Precise quantitative canning intelligent production line

Abstract

The invention provides a precise quantitative canning intelligent production line which comprises a first conveying belt, a second conveying belt and a quantitative canning device, the quantitative canning device comprises a pushing mechanism, a weighing detection mechanism and a multi-axis robot, and the pushing mechanism comprises a pushing plate and a pushing control mechanism. The weighing detection mechanism comprises a bearing plate, a weighing sensor, two clamping jaw heads and a clamping jaw control mechanism, the pushing plate and the bearing plate are oppositely arranged in the Y-axis direction, the pushing control mechanism can control the pushing plate to move in the Y-axis direction, the weighing sensor is arranged at the bottom of the bearing plate, and the two clamping jaw heads are located above the bearing plate in the Z-axis direction. The clamping jaw control mechanism can control the two clamping jaw heads to move towards or away from each other. The multi-axis robot comprises a control mechanism, a mounting base, a vacuum suction cup, two clamping heads and a clamping control mechanism. The precise quantitative canning intelligent production line has the advantages of being high in production precision and good in consistency, so that the production quality is improved, and then the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent production line equipment, and in particular to an intelligent production line for precise quantitative canning of candy foods. Background Art

[0002] Candy foods refer to snacks with sugar ingredients, usually including hard candy, soft candy, chocolate, lollipops, etc. With the improvement of people's living standards, people pay more and more attention to the packaging of goods. Therefore, many candy foods have changed from bulk to beautifully packaged cans or bottles.

[0003] The existing canning production line achieves quantitative canning by canning a fixed amount of candy foods, so that the amount of candy foods in each bottle and can is consistent.

[0004] However, the existing canning production line can only ensure that the quantity of candy foods in each bottle is consistent. However, for candy foods wrapped in packaging bags, when the candy foods are put into the packaging bags in the previous process, there is a phenomenon that the packaging bags are empty, that is, the candy foods are missing from the packaging bags. Therefore, when the existing canning production line cans the same quantity of candy foods wrapped in packaging bags, there is a phenomenon that the weight of the candy foods wrapped in packaging bags in the bottles is inconsistent, which affects the production consistency and production accuracy, and further affects the production quality and production efficiency. Summary of the invention

[0005] In order to achieve the main purpose of the present invention, the present invention provides an intelligent production line for precise quantitative canning with high production accuracy and good consistency, thereby improving production quality and further improving production efficiency.

[0006] In order to achieve the main purpose of the present invention, the present invention provides a precise quantitative canning intelligent production line, including a first conveyor belt, a second conveyor belt and a quantitative canning device, the first conveyor belt transports bottles and cans in the X-axis direction, the second conveyor belt transports food in the X-axis direction, and the first conveyor belt and the second conveyor belt are arranged side by side in the Y-axis direction, the quantitative canning device includes a pushing mechanism, a weighing detection mechanism and a multi-axis robot, the pushing mechanism and the weighing detection mechanism are respectively located on both sides of the first conveyor belt in the Y-axis direction, and the pushing mechanism includes a pushing plate and a pushing control mechanism, the weighing detection mechanism includes a supporting plate, a weighing sensor, two clamping claw heads and a clamping claw control mechanism, the pushing plate and the supporting plate are arranged relative to each other in the Y-axis direction, and the pushing control mechanism includes a weighing detection mechanism, a weighing detection mechanism, a multi-axis robot, and a weighing detection mechanism. The control mechanism can control the push plate to move in the Y-axis direction to push the bottles and cans on the first conveyor belt to the supporting plate. The weighing sensor is arranged at the bottom of the supporting plate. The two clamping heads are located above the supporting plate in the Z-axis direction. The clamping control mechanism can control the two clamping heads to move toward or away from each other. The two clamping heads can clamp the bottles and cans on the supporting plate. The multi-axis robot includes a control mechanism, a mounting seat, a vacuum suction cup, two clamping heads and a clamping control mechanism. The control mechanism can control the movement of the mounting seat. The vacuum suction cup is arranged on the mounting seat and can absorb the food on the second conveyor belt. The clamping control mechanism is arranged on the mounting seat and can control the two clamping heads to move toward or away from each other. The two clamping heads can clamp the bottles and cans on the supporting plate.

