A machine vision-assisted circulating conveyor type linen washing automatic sorting and loading device

Abstract

The present invention relates to the technical field of linen sorting and feeding, and specifically to a machine vision-assisted circulating conveying type linen washing automatic sorting and feeding device, comprising a linen conveying and sorting machine, a sealed door being installed on one side of the linen conveying and sorting machine, an indicator light being installed on one corner of the bottom of the linen conveying and sorting machine, a data display being installed on one side of the linen conveying and sorting machine, a feed hopper being installed through one side of the linen conveying and sorting machine, and a feed conveying assembly being installed on one side of the interior of the linen conveying and sorting machine, which is conducive to feeding and sorting towels according to various specifications, automatically grasping and accurately identifying towels after conveyance, avoiding stacking or other situations that affect the sorting efficiency, and quickly spreading them out, and avoiding the towel slide from falling off during the spreading, and after timely adjusting the spread size according to the size of the towels, spreading them out smoothly and completely before conveying them to the next process, thereby ensuring the overall automatic sorting and feeding efficiency and quality.

Description

Technical Field

[0001] The present 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 hotel term. It's a general term for the towels, tablecloths, sheets, and pillowcases placed in guest rooms by the housekeeping department. Hotel linen broadly refers to nearly everything fabric-related in a modern hotel, including bedding such as duvet covers, quilt inserts, sheets, bedspreads, pillowcases, pillowcases, fitted sheets, bed skirts, foot pads, and mattress protectors. It also includes towels such as face towels, handkerchiefs, bath towels, floor towels, and bathrobes. It also includes tablecloths, napkins, chair covers, and shower curtains.

[0003] At present, the existing machine vision-assisted circulating conveying type linen washing automatic sorting and loading device has the following deficiencies in use: when operating the linen sorting machine, the towels contained in the linens are difficult to be spread out flat by only grabbing and sorting because the material of the linen towels is soft cotton. They have different shapes and are stacked during sorting. This further affects the folding and sorting quality, and the flatness cannot be well controlled before the conveying operation. 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 and affecting the overall use efficiency and quality of the device.

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

[0005] In view of the shortcomings of the existing technology, the present invention provides a machine vision-assisted circulating conveying type linen washing automatic sorting and loading device, which solves the following problems: when operating the existing linen sorting machine, it is difficult to flatten towels contained in the linen because the material of the linen towels is soft cotton. They have different shapes and are stacked during sorting. Therefore, it is difficult to flatten them by simply grabbing and sorting them. They are easy to slip and misplace, further affecting the folding and finishing quality. It is impossible to well control the flatness before conveying the operation, resulting in a high error rate. 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 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 sealed 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 interior of the linen conveying and sorting machine, the feed conveying assembly includes a feed conveyor belt installed on one side of the interior 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 provided at one end of the feed conveyor belt. The extending end of the second telescopic device is fixedly connected to a push plate that slides with the material picking area, and a discharge unfolding assembly is installed inside the linen conveying and sorting machine. The discharge 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. Two third sliding seats are slidably provided on one side of the first linear motor conveying frame, and a side wall of the third sliding seat is rotatably connected to a placement frame. The inner side of the third sliding seat is rotatably connected to a limiting claw, 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, 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, and a second sensor is installed inside the linen conveying and sorting machine. 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 phases are installed on the outer sides of the fourth sliding seat and the first sliding seat. The matched material transfer clamping assembly, one side of the third sliding seat is rotatably connected to the 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, a laying block is installed on one side of the third sliding seat, the limiting wheel corresponds to the laying block, a top rod frame is installed on one side of the second linear motor conveying frame, a material dividing positioning assembly is provided inside the linen conveying and sorting machine, a material transfer docking assembly is provided inside the linen conveying and sorting machine, a limited position auxiliary assembly is provided inside the linen conveying and sorting machine, the inner side of the third sliding seat is rotatably connected to a rotating rod, the linen conveying and sorting machine is installed with a large roller frame, and a mechanical arm is installed inside the linen conveying and sorting machine.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, and elastic limiters are movably provided in the middle of the two telescopic frames, and a sensor is provided on one side of the telescopic frame, and one end of the telescopic frame is rotatably connected to a retractable sleeve that cooperates with the sensor, a chuck is rotatably provided on the inner side of the retractable sleeve, and a sensor is provided 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 of the linkage block is movably connected to a rising rod interlaced with the limit rod head, and the outer surface of the rising 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 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 telescopic device is installed on the upper inner part of the linen conveying and sorting machine, a first pressure roller is movably provided on the upper inner part of the linen conveying and sorting machine, and the first telescopic device 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 includes 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, as well as two small roller frames that 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 telescopic device 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 telescopic device is rotatably connected to the clamp.

