Visual positioning gland device

Abstract

The invention discloses a visual positioning cover pressing device which comprises a cover pressing machine body and a cover arranging machine arranged on the side face of the cover pressing machine body, the cover pressing machine body comprises a rack, a horizontally-installed conveying roller channel is arranged in the rack, and a cover conveying channel extending out of the cover arranging machine is arranged above the portion, behind the conveying roller channel, of the rack. The cover conveying channel is connected with the machine frame through a supporting assembly, a cover conveying mechanism is installed on the machine frame on the side face of the supporting assembly, a control cabinet is installed on the machine frame below the cover conveying mechanism, a material barrel is placed on the conveying roller channel, a moving module with a cover pressing assembly is installed on the top of the machine frame, and fixed-point moving is conducted in a constructed three-dimensional coordinate system. And a visual positioning module is mounted on the rack. Compared with a traditional mode that a material barrel is rotated to a fixed angle and then a cover is pressed, the detection workload of rotary positioning of the traditional material barrel is greatly reduced, coarse positioning and accurate positioning functions are achieved through the two visual positioning modules, the positioning accuracy of the barrel opening position is further improved, the scheme that the waterproof cover is pressed on the barrel is optimized, and the working efficiency is improved. And the cover pressing efficiency is improved through a high full-automatic positioning cover pressing structure.

Description

Technical Field

[0001] The invention relates to the technical field of filling equipment, in particular to a visual positioning capping device. Background Art

[0002] For the filling of liquid products, some companies use automatic filling lines, which can realize automatic filling of liquid products. In the existing filling system, since the mouth of the round material barrel is not in the center of the barrel, the position of the material barrel relative to the switch cover and the filling head is uncertain when it is transported to the filling position through the roller conveyor. For the material barrel with changing mouth position, the capping device cannot realize automatic capping, which will lead to capping failure.

[0003] The patent with application number CN201711486632.3 discloses a visual positioning capping machine, including a lower seat and an upper seat that can rotate synchronously; the lower seat is provided with can placement seats arranged along the circumference, the can placement seats can be driven to rotate by an independent can positioning motor, and a can positioning camera is arranged on the lower seat; a capping mechanism is installed on the upper seat, and a cap suction cup is arranged at the lower end of the capping mechanism; the capping mechanism can be vertically lifted and lowered under power drive to complete the capping action; a cap positioning camera is arranged on the upper seat; the control system can compare the received can surface image and cap surface image with the reference image stored in the system, and calculate the offset angle between the can and the cap, and then drive the can positioning motor to rotate to eliminate the offset angle.

[0004] However, this positioning method requires visual comparison of barrels with different mouth states with reference images stored in the system, calculates the mouth offset angle, and then rotates the rotary table to the corresponding angle, and caps the barrels with a vertical capping head. Each barrel needs to be rotated to the corresponding angle for capping, which results in a large workload and low barrel positioning efficiency. Summary of the invention

[0005] According to the technical problems to be solved, a visual positioning capping device is provided. Aiming at the uncertainty of the position of the barrel mouth, a method is proposed in which the position of the barrel remains unchanged and the barrel is sealed with a watertight cap by a visual detection module combined with a capping head with horizontal coordinate movement.

[0006] To achieve the above-mentioned purpose, the present invention discloses a visual positioning capping device, comprising a capping machine body and a cap sorting machine arranged on the side of the capping machine body, characterized in that the capping machine body comprises a frame, a horizontally installed transmission roller channel is arranged in the frame, a cap delivery channel extending from the cap sorting machine is arranged above the frame behind the transmission roller channel, the cap delivery channel and the frame are connected by a supporting assembly, a cap feeding mechanism is installed on the frame on the side of the supporting assembly, a control cabinet is installed on the frame below the cap feeding mechanism, a material barrel is placed on the transmission roller channel, a mobile module with a capping assembly is installed on the top of the frame, and fixed-point movement is performed in a constructed three-dimensional coordinate system, and a visual positioning module is installed on the frame.