[0007] It can be seen from the above scheme that during the operation of the precise quantitative canning intelligent production line of the present invention, the first conveyor belt transports bottles and cans in the X-axis direction, and synchronously, the second conveyor belt transports food in the X-axis direction. When the pushing control mechanism controls the push plate to move toward the supporting plate in the Y-axis direction, the push plate can push the bottles and cans on the first conveyor belt to the supporting plate. Since a weighing sensor is arranged at the bottom of the supporting plate, the weighing sensor can obtain the first weight of the empty bottles and cans at this time. Then, the clamping claw control mechanism controls the two clamping claw heads to move toward each other, so that the two clamping claw heads clamp the empty bottles and cans on the supporting plate, and the empty bottles and cans no longer exert gravity on the supporting plate. At this time, the weighing sensor no longer weighs the empty bottles and cans. Then, the control mechanism of the multi-axis robot controls the movement of the mounting seat, thereby synchronously driving the vacuum suction cup on the mounting seat to move to the second conveyor belt to absorb the food on the second conveyor belt, and the vacuum suction cup on the mounting seat moves to place the absorbed food into the bottles and cans clamped by the two clamping claw heads. When the vacuum suction cup places the preset amount of food on the second conveyor belt into the bottles and cans clamped by the two clamping claw heads, the clamping claw control mechanism controls the two clamping claw heads to move away from each other, so that the two clamping claw heads release the bottles and cans containing the preset amount of food and place them on the supporting plate. At this time, the weighing sensor can obtain the second weight of the bottles and cans containing the preset amount of food. When it is determined that the weight difference between the second weight of the bottles and cans containing the preset amount of food and the first weight of the empty bottles and cans meets the predetermined canned food weight, it indicates that the quantitative canning operation has met the standard. Then the control mechanism of the multi-axis robot controls the movement of the mounting seat, thereby synchronously driving the two clamping heads and the clamping control mechanism on the mounting seat to move to the bottles and cans containing the preset amount of food on the supporting plate. The clamping control mechanism on the mounting seat controls the two clamping heads to move toward each other, so that the two clamping heads clamp the bottles and cans containing the preset amount of food on the supporting plate for automatic unloading operations.

[0008] The precise quantitative canning intelligent production line of the present invention is provided with a weighing detection mechanism. Before the empty bottles and cans are loaded with food, the empty bottles and cans are pushed from the first conveyor belt by a pushing plate to a supporting plate provided with a weighing sensor. The weighing sensor first obtains the first weight of the empty bottles and cans. Then the clamping claw control mechanism controls the two clamping claw heads to move toward each other to clamp the empty bottles and cans on the supporting plate. The empty bottles and cans no longer exert gravity on the supporting plate. At this time, the weighing sensor no longer weighs the empty bottles and cans. Subsequently, the control mechanism of the multi-axis robot controls the mounting seat to drive the vacuum suction cup to load a preset amount of food on the second conveyor belt into the bottles and cans clamped by the two clamping claw heads. Since the weighing sensor will not weigh the bottles and cans during the process of loading food, even if the food or the vacuum suction cup is weighed when the food is loaded into the bottles and cans, the vacuum suction cup will not weigh the food. When the plate touches the bottles and cans, it will not cause the weighing sensor to obtain inaccurate weight data, nor will it cause damage to the precision weighing sensor, thereby extending the service life of the weighing sensor. Afterwards, when the vacuum suction cup places the preset amount of food on the second conveyor belt into the bottles and cans clamped by the two clamping claws, the clamping claw control mechanism controls the two clamping claws to move away from each other, so that the two clamping claws release the bottles and cans containing the preset amount of food and place them on the supporting plate. At this time, the weighing sensor can obtain the second weight of the bottles and cans containing the preset amount of food. When it is determined that the weight difference between the second weight of the bottles and cans containing the preset amount of food and the first weight of the empty bottles and cans meets the predetermined canned food weight, it means that the quantitative canning operation has been completed, which greatly improves the quantitative canning accuracy and improves the consistency of quantitative canning.

[0009] Therefore, the precise quantitative canning intelligent production line of the present invention has the advantages of high production accuracy and good consistency, thereby improving production quality and further improving production efficiency.