[0016] Preferably, a material transfer cabinet for use with a material discharging 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 loading device described in the present invention puts the collected towels into the feed hopper, and then continuously conveys the towels through the feed conveyor belt in the material dividing and positioning assembly. The second telescopic device pushes the push plate to push the towels to be concentrated in the material taking area. The first sliding seat slides downward on the third linear motor conveyor frame. When it drops to a predetermined height, the retractable sleeve contacts the towels, and the air valve opens the chuck to clamp the towels. The expansion size of the chuck can also be adjusted by the expansion state of the retractable sleeve. After the clamped towels reach the predetermined height, the upper transfer and clamping assembly transfers the clamped towels and drags them to the transfer conveyor belt for further conveying, which is conducive to the feeding, conveying and sorting of towels of various specifications together, thereby ensuring the conveying quality.

[0019] The second roller is driven by the fifth linear motor to move the second roller, and then the third retractor is automatically started to push the clamping hand to quickly clamp the towel just 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 back of the towel and keep it still, plus a corner clamped by the clamping hand, and then the mechanical arm automatically rotates in the direction, and the two clamping plates clamp the corners of the suspended towel, and then the limit auxiliary component and the rotating rod are reset, which is conducive to automatic conveying and clamping of the towels, accurate identification and sorting, 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 plywood conflicts with the linkage triangle 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 plywood can also drive the rotating plate to move. When the plywood drives the towel to one side of the laying block, the plywood can pass over smoothly. 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 wheels, so that multiple linkage 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. After 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 installed 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 unfolding, and after timely adjusting the unfolded size 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 loading efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and examples.

[0022] Figure 1 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 Schematic diagram of the enlarged cross-section structure of the center material positioning component;

[0027] Figure 6 For the present invention Figure 4 Schematic diagram of the multi-component amplified 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] Figure 9 For the present invention Figure 8 Schematic diagram of the structure from the middle and side rear view;

[0031] Figure 10 For the present invention Figure 4 Enlarged structural diagram 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 port; 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. Retrieving area; 24. Second telescopic device; 25. Push plate; 26. Transfer cabinet; 27. Large roller frame; 28 , fourth linear motor conveyor frame; 29, fifth linear motor conveyor frame; 30, second sliding seat; 31, third telescopic device; 32, gripper; 33, elastic limiter; 34, linkage triangle plate; 35, sensor; 36, limiting wheel; 37, linkage block; 38, retractable sleeve; 39, sensor; 40, chuck; 41, limiting claw; 42, first traction wheel; 43, linkage pulley; 44, belt; 45, laying block ; 46. Placement frame; 47. First spring; 48. Second spring; 49. Limiting card rod head; 50. Turntable; 57. Turning rod; 58. Perforated strip plate; 59. Telescopic card rod; 60. Small roller frame; 61. Push rod frame; 62. Third sliding seat; 63. Counterweight block; 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 automatic sorting and loading device for linen washing, which solves the following problems: when operating the existing linen sorting machine, towels included in the linen are difficult to be spread out flatly by simply 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 misplace, further affecting the folding and sorting quality, and cannot be well controlled before conveying operation. The error rate is high, and 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 is, resulting in increased energy consumption of the equipment, affecting the overall use efficiency and quality of the device.

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

[0035] like Figures 1-10As shown, a machine vision-assisted circulating conveying type linen washing automatic sorting and loading device of the present invention includes 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 one corner of the bottom 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 includes a feed conveyor belt 12 installed on one side of the interior of the linen conveying and sorting machine 1, the feed conveyor belt 12 corresponds to the feed hopper 4, a second telescopic device 24 is installed horizontally inside the linen conveying and sorting machine 1, and a material picking area 23 is provided at one end of the feed conveyor belt 12. The protruding end of the second telescopic device 24 is fixedly connected to a push plate 25 that slides with the material picking area 23. A discharge unfolding component 552 is installed inside the linen conveying and sorting machine 1. The discharge unfolding component 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 slidingly provided on one side of the first linear motor conveying frame 7. A side wall of the third sliding seat 62 is rotatably connected to the placement frame 46. The inner side of the third sliding seat 62 is rotatably connected to the limiting claw 41. 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 the rotating rod 57. One end of the rotating rod 57 is fixedly inserted. A rotating plate 50 is fixedly connected, and a side wall of the rotating plate 50 and the limiting claw 41 are commonly connected with a belt 44. 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 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, and a third sliding seat 62 is rotatably connected to the placement frame 46, and a linkage block 37 is provided on the inner side of the placement frame 46, and a limiting wheel 36 is rotatably connected to one side of the linkage block 37. A linkage triangle plate 34 is fixedly connected to one side of the linkage block 37, and 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, and a material dividing and 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.The interior of the linen conveying and sorting machine 1 is provided with a limit auxiliary component 556. The inner side of the third sliding seat 62 is rotatably connected to a rotating rod 57. The linen conveying and sorting machine 1 is installed with a large roller frame 27. The interior of the linen conveying and sorting machine 1 is provided with a mechanical arm 15, and one end of the mechanical arm 15 is provided with a clamping plate 17. 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. The middle part of each telescopic frame 20 is provided with an elastic limiter 33. One side of the telescopic frame 20 is provided with a sensor 35. One end of the telescopic frame 20 is rotatably connected to a retractable sleeve 38 that cooperates with the sensor 35. The inner side of the retractable sleeve 38 is rotatably provided with a clamp 40. The outer surface of the retractable sleeve 38 is provided with a sensor 39.