[0007] Furthermore, the moving module includes a longitudinal transverse movement module arranged perpendicular to the moving direction of the barrel, the longitudinal transverse movement module includes a first linear guide rail fixedly installed and arranged in parallel on both sides of the top of the frame, a module fixing block is installed on the slider corresponding to the first linear guide rail, a transverse transverse movement module is installed between the two groups of module fixing blocks, chain fixing blocks are respectively installed on the top of the module fixing blocks, sprockets installed on the top of the frame are respectively arranged at both ends of the first linear guide rail, and the chain installed on the surface of the sprocket is connected to the chain fixing block to drive the transverse transverse movement module to move along the longitudinal transverse movement module.

[0008] Furthermore, the sprocket includes a driving wheel and a driven wheel arranged relatively to each other, the driving wheel is connected to a dual-axis motor installed on the top of the frame through a transmission rod, bearing seat supports are arranged on both sides of the transmission rod and the driving wheel, and the transmission rod is connected to the output end of the dual-axis motor through a coupling.

[0009] Furthermore, the lateral transverse movement module includes a fixed plate installed between two groups of module fixed blocks, a lateral rack is arranged in the center of the fixed plate, and second linear guides are installed in parallel on the upper and lower sides of the rack, a sliding plate is installed on the slider corresponding to the second linear guide, and a vertical movement module and a lateral drive assembly are arranged on the side of the sliding plate away from the rack. The vertical movement module includes a third linear guide vertically installed on the surface of the sliding plate, a capping cylinder is arranged on the top of the third linear guide, and the output end of the capping cylinder is connected to the capping assembly installed on the corresponding slider to make the capping assembly move along the third linear guide, and a diffused capping head is arranged at the bottom of the rotating cover assembly.

[0010] Furthermore, the lateral drive assembly includes a drive motor arranged on the side of the gland cylinder, the output end of the drive motor is connected to a driving sprocket, a driven sprocket connected to the driving sprocket chain transmission is installed on the side of the fixed plate close to the rack, and a gear meshing with the rack is arranged below the driven sprocket.

[0011] Furthermore, the cover conveying channel is parallel to the moving direction of the barrel, and a baffle plate is provided at the end of the cover conveying channel. The baffle plate is a bent part and is horizontally fixed to the side of the cover conveying channel by screws. An arc-shaped groove is provided on the side of the baffle plate close to the barrel cover, and a baffle cylinder is provided on the right side of the baffle plate. The distance between the baffle cylinder and the baffle plate is greater than the diameter of the barrel cover.

[0012] Furthermore, the cover feeding mechanism includes a height adjustment mechanism fixed on the frame, a cover feeding cylinder vertically arranged with the cover feeding channel is installed on the top of the movable plate in the height adjustment mechanism, a barrel cover base is installed on the top of the output end of the cover feeding cylinder, a lifting cylinder is connected below the movable plate, a fourth linear guide parallel to the cover feeding channel is installed on the top of the height adjustment assembly, the fourth linear guide is located below the fixed plate, a cover removing mechanism is installed on the slider corresponding to the fourth linear guide, the cover removing mechanism includes a connecting plate fixed on the slider, a cover removing cylinder is installed on the bottom of the connecting plate, a vacuum suction cup is installed on the output end of the cover removing cylinder, and the vacuum suction cup is located directly above the barrel cover base in its original state.

[0013] Furthermore, the visual positioning module includes a coarse positioning visual module installed on the side of the driving motor away from the cover assembly and a precise positioning visual module installed on the top of the dual-axis motor, and a photoelectric detection switch is installed on the side of the transmission roller channel directly below the precise positioning visual module.