[0010] A further solution is that the weighing and detection mechanism also includes a mounting seat, and the supporting plate and the clamping jaw control mechanism are respectively arranged on the mounting seat; the weighing and detection mechanism also includes two support rods and two sliding bearing structures, one support rod is adapted to a clamping jaw head and a sliding bearing structure, the top end of the support rod in the Z-axis direction is connected to the clamping jaw head, the sliding bearing structure includes a shaft rod, a rolling bearing and a ball, the shaft rod extends in the Z-axis direction, and the upper end of the shaft rod is connected to the bottom end of the support rod in the Z-axis direction, the rolling bearing is sleeved on the lower end of the shaft rod, the ball is rotatably supported on the lower end of the rolling bearing, and the ball is rotatably abutted against the mounting seat; and / or, the weighing and detection mechanism also includes a positioning plate, the positioning plate is arranged on the mounting seat, and the positioning plate is provided with two positioning grooves, each positioning groove extends in the moving direction of the clamping jaw head, and a claw arm of a clamping jaw head is arranged through a positioning groove.

[0011] A further solution is that a support plate is provided at the bottom end of each support rod so as to protrude toward the support plate, and the support plate can be moved to the lower end of the support plate to be received on the lower end surface of the support plate.

[0012] A further solution is that the upper edge of the support plate away from the insertion end of the support rod in its moving direction is an inclined chamfer or an arc chamfer; and / or the outer edge of the lower end surface of the support plate in the moving direction of the support plate is an inclined chamfer or an arc chamfer.

[0013] A further solution is that the quantitative canning device also includes a first limiting mechanism and a second limiting mechanism, the first limiting mechanism and the second limiting mechanism are respectively located at both ends of the pushing plate in the X-axis direction, and the first limiting mechanism includes a first limiting plate and a first driving mechanism, the second limiting mechanism includes a second limiting plate and a second driving mechanism, the first limiting plate and the second limiting plate are both located above the first conveyor belt in the Z-axis direction, the first driving mechanism can control the first limiting plate to move in the Y-axis direction, the second driving mechanism can control the second limiting plate to move in the Y-axis direction, the first limiting plate and the second limiting plate can form a first limiting distance in the X-axis direction, and the first limiting distance is used to accommodate a bottle on the first conveyor belt.

[0014] A further solution is that the quantitative canning device also includes a third limiting mechanism, and the third limiting mechanism, the second limiting mechanism and the first limiting mechanism are arranged in sequence in the conveying direction of the first conveyor belt, and the third limiting mechanism includes a third limiting plate and a third driving mechanism. The third limiting plate is located above the first conveyor belt in the Z-axis direction, and the third driving mechanism can control the third limiting plate to move in the Y-axis direction. The third limiting plate and the second limiting plate can form a second limiting distance in the X-axis direction, and the second limiting distance is used to accommodate a bottle on the first conveyor belt.

[0015] A further solution is that the control mechanism includes a control motor, a first control arm and a second control arm, the control motor can control the rotation of the first end of the first control arm, the second end of the first control arm is rotatably hinged to the first end of the second control arm, and the second end of the second control arm is rotatably hinged to the mounting seat.

[0016] A further solution is that the precise quantitative canning intelligent production line also includes a visual inspection mechanism, which includes a light shielding box, a visual camera, a surface light source and four first strip light sources. The light shielding box is covered on the second conveyor belt to enclose a detection area on the second conveyor belt, and the light shielding box has through grooves at both end surfaces in the conveying direction of the second conveyor belt for food to pass through. The visual camera is arranged in the light shielding box, the surface light source is arranged in the light shielding box and is located below the visual camera in the Z-axis direction, and the surface light source has through holes in the Z-axis direction. The camera head of the visual camera and the through holes are arranged toward the detection area correspondingly, and the surface light source emits light downward toward the detection area. The four first strip light sources are arranged in the light shielding box and distributed around the surface light source, and the first strip light source is located below the surface light source in the Z-axis direction and emits light downward toward the detection area at an angle.

[0017] A further solution is that the visual detection mechanism also includes four second strip light sources, which are arranged in the light blocking box and distributed around the surface light source, and the second strip light sources are located below the first strip light source in the Z-axis direction and emit light sources downwardly inclined toward the detection area.

[0018] A further solution is that the precise quantitative canning intelligent production line also includes a speed detector, which is located in the detection area, and the speed detector includes a baffle and an encoder. The encoder's encoding wheel can be rotatably pressed against the second conveyor belt around the Y-axis, and the baffle is located on the outside of the encoder in the Y-axis direction and above the second conveyor belt in the Z-axis direction to limit the food on the second conveyor belt from approaching the encoding wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a first-perspective structural diagram of an embodiment of the precise quantitative canning intelligent production line of the present invention.