[0036] According to the above technical solution, the collected towels are put into the feed hopper 4, and then the towels are continuously transported 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 the towels transported on the feed conveyor belt 12 to be concentrated in the material taking area 23, so that it is convenient for the upper material transfer clamping component 553 to clamp them. 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 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 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 telescopic state, and flexibly clamps. When it is stretched and contracted, 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 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, and the back of the linkage block 37 is movably connected with a pop-up rod 68 interlaced with the limit card rod head 49, and the outer surface of the pop-up rod 68 is covered with a second spring 48, and the upper surface of the linkage block 37 is fixedly connected with a positioning slide 69 slidably set with the placement frame 46, and the outer surface of the positioning slide 69 is covered with a first spring 47, and the bottom end of the limiting claw 41 is provided with a counterweight block 63, and the material dividing and positioning assembly 554 includes a circulating conveyor belt 13 installed inside the linen conveying and sorting machine 1, and a first telescoping device 16 is installed on the inner upper part of the linen conveying and sorting machine 1, and a first pressure roller 14 is movably provided on the inner upper part of the linen conveying and sorting machine 1, and the first telescoping device 16 is used in conjunction with the first pressure roller 14 The material transfer docking assembly 555 includes a fifth sliding seat 66 installed on the fourth linear motor conveyor frame 28, and a telescopic card rod 59 is provided on the inner side of the fifth sliding seat 66. A perforated strip 58 used in conjunction with the telescopic card rod 59 is provided on the lower part of the fifth sliding seat 66. The position limiting auxiliary assembly 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 conveyor 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 conveyor frame 29. The inner side of the second sliding seat 30 is laterally installed with a third telescoping device 31. A gripper 32 is rotatably installed on one side of the second sliding seat 30, and the protruding end of the third telescopic device 31 is rotatably connected to the gripper 32. A transfer cabinet 26 used in conjunction with the discharge unfolding component 552 is installed inside the linen conveying and sorting machine 1, and an inclined conveyor belt 6 is 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 provided 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 conveyor frame 28, and moves quickly between the transfer conveyor belt 21 and the circulating conveyor belt 13. The signal is transmitted through the second sensor 22, and the telescopic card rod 59 extends 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 circulation. 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 one corner clamped by the clamping hand 32, the other corner of the towel is suspended at the front end of the first sensor 10. Then the robot arm 15 automatically rotates in the direction, and the two clamps 17 clamp the suspended corners of the towel. Then the limit auxiliary component 556 and the rotating rod 57 are reset, and the robot arm 15 transfers the towel to the direction of the material discharging 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 moved to one side of the laying block 45 by the splint 17, the rotating plate 50 is squeezed to form an oblique angle, so that the splint 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 set 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 transfer cabinet 26 until it reaches the inclined conveyor belt 6 When the towel reaches the predetermined position above the towel, the provided top 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 towel delivery and clamping, accurate identification and sorting, avoiding stacking or other situations that affect the sorting efficiency, and quickly spreading it out, and preventing the towel slider from falling off during the unfolding. After the unfolded size is adjusted in time according to the size of the towel, it is smoothly and completely unfolded and then conveyed to the next process, ensuring the overall automatic sorting and loading efficiency and quality.

