod 57 are reset, and the clamp 17 on the mechanical arm 15 clamps the towel and transfers it to the direction of the material discharging and unfolding component 552, ready to be placed on the laying block 45. The detailed process is as follows: first, when passing through one of the laying blocks 45, the clamp 17 contacts the linkage triangle plate 34 and pushes it up, thereby driving the limiting wheel 36 to rise or swing slightly,At this time, the linkage block 37 is driven to move, and the positioning slide bar 69 is driven to rise in the placement frame 46 and conflict with the first spring 47. At the same time, the pop-up rod 68 conflicts with the second spring 48 to limit it, so that the towel is laid over the laying block 45. At the same time, the movement of the clamping plate 17 can also drive the rotating plate 50 to move, so that the rotating plate 50 rotates around the rotating rod 57. When the clamping plate 17 drives the towel to move to one side of the laying block 45, the rotating plate 50 is squeezed to form an oblique angle, so that the clamping plate 17 can pass smoothly. After passing, the limiting wheel 36 limits the position of the towel and rolls with the movement of the towel. At the same time, the swing of the rotating plate 50 can drive the belt 44 to slide outside the multiple linkage rotating wheels 43, so that the multiple linkage rotating wheels 43 rotate and Under the guidance of the first traction wheel 42 arranged above, the belt 44 pulls the limiting claw 41 upward. When the rotating plate 50 is reset, the limiting claw 41 can be reset to clamp the towel and clamp it quickly and forcefully with the cooperation of the counterweight block 63. When the towel is unfolded on the two laying blocks 45, the first linear motor conveyor frame 7 moves on the second linear motor conveyor frame 11 to drive the unfolded towel to slide on the transfer cabinet 26 until it reaches the predetermined position above the inclined conveyor belt 6. The provided top rod frame 61 pushes the limiting claw 41 to rotate on the third sliding seat 62, thereby releasing the clamped unfolded towel and entering the next step under the conveyance of the inclined conveyor belt 6, thereby effectively completing the entire towel conveying and sorting work.

[0040] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device, characterized in that: The invention comprises a linen conveying and sorting machine (1), a sealing door (8) is installed on one side of the linen conveying and sorting machine (1), an indicator light (2) is installed at a corner of a bottom side of the linen conveying and sorting machine (1), a data display (3) is installed on one side of the linen conveying and sorting machine (1), a feed hopper (4) is installed on one side of the linen conveying and sorting machine (1), a feed conveying assembly (551) is installed on one side of the interior of the linen conveying and sorting machine (1), the feed conveying assembly (551) comprises a feed conveying belt (12) installed on one side of the interior of the linen conveying and sorting machine (1), the feed conveying belt (12) corresponds to the feed hopper (4), a second telescopic device (24) is installed transversely inside the linen conveying and sorting machine (1), and the feed conveying assembly (551) comprises a feed conveying belt (12) installed on one side of the interior of the linen conveying and sorting machine (1), and the feed conveying belt (12) corresponds to the feed hopper (4). A material fetching area (23) is arranged at one end of the material conveyor belt (12); a push plate (25) that is slidably matched with the material fetching area (23) is fixedly connected to the extended end of the second telescopic device (24); a material discharge unfolding assembly (552) is installed inside the linen conveying and sorting machine (1); the material discharge unfolding assembly (552) comprises two second linear motor conveying frames (11) installed inside the linen conveying and sorting machine (1); a first linear motor conveying frame (7) is installed between the two second linear motor conveying frames (11); two third sliding seats (62) are slidably arranged on one side of the first linear motor conveying frame (7); a side wall of the third sliding seat (62) is rotatably connected to a placement frame (46); an inner side of the third sliding seat (62) A limiting claw (41) is rotatably connected, a plurality of linked rotating wheels (43) are rotatably installed on one side of the third sliding seat (62), the lower part of the third sliding seat (62) is rotatably connected to a rotating rod (57), one end of the rotating rod (57) is inserted and fixedly connected to a rotating plate (50), a side wall of the rotating plate (50) and the limiting claw (41) are jointly connected with a belt (44), and the belt (44) is respectively fitted with the first traction wheel (42) or the linked rotating wheel (43), a transfer conveyor belt (21) is obliquely installed on the inner side of the linen conveying and sorting machine (1) and above the feed conveyor belt (12), a sixth linear motor conveyor frame (65) is installed on one side of the transfer conveyor belt (21), and the sixth linear motor conveyor frame (65) is close to the conveyor belt (12). A fourth sliding seat (64) is installed on one side of the transfer conveyor belt (21), a first sensor (10) is installed on the bottom end of the sixth linear motor conveyor frame (65), a second sensor (22) is installed inside the linen conveying and sorting machine (1), and the second sensor (22) is located above the transfer conveyor belt (21), a third linear motor conveyor frame (18) is vertically installed inside the linen conveying and sorting machine (1), a first sliding seat (19) is slidably installed on one side of the third linear motor conveyor frame (18), two matching material transfer clamping components (553) are installed on the outer sides of the fourth sliding seat (64) and the first sliding seat (19), and one side of the third sliding seat (62) is rotatably connected to a placement frame (46),A linkage block (37) is arranged on the inner side of the placement frame (46), one side of the linkage block (37) is rotatably connected to a limiting wheel (36), one side of the linkage block (37) is fixedly connected to a linkage triangle plate (34), one side of the third sliding seat (62) is installed with a laying block (45), the limiting wheel (36) corresponds to the laying block (45), one side of the second linear motor conveying frame (11) is installed with a push rod frame (61), and the interior of the linen conveying and sorting machine (1) is provided with a sorting mechanism. The linen conveying and sorting machine (1) is provided with a material positioning assembly (554), a material transfer docking assembly (555) is provided inside the linen conveying and sorting machine (1), a position limiting auxiliary assembly (556) is provided inside the linen conveying and sorting machine (1), a rotating rod (57) is rotatably connected to the inner side of the third sliding seat (62), a large roller frame (27) is installed on the linen conveying and sorting machine (1), a mechanical arm (15) is installed inside the linen conveying and sorting machine (1), and a clamping plate (17) is installed at one end of the mechanical arm (15).