[0020] Figure 2 It is a second perspective structural diagram of an embodiment of the precise quantitative canning intelligent production line of the present invention.

[0021] Figure 3 It is a side view of an embodiment of the precise quantitative canning intelligent production line of the present invention.

[0022] Figure 4 It is a first-perspective structural diagram of the coordination of the first limiting mechanism, the second limiting mechanism, the third limiting mechanism, the pushing mechanism and the weighing detection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0023] Figure 5 It is a second perspective structural diagram of the coordination of the first limiting mechanism, the second limiting mechanism, the third limiting mechanism, the pushing mechanism and the weighing detection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0024] Figure 6 It is a first-view structural diagram of the weighing and detection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0025] Figure 7 It is a second perspective structural diagram of the weighing and detection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0026] Figure 8 It is a front view of the weighing and detection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0027] Fig. 9 It is a structural diagram of the coordination of the support rod and the sliding bearing structure in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0028] Fig.10It is a partial cross-sectional view of the sliding bearing structure in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0029] Fig.11 This is a first-perspective structural diagram of the cooperation among the food loading device, the second conveyor belt and the visual detection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0030] Fig.12 This is a second perspective structural diagram of the cooperation among the food loading device, the second conveyor belt and the visual detection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0031] Fig.13 It is a structural diagram of the food feeding device in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0032] Fig.14 It is a partial structural diagram of the food feeding device in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0033] Fig.15 This is a first-perspective structural diagram of the speed detector in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0034] Fig.16 It is a second perspective structural diagram of the speed detector in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0035] Fig.17 It is a structural diagram of the visual inspection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0036] Fig.18 It is a first-perspective sectional view of the visual inspection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0037] Fig.19 It is a cross-sectional view from a second perspective of the visual inspection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0038] Fig. 20 It is an exploded view of the visual inspection mechanism in the embodiment of the precise quantitative canning intelligent production line of the present invention.

[0039] Fig.21 It is a structural diagram of a multi-axis robot in an embodiment of the precise quantitative canning intelligent production line of the present invention.

[0040] Fig. 22 It is a partial structural diagram of a multi-axis robot in an embodiment of the precise quantitative canning intelligent production line of the present invention.

[0041] The present invention is further described below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0042] See also Figures 1 to 22 This embodiment discloses a precise quantitative canning intelligent production line 10, including a first conveyor belt 11, a second conveyor belt 12 and a quantitative canning device 13. The first conveyor belt 11 conveys bottles and cans 20 in the X-axis direction, and the second conveyor belt 12 conveys food 30 in the X-axis direction. The first conveyor belt 11 and the second conveyor belt 12 are arranged side by side in the Y-axis direction. In addition, the quantitative canning device 13 of this embodiment includes a pushing mechanism, a weighing detection mechanism 132 and a multi-axis robot 131. The pushing mechanism and the weighing detection mechanism 132 are respectively located on both sides of the first conveyor belt 11 in the Y-axis direction, and the pushing mechanism includes a pushing plate 133 and a pushing control mechanism 134. The weighing detection mechanism 132 includes a supporting plate 1323, a weighing sensor 1324, two clamping claw heads 1322 and a clamping claw control mechanism 1321. The pushing plate 133 and the supporting plate 1323 are in the Y-axis direction. The pushing control mechanism 134 can control the pushing plate 133 to move in the Y-axis direction to push the bottles and cans 20 on the first conveyor belt 11 to the supporting plate 1323. The weighing sensor 1324 is arranged at the bottom of the supporting plate 1323. The two clamping claw heads 1322 are located above the supporting plate 1323 in the Z-axis direction. The clamping claw control mechanism 1321 can control the two clamping claw heads 1322 to move toward or away from each other, and the two clamping claw heads 1322 can clamp the bottles and cans 20 on the supporting plate 1323. In addition, the multi-axis robot 131 of this embodiment includes a control mechanism, a mounting seat 1311, a vacuum suction cup 1314, two clamping heads 1313 and a clamping control mechanism 1312. The control mechanism can control the movement of the mounting seat 1311. The vacuum suction cup 1314 is arranged on the mounting seat 1311 and can absorb the food 30 on the second conveyor belt 12. The clamping control mechanism 1312 is arranged on the mounting seat 1311 and can control the two clamping heads 1313 to move toward or away from each other. The two clamping heads 1313 can clamp the bottles 20 on the support plate 1323.