[0014] Compared with the prior art, the present invention has the following beneficial effects: the present invention discloses a visual positioning capping device. Compared with the traditional method of rotating the barrel to a fixed angle and then capping, the present application determines the coordinates of the barrel mouth at different positions through visual positioning, and the capping assembly that can move horizontally in the spatial coordinate system completes the action of sealing the water cover at a fixed point, which greatly reduces the detection workload of the traditional barrel rotation positioning. The two groups of visual positioning modules realize coarse positioning and precise positioning functions, further improve the positioning accuracy of the barrel mouth position, optimize the barrel water cover sealing solution, and improve the capping efficiency through a relatively high fully automatic positioning capping structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is the front view of the present invention.

[0018] Figure 3 It is a structural schematic diagram of the mobile module of the present invention.

[0019] Figure 4 It is a schematic diagram of the installation of the drive motor and the pressure cover assembly of the present invention.

[0020] Figure 5 It is a schematic diagram of the cover conveying channel structure of the present invention.

[0021] Figure 6 It is a schematic diagram of the cover feeding mechanism of the present invention.

[0022] In the figure: 1 is a frame; 2 is a cap unscrambler; 21 is a cap conveying channel; 211 is a cap blocking plate; 22 is a support assembly; 3 is a transmission roller channel; 31 is a photoelectric detection switch; 4 is a cap feeding mechanism; 41 is a height adjustment assembly; 42 is a cap feeding cylinder; 43 is a barrel cap base; 44 is a fourth linear guide rail; 45 is a connecting plate; 46 is a cap removal cylinder; 47 is a vacuum suction cup; 5 is a material barrel; 6 is a moving module; 61 is a longitudinal and transverse moving module; 611 is a first linear guide rail; 612 is a module fixing Block; 613 is the chain fixing block; 614 is the sprocket; 62 is the lateral traverse module; 621 is the fixed plate; 622 is the rack; 623 is the second linear guide; 624 is the sliding plate; 625 is the driving motor; 626 is the active sprocket; 627 is the driven sprocket; 628 is the gear; 63 is the vertical movement module; 64 is the transmission rod; 65 is the coupling; 66 is the bearing seat; 67 is the dual-axis motor; 7 is the pressure cover assembly; 8 is the coarse positioning vision module; 9 is the precise positioning vision module. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] An embodiment of the present invention, as Figure 1 and Figure 2As shown, the capping machine body includes a frame 1, a horizontally installed transmission roller channel 3 is arranged in the frame 1, a cap delivery channel 21 extending from the cap sorting machine 2 is arranged above the frame 1 behind the transmission roller channel 3, and the cap delivery channel 21 is connected to the frame 1 through a support component 22, a cap feeding mechanism 4 is installed on the frame 1 on the side of the support component 22, and a control cabinet 11 is installed on the frame 1 below the cap feeding mechanism 4, a material barrel 5 is placed on the transmission roller channel 3, and a moving module 6 with a capping assembly 7 is installed on the top of the frame 1. The capping assembly follows the moving module to perform fixed-point movement in the constructed three-dimensional coordinate system, and the visual positioning module is used to control the capping assembly. The block detects the specific position of the barrel mouth in the spatial coordinate system, and the capping assembly moves to the specified position after taking the cap to complete the capping action. Compared with the traditional method of rotating the barrel to a fixed angle and then capping, the present application determines the coordinates of the barrel mouth at different positions through visual positioning, and the capping assembly that can move horizontally in the spatial coordinate system completes the action of sealing the watertight cap at a fixed point, which greatly reduces the detection workload of traditional barrel rotation positioning. The two sets of visual positioning modules realize coarse positioning and precise positioning functions, further improve the positioning accuracy of the barrel mouth position, optimize the drum watertight capping solution, and improve the capping efficiency through a high-level fully automatic positioning capping structure.