2. According to claim 1, a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device is characterized by: The material transfer clamping assembly (553) includes a telescopic frame (20) fixedly mounted on one side of the first sliding seat (19) and the fourth sliding seat (64), respectively; elastic limiters (33) are movably arranged in the middle of the two telescopic frames (20); a sensor (35) is arranged on one side of the telescopic frame (20); one end of the telescopic frame (20) is rotatably connected to a retractable sleeve (38) matched with the sensor (35); a chuck (40) is rotatably arranged on the inner side of the retractable sleeve (38); and a sensor (39) is arranged on the outer surface of the retractable sleeve (38).

3. According to claim 1, a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device is characterized by: The inner wall of the placement frame (46) is rotatably connected to a limit rod head (49), and the back of the linkage block (37) is movably connected to a popping rod (68) interlaced with the limit rod head (49), and the outer surface of the popping rod (68) is sleeved with a second spring (48).

4. According to claim 1, a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device is characterized by: The upper surface of the linkage block (37) is fixedly connected with a positioning slide bar (69) slidably arranged with the placement frame (46), and the outer surface of the positioning slide bar (69) is sleeved with a first spring (47).

5. According to claim 1, a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device is characterized by: A counterweight block (63) is provided at the bottom end of the limiting claw (41).

6. The machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device according to claim 1 is characterized by: The material dividing and positioning assembly (554) comprises a circulating conveyor belt (13) installed inside the linen conveying and sorting machine (1); a first telescopic device (16) is installed on the inner upper part of the linen conveying and sorting machine (1); a first pressure roller (14) is movably arranged on the inner upper part of the linen conveying and sorting machine (1); the first telescopic device (16) and the first pressure roller (14) are used in conjunction with each other.

7. According to claim 1, a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device is characterized by: The material transfer docking assembly (555) includes a fifth sliding seat (66) installed on a fourth linear motor conveyor frame (28), a telescopic clamping rod (59) is arranged on the inner side of the fifth sliding seat (66), and a perforated strip plate (58) used in conjunction with the telescopic clamping rod (59) is arranged at the lower part of the fifth sliding seat (66).

8. The machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device according to claim 1 is characterized by: The position limiting auxiliary component (556) comprises a mounting frame (67) fixedly mounted inside the linen conveying and sorting machine (1), and two matching large roller frames (27) are vertically slidably mounted on the inner side of the mounting frame (67), as well as two small roller frames (60) that are laterally movably mounted.

9. The machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device according to claim 1 is characterized by: The rotating rod (57) comprises a fifth linear motor conveying frame (29) fixedly mounted inside the linen conveying and sorting machine (1); a second sliding seat (30) is slidably mounted on one side of the fifth linear motor conveying frame (29); a third telescopic device (31) is laterally mounted on the inner side of the second sliding seat (30); a gripper (32) is rotatably mounted on one side of the second sliding seat (30); and an extended end of the third telescopic device (31) is rotatably connected to the gripper (32).

10. The machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device according to claim 1 is characterized by: The linen conveying and sorting machine (1) is internally installed with a material transfer cabinet (26) for use in conjunction with a material discharging and unfolding component (552); an inclined conveyor belt (6) is inserted and installed on one side wall of the interior of the linen conveying and sorting machine (1); the material transfer cabinet (26) is used in conjunction with the inclined conveyor belt (6); and a through opening (9) matching the inclined conveyor belt (6) is opened on one side of the linen conveying and sorting machine (1).

Images