[0043] During the operation of the precise quantitative canning intelligent production line 10 of this embodiment, the first conveyor belt 11 conveys the bottles and cans 20 in the X-axis direction, and synchronously, the second conveyor belt 12 conveys the food 30 in the X-axis direction. When the push control mechanism 134 controls the push plate 133 to move toward the supporting plate 1323 in the Y-axis direction, the push plate 133 can push the bottles and cans 20 on the first conveyor belt 11 onto the supporting plate 1323. Since a weighing sensor 1324 is provided at the bottom of the supporting plate 1323, the weighing sensor 1324 can obtain the first weight of the empty bottles and cans 20 at this time, and then the gripper control mechanism 1321 controls the two gripper heads 1322. The two gripping claws 1322 move toward each other, so that the empty bottles and cans 20 on the supporting plate 1323 are clamped, and the empty bottles and cans 20 no longer exert gravity on the supporting plate 1323. At this time, the weighing sensor 1324 no longer weighs the empty bottles and cans 20. Then the control mechanism of the multi-axis robot 131 controls the movement of the mounting seat 1311, thereby synchronously driving the vacuum suction cup 1314 on the mounting seat 1311 to move to the second conveyor belt 12 to absorb the food 30 on the second conveyor belt 12, and the vacuum suction cup 1314 on the mounting seat 1311 moves to place the absorbed food 30 into the bottles and cans 20 clamped by the two gripping claws 1322. After the vacuum suction cup 1314 places the preset amount of food 30 on the second conveyor belt 12 into the bottle 20 clamped by the two clamping claw heads 1322, the clamping claw control mechanism 1321 controls the two clamping claw heads 1322 to move away from each other, so that the two clamping claw heads 1322 release the bottle 20 containing the preset amount of food 30 and place it on the supporting plate 1323. At this time, the weighing sensor 1324 can obtain the second weight of the bottle 20 containing the preset amount of food 30. When it is determined that the weight difference between the second weight of the bottle 20 containing the preset amount of food 30 and the first weight of the empty bottle 20 meets the predetermined value, the weighing sensor 1324 can obtain the second weight of the bottle 20 containing the preset amount of food 30. When the weight of the canned food 30 is reached, it indicates that the quantitative canning operation has been completed. Then the control mechanism of the multi-axis robot 131 controls the movement of the mounting seat 1311, thereby synchronously driving the two clamping heads 1313 and the clamping control mechanism 1312 on the mounting seat 1311 to move to the bottles 20 containing a preset amount of food 30 on the supporting plate 1323. The clamping control mechanism 1312 on the mounting seat 1311 controls the two clamping heads 1313 to move toward each other, so that the two clamping heads 1313 clamp the bottles 20 containing a preset amount of food 30 on the supporting plate 1323 for automatic unloading operations.

[0044] In this embodiment, the precise quantitative canning intelligent production line 10 is provided with a weighing detection mechanism 132. Before the empty bottles and cans 20 are filled with food 30, the empty bottles and cans 20 are pushed from the first conveyor belt 11 by the pushing plate 133 to the supporting plate 1323 provided with a weighing sensor 1324. The weighing sensor 1324 first obtains the first weight of the empty bottles and cans 20, and then the gripper control mechanism 1321 controls the two gripper heads 1322 to move toward each other to clamp the empty bottles and cans 20 on the supporting plate 1323. The empty bottles and cans 20 no longer exert gravity on the supporting plate 1323, and the weighing sensor 1324 no longer weighs the empty bottles and cans 20. Then, the control mechanism of the multi-axis robot 131 controls the mounting seat 1311 to drive the vacuum suction cup 1314 to load the preset number of foods 30 on the second conveyor belt 12 into the bottles and cans 20 clamped by the two gripper heads 1322. Since the weighing sensor 1324 does not weigh the bottles and cans 20 during the process of loading the foods 30, the food 30 is loaded into the bottles and cans 20. 0, even if the food 30 or the vacuum suction cup 1314 touches the bottle 20, it will not cause the weighing sensor 1324 to obtain inaccurate weight data, nor will it cause damage to the precision weighing sensor 1324, thereby extending the service life of the weighing sensor 1324. After that, when the vacuum suction cup 1314 places the preset amount of food 30 on the second conveyor belt 12 into the bottle 20 clamped by the two clamping claw heads 1322, the clamping claw control mechanism 1321 controls the two clamping claw heads 1322 to move away from each other, so that the two clamping claw heads 1322 release the bottle 20 containing the preset amount of food 30 and place it on the supporting plate 1323. At this time, the weighing sensor 1324 can obtain the second weight of the bottle 20 containing the preset amount of food 30. When it is determined that the weight difference between the second weight of the bottle 20 containing the preset amount of food 30 and the first weight of the empty bottle 20 meets the predetermined weight of the canned food 30, it means that the quantitative canning operation has been completed, which greatly improves the quantitative canning accuracy and the consistency of quantitative canning.