[0025] like Figure 3 As shown, the moving module 6 includes a longitudinal transverse module 61 arranged perpendicular to the moving direction of the barrel 5, and the longitudinal transverse module 61 includes a first linear guide rail 611 fixedly installed on both sides of the top of the frame 1 and arranged in parallel. A module fixing block 612 is installed on the slider corresponding to the first linear guide rail 611, and a transverse transverse module 62 is installed between the two groups of module fixing blocks 612. Chain fixing blocks 613 are respectively installed on the top of the module fixing blocks 612. Sprocket wheels 614 installed on the top of the frame 1 are respectively arranged at both ends of the first linear guide rail 611. The chain installed on the surface of the sprocket wheel 614 is connected to the chain fixing block 613 to drive The lateral transverse movement module 62 moves along the longitudinal transverse movement module 61, and the sprocket 614 includes a driving wheel and a driven wheel arranged relatively to each other. The driving wheel is connected to a dual-axis motor 67 installed on the top of the frame 1 through a transmission rod 64. Bearing seats 66 are arranged on both sides of the transmission rod 64 and the driving wheel for support. The transmission rod 64 and the output end of the dual-axis motor 67 are connected through a coupling 65. The longitudinal transverse movement module is driven by the dual-axis motor and chain transmission. When the dual-axis motor drives the sprocket to rotate through the transmission rod, the chain fixing block connected to the chain drives the module fixing block to move linearly on the first linear guide rail to realize the longitudinal displacement of the pressure cover assembly.

[0026] The lateral sliding module 62 includes a fixed plate 621 installed between two groups of module fixed blocks 612, a lateral rack 622 is arranged at the center of the fixed plate 621, and second linear guides 623 arranged in parallel are installed on the upper and lower sides of the rack 622, a sliding plate 624 is installed on the slider corresponding to the second linear guide 623, and a vertical moving module 63 and a lateral driving component are arranged on the side of the sliding plate 624 away from the rack 622. The vertical moving module 63 includes a third linear guide 631 vertically installed on the surface of the sliding plate 624, and a capping cylinder 632 is arranged on the top of the third linear guide 631. The output end of the capping cylinder 632 is connected to the capping assembly 7 installed on the corresponding slider to make the capping assembly 7 move along the third linear guide 63. A diffused capping head is arranged at the bottom of the capping assembly 7. When the capping action is required, the capping cylinder push rod is actuated to push the capping assembly to move in the vertical direction along the third linear guide.

[0027] like Figure 4 As shown, the lateral drive assembly includes a drive motor 625 arranged on the side of the cover cylinder 632, and the output end of the drive motor 625 is connected to a driving sprocket 626. A driven sprocket 627 connected to the driving sprocket 626 by chain transmission is installed on the side of the fixed plate 621 close to the rack 622, and a gear 628 meshing with the rack 622 is arranged below the driven sprocket 627. The lateral shift module realizes horizontal displacement through the drive motor. When the drive motor is started, the driving sprocket at the output end drives the driven sprocket to rotate, and the gear at the driven sprocket is meshed with the rack to realize the horizontal displacement of the cover assembly.

[0028] like Figure 5 As shown, the cover conveying channel 21 is parallel to the moving direction of the barrel 5, and a cover blocking plate 211 is arranged at the end of the cover conveying channel 21. The cover blocking plate 211 is a bent part and is horizontally fixed to the side of the cover conveying channel 21 by screws. An arc-shaped groove is provided on the side of the cover blocking plate 21 close to the barrel cover, which can effectively pre-position the barrel cover and prevent problems in the cover removal process caused by the offset of the barrel cover, thereby improving the accuracy of cover removal. A cover blocking cylinder is arranged on the right side of the cover blocking plate 211, and the distance between the cover blocking cylinder and the cover blocking plate 211 is greater than the diameter of the barrel cover, so as to block the barrel cover at the position to be removed and its adjacent barrel cover, so as to avoid a large number of barrel covers piling up at the station to be removed.