[0038] The embodiment of the present invention further provides a machine vision-assisted circulating conveyor type linen washing automatic sorting and loading device, the specific working principle of which 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 transported 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 the towels transported on the feed conveyor belt 12 to be concentrated in the material picking area 23, so that it is convenient for the upper material transfer clamping component 553 to clamp them. 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 towels, 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 with 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 a 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 to between the transfer conveyor belt 21 and the circulating conveyor belt 13, and transmits a signal through the second sensor 22. The telescopic card rod 59 extends to capture a corner of the towel and press it into the perforated strip 58. When the towel passes through the circulating conveyor belt 13, the first telescopic device 16 extends 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 clamping the towel that has just been clamped, and then quickly resets. The towel is dragged, and 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 do not move, 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 robot arm 15 automatically rotates 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 robot 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 rod 68 conflicts with the second spring 48 to limit it, so that the towel is spread 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 linked rotating wheels 43, so that the multiple linked rotating wheels 43 rotate and Guided by the first traction wheel 42 above, the belt 44 pulls the limiting claw 41 upward. When the rotating plate 50 returns to its original position, the limiting claw 41 returns to its original position, clamping the towel and quickly and forcefully clamping it with the cooperation of the counterweight block 63. After 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, driving the unfolded towel to slide on the transfer cabinet 26 until it reaches a predetermined position above the inclined conveyor belt 6. The provided push rod frame 61 pushes the limiting claw 41 to rotate on the third sliding seat 62, thereby releasing the clamped unfolded towel. The towel enters the next step under the conveyance of the inclined conveyor belt 6, thus effectively completing the entire towel conveying and sorting work.

[0040] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above-described embodiments. The above-described embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A machine vision-assisted circulating conveyor type linen washing automatic sorting and loading device, characterized by: The invention comprises a linen conveying and sorting machine (1), wherein 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 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 conveyor belt (12) installed on one side of the interior of the linen conveying and sorting machine (1), the feed conveyor 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 hopper (4) is installed on one side of the linen conveying and sorting machine (1). A material fetching area (23) is provided at one end of the material conveyor belt (12), and a push plate (25) that slides with the material fetching area (23) is fixedly connected to the protruding end of the second telescopic device (24), and a material discharging and unfolding assembly (552) is installed inside the linen conveying and sorting machine (1), and the material discharging and unfolding assembly (552) includes two second linear motor conveying frames (11) installed inside the linen conveying and sorting machine (1), and a first linear motor conveying frame (7) is installed between the two second linear motor conveying frames (11), and one side of the first linear motor conveying frame (7) is slidably provided with two third sliding seats (62), and a side wall of the third sliding seat (62) is rotatably connected to a placement frame (46), and the inner side of the third sliding seat (62) is provided with a third sliding seat (62). A limiting claw (41) is rotatably connected, and a plurality of interlocking 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), and one end of the rotating rod (57) is fixedly connected to a rotating plate (50). A side wall of the rotating plate (50) and the limiting claw (41) are connected to a belt (44), and the belt (44) is respectively matched with the first traction wheel (42) or the interlocking 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). 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 provided 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), a laying block (45) is installed on one side of the third sliding seat (62), 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 conveying frame (11), and a sorting mechanism is provided inside the linen conveying and sorting machine (1). A material positioning component (554) is provided inside the linen conveying and sorting machine (1), a material transfer docking component (555) is provided inside the linen conveying and sorting machine (1), a position limiting auxiliary component (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. The machine vision-assisted circulating conveyor type linen washing automatic sorting and loading device according to claim 1 is characterized by: The material transfer and 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. An elastic limiter (33) is movably provided in the middle of the two telescopic frames (20), a sensor (35) is provided on one side of the telescopic frame (20), and one end of the telescopic frame (20) is rotatably connected to a retractable sleeve (38) that matches the sensor (35). A clamp (40) is rotatably provided on the inner side of the retractable sleeve (38), and a sensor (39) is provided on the outer surface of the retractable sleeve (38).

3. The machine vision-assisted circulating conveyor type linen washing automatic sorting and loading device according to claim 1 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 rising rod (68) interlaced with the limit rod head (49), and the outer surface of the rising rod (68) is sleeved with a second spring (48).

4. The machine vision-assisted circulating conveyor type linen washing automatic sorting and loading device according to claim 1 is characterized by: The upper surface of the linkage block (37) is fixedly connected with a positioning slide bar (69) that is 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. The machine vision-assisted circulating conveying linen washing automatic sorting and loading device according to claim 1 is characterized by: A counterweight (63) is provided at the bottom end of the limiting claw (41).

6. The machine vision-assisted circulating conveyor type linen washing automatic sorting and loading 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 upper inner part of the linen conveying and sorting machine (1); a first pressure roller (14) is movably provided on the upper inner 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. The machine vision-assisted circulating conveyor type linen washing automatic sorting and loading device according to claim 1 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 card rod (59) is provided 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 provided on the lower part of the fifth sliding seat (66).

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

9. The machine vision-assisted circulating conveyor type linen washing automatic sorting and loading device according to claim 1 is characterized by: The rotating rod (57) includes 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 linen washing automatic sorting and loading device according to claim 1 is characterized by: The linen conveying and sorting machine (1) is internally installed with a 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 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).

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