[0045] Therefore, the precise quantitative canning intelligent production line 10 of this embodiment has the advantages of high production accuracy and good consistency, thereby improving production quality and further improving production efficiency.

[0046] Combination Figures 4 to 10In this embodiment, the weighing detection mechanism 132 further includes a mounting seat 1311 , and a supporting plate 1323 and a clamping jaw control mechanism 1321 are respectively arranged on the mounting seat 1311 . Specifically, the weighing detection mechanism 132 of this embodiment also includes two support rods 1327 and two sliding bearing structures. One support rod 1327 is adapted to a clamping claw head 1322 and a sliding bearing structure. The top end of the support rod 1327 in the Z-axis direction is connected to the clamping claw head 1322. The sliding bearing structure includes a shaft rod 13210, a rolling bearing 1328 and a ball 13211. The shaft rod 13210 extends in the Z-axis direction, and the upper end of the shaft rod 13210 is connected to the bottom end of the support rod 1327 in the Z-axis direction. The rolling bearing 1328 is sleeved on the lower end of the shaft rod 13210, and the ball 13211 is rollably supported on the lower end of the rolling bearing 1328, and the ball 13211 is rollably abutted against the mounting seat 1311. Thus, the ball 13211, the shaft 13210 and the support rod 1327 support the jaw head 1322 in the Z-axis direction, ensuring that the jaw head 1322 stably maintains a preset height in the Z-axis direction, and when the jaw head 1322 moves, it simultaneously drives the ball 13211 to roll on the mounting seat 1311, reducing the friction between the ball 13211 and the mounting seat 1311, so that the jaw head 1322 maintains a preset height and moves smoothly and steadily, thereby improving the working accuracy and reliability of the jaw head 1322.

[0047] In order to further improve the working accuracy and reliability of the clamping jaw head 1322, the weighing detection mechanism 132 of this embodiment further includes a positioning plate 1326, which is arranged on the mounting seat 1311, and the positioning plate 1326 is provided with two positioning grooves 13261, each of which extends in the moving direction of the clamping jaw head 1322, and a claw arm of a clamping jaw head 1322 is arranged through a positioning groove 13261. Furthermore, in this embodiment, the bottom end of each support rod 1327 is protruded toward the supporting plate 1323 and provided with a supporting plate 1329, which can be moved to the lower end of the supporting plate 1323 to be received on the lower end surface of the supporting plate 1323. In order to ensure that the insertion end of the support plate 1329 moves smoothly to the lower end of the support plate 1323, the upper edge of the insertion end of the support plate 1329 in the moving direction away from the support rod 1327 of the support plate 1329 in this embodiment is an inclined chamfer 13291 or an arc chamfer, and the outer edge of the lower end surface of the support plate 1323 in the moving direction of the support plate 1329 in this embodiment is an inclined chamfer or an arc chamfer.

[0048] Specifically, the quantitative canning device 13 of this embodiment also includes a first limiting mechanism and a second limiting mechanism, which are respectively located at the two ends of the pushing plate 133 in the X-axis direction, and the first limiting mechanism includes a first limiting plate 135 and a first driving mechanism 136, and the second limiting mechanism includes a second limiting plate 137 and a second driving mechanism 138. The first limiting plate 135 and the second limiting plate 137 are both located above the first conveyor belt 11 in the Z-axis direction. The first driving mechanism 136 can control the first limiting plate 135 to move in the Y-axis direction, and the second driving mechanism 138 can control the second limiting plate 137 to move in the Y-axis direction. The first limiting plate 135 and the second limiting plate 137 can form a first limiting spacing (not marked) in the X-axis direction, and the first limiting spacing is used to accommodate a bottle 20 on the first conveyor belt 11. Therefore, the first driving mechanism 136 controls the first limit plate 135 to move above the first conveyor belt 11 in the Y-axis direction, and at the same time the second driving mechanism 138 controls the second limit plate 137 to move above the first conveyor belt 11 in the Y-axis direction, then the first limit plate 135 and the second limit plate 137 form a first limit spacing in the X-axis direction, and the first limit spacing accommodates a bottle 20 on the first conveyor belt 11, thereby ensuring that the pushing plate 133 located between the first limit plate 135 and the second limit plate 137 accurately pushes a bottle 20 on the first conveyor belt 11 accommodated in the first limit spacing to the supporting plate 1323 of the weighing detection mechanism 132, thereby improving the working accuracy and reliability of the pushing plate 133.