[0029] like Figure 6As shown, the cover feeding mechanism 4 includes a height adjustment mechanism 41 fixed on the frame 1, a cover feeding cylinder 42 arranged vertically with the cover feeding channel 21 is installed on the top of the movable plate in the height adjustment mechanism 41, a barrel cover base 43 is installed on the top of the output end of the cover feeding cylinder 42, a lifting cylinder is connected below the movable plate, a fourth linear guide rail 44 arranged parallel to the cover feeding channel 21 is installed on the top of the height adjustment component 41, the fourth linear guide rail 44 is located below the fixed plate 621, and a cover removal mechanism is installed on the slider corresponding to the fourth linear guide rail 44, and the cover removal mechanism includes a connecting plate 45 fixed on the slider. A cover-removing cylinder 46 is installed at the bottom of the connecting plate 45, and a vacuum suction cup 47 is installed at the output end of the cover-removing cylinder 46. The vacuum suction cup 47 is located directly above the barrel cover base 43 in its original state. The height adjustment mechanism adjusts the height of the cover-feeding cylinder through a hand wheel to adapt to the capping action of barrels of different specifications. The vacuum suction cup moves to the cover-removing station on the fourth linear guide rail. The cover-removing cylinder descends to allow the vacuum suction cup to absorb the barrel cover and then move to directly above the barrel cover base, placing the barrel cover on the barrel cover base as a preparatory barrel cover, which is convenient for the capping assembly to grab and complete the capping action at any time, optimizes the cover-removing process, and saves the cover-removing time.

[0030] The visual positioning module includes a coarse positioning visual module 8 installed on the side of the driving motor 625 away from the capping assembly 7 and a precise positioning visual module 9 installed on the top of the dual-axis motor 67. A photoelectric detection switch 31 is installed on the side of the transmission roller channel 3 directly below the precise positioning visual module 9. After the coarse positioning visual module detects that the material barrel is in place, it will take the cover and grab the cover. After the precise positioning visual module detects the specific position of the barrel mouth, the capping assembly moves to the specified position through the moving module to complete the capping.

[0031] Several points that need to be explained are: First, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, and can be mechanical or electrical connections, or internal connectivity between two elements, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may change; secondly, in this article, relational terms such as first and second, etc. are only used to distinguish one entity from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities.

[0032] The above examples are merely illustrative of the present invention and do not constitute a limitation on the protection scope of the present invention. All designs that are the same or similar to the present invention belong to the protection scope of the present invention.

Claims

1. A visual positioning capping device, comprising a capping machine body and a capping machine (2) arranged on the side of the capping machine body, characterized in that: The capping machine body comprises a frame (1), a horizontally mounted transmission roller channel (3) is arranged in the frame (1), a cap conveying channel (21) extending from a cap sorting machine (2) is arranged above the frame (1) behind the transmission roller channel (3), the cap conveying channel (21) and the frame (1) are connected via a support assembly (22), a cap feeding mechanism (4) is installed on the frame (1) on the side of the support assembly (22), a control cabinet (11) is installed on the frame (1) below the cap feeding mechanism (4), a material barrel (5) is placed on the transmission roller channel (3), a moving module (6) with a cap pressing assembly (7) is installed on the top of the frame (1), and performs fixed-point movement in a constructed three-dimensional coordinate system, and a visual positioning module is installed on the frame (1).

2. The visual positioning capping device according to claim 1, characterized in that: The movable module (6) comprises a longitudinal transverse movement module (61) arranged perpendicular to the moving direction of the barrel (5), the longitudinal transverse movement module (61) comprising a first linear guide rail (611) fixedly mounted on two parallel sides of the top of the frame (1), a module fixing block (612) being mounted on a slider corresponding to the first linear guide rail (611), a transverse transverse movement module (62) being mounted between the two groups of module fixing blocks (612), a chain fixing block (613) being mounted on the top of the module fixing block (612), sprocket wheels (614) mounted on the top of the frame (1) being respectively arranged at both ends of the first linear guide rail (611), a chain mounted on the surface of the sprocket wheel (614) being connected to the chain fixing block (613) to drive the transverse transverse movement module (62) to move along the longitudinal transverse movement module (61).

3. The visual positioning capping device according to claim 2, characterized in that: The sprocket (614) comprises a driving wheel and a driven wheel which are arranged opposite to each other, the driving wheel being connected to a dual-axis motor (67) mounted on the top of the frame (1) via a transmission rod (64), bearing seats (66) are provided on both sides of the transmission rod (64) and the driving wheel for support, and the transmission rod (64) is connected to the output end of the dual-axis motor (67) via a coupling (65).

4. The visual positioning capping device according to claim 2, characterized in that: The lateral traverse module (62) comprises a fixed plate (621) installed between two groups of module fixed blocks (612); a lateral rack (622) is arranged at the center of the fixed plate (621); second linear guide rails (623) arranged in parallel are arranged on the upper and lower sides of the rack (622); a sliding plate (624) is installed on a slider corresponding to the second linear guide rail (623); a vertical movement module (63) and a lateral drive component are arranged on a side of the sliding plate (624) away from the rack (622); the vertical movement module (63) comprises a third linear guide rail (631) installed vertically on the surface of the sliding plate (624); a capping cylinder (632) is arranged on the top of the third linear guide rail (631); an output end of the capping cylinder (632) is connected to a capping assembly (7) installed on the corresponding slider so that the capping assembly (7) moves along the third linear guide rail (63); a diffused capping head is arranged at the bottom of the capping assembly (7).

5. The visual positioning capping device according to claim 4, characterized in that: The transverse drive assembly comprises a drive motor (625) arranged on the side of the gland cylinder (632); the output end of the drive motor (625) is connected to a driving sprocket (626); a driven sprocket (627) chain-drivenly connected to the driving sprocket (626) is installed on one side of the fixed plate (621) close to the rack (622); a gear (628) meshing with the rack (622) is arranged below the driven sprocket (627).

6. The visual positioning capping device according to claim 1, characterized in that: The cover delivery channel (21) is parallel to the moving direction of the barrel (5). A cover blocking plate (211) is provided at the end of the cover delivery channel (21). The cover blocking plate (211) is a bent part and is horizontally fixed to the side of the cover delivery channel (21) by screws. An arc-shaped groove is provided on the side of the cover blocking plate (211) close to the barrel cover. A cover blocking cylinder is provided on the right side of the cover blocking plate (211). The distance between the cover blocking cylinder and the cover blocking plate (211) is greater than the diameter of the barrel cover.

7. The visual positioning capping device according to claim 1, characterized in that: The cap feeding mechanism (4) comprises a height adjustment mechanism (41) fixed on the frame (1); a cap feeding cylinder (42) arranged perpendicularly to the cap feeding channel (21) is installed on the top of a movable plate in the height adjustment mechanism (41); a barrel cap base (43) is installed on the top of the output end of the cap feeding cylinder (42); a lifting cylinder is connected below the movable plate; a fourth linear guide rail (44) arranged parallel to the cap feeding channel (21) is installed on the top of the height adjustment assembly (41); the fourth linear guide rail (44) is located below the fixed plate (621); a cap removing mechanism is installed on a slider corresponding to the fourth linear guide rail (44); the cap removing mechanism comprises a connecting plate (45) fixed on the slider; a cap removing cylinder (46) is installed at the bottom of the connecting plate (45); a vacuum suction cup (47) is installed at the output end of the cap removing cylinder (46); the vacuum suction cup (47) is located directly above the barrel cap base (43) in an original position.

8. The visual positioning capping device according to claim 1, characterized in that: The visual positioning module comprises a coarse positioning visual module (8) installed on the side of the driving motor (625) away from the capping assembly (7) and a precise positioning visual module (9) installed on the top of the dual-axis motor (67), and a photoelectric detection switch (31) is installed on the side of the transmission roller channel (3) directly below the precise positioning visual module (9).

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