[0049] In order to further improve the working accuracy and reliability of the pushing plate 133 and the working accuracy and reliability of the first conveyor belt 11 in conveying the bottles and cans 20, the quantitative canning device 13 of this embodiment also includes a third limiting mechanism, and the third limiting mechanism, the second limiting mechanism and the first limiting mechanism are arranged in sequence in the conveying direction of the first conveyor belt 11, and the third limiting mechanism includes a third limiting plate 139 and a third driving mechanism 1310. The third limiting plate 139 is located above the first conveyor belt 11 in the Z-axis direction. The third driving mechanism 1310 can control the third limiting plate 139 to move in the Y-axis direction. The third limiting plate 139 and the second limiting plate 137 can form a second limiting distance in the X-axis direction. The second limiting distance is used to accommodate a bottle and can 20 on the first conveyor belt 11.

[0050] Combination Figures 11 to 20The precise quantitative canning intelligent production line 10 of this embodiment further includes a visual inspection mechanism 14, which includes a light shielding box 141, a visual camera 144, a surface light source 145, and four first strip light sources 146. The light shielding box 141 is covered on the second conveyor belt 12 to enclose a detection area (not shown) on the second conveyor belt 12, and through grooves 1411 for the food 30 to pass through are formed on both end surfaces of the light shielding box 141 in the conveying direction of the second conveyor belt 12. The visual camera 144 is arranged in the light shielding box 141, and the surface light source 145 is arranged on the second conveyor belt 12. It is placed in the light blocking box 141 and below the visual camera 144 in the Z-axis direction, and the surface light source 145 is penetrated by a through hole 1451 in the Z-axis direction. The camera head of the visual camera 144 and the through hole 1451 are correspondingly arranged toward the detection area, and the surface light source 145 emits light downward toward the detection area. Four first strip light sources 146 are arranged in the light blocking box 141 and distributed around the surface light source 145, and the first strip light source 146 is located below the surface light source 145 in the Z-axis direction and emits light downward toward the detection area. Therefore, when the food 30 transported by the second conveyor belt 12 passes through the through slot 1411 of the light shielding box 141 and enters the detection area on the second conveyor belt 12, the camera head of the visual camera 144 and the through hole 1451 of the surface light source 145 are correspondingly directed toward the detection area to perform quality inspection and position inspection on the food 30 in the detection area, the surface light source 145 emits light downward toward the detection area, and the four first strip light sources 146 are distributed around the surface light source 145 and emit light downwardly toward the detection area, which can supplement the light source in the detection area on the second conveyor belt 12 and improve the detection accuracy of the visual camera 144. The food 30 detected by the visual camera 144 after passing through the detection area on the second conveyor belt 12 is transported out of the detection area, and then the control mechanism of the multi-axis robot 131 controls the mounting seat 1311 to drive the vacuum suction cup 1314 to move, so as to quantitatively can the food 30 after the inspection, thereby improving the quantitative canning accuracy and consistency of quantitative canning.

[0051] In order to further improve the detection accuracy, the visual detection mechanism 14 of this embodiment also includes four second strip light sources 147, which are arranged in the light shielding box 141 and distributed around the surface light source 145, and the second strip light sources 147 are located below the first strip light source 146 in the Z-axis direction and emit light sources downwardly inclined toward the detection area.

[0052] Among them, the precise quantitative canning intelligent production line 10 of this embodiment also includes a speed detector, which is located in the detection area, and the speed detector includes a baffle 143 and an encoder 142. The encoding wheel 1421 of the encoder 142 can be rotatably pressed against the second conveyor belt 12 around the Y-axis to detect the moving speed of the second conveyor belt 12, so as to obtain the moving speed of the food 30 on the second conveyor belt 12, so as to control the coordination of the quantitative canning operation accordingly, thereby improving production efficiency. The baffle 143 of this embodiment is located on the outside of the encoder 142 in the Y-axis direction and above the second conveyor belt 12 in the Z-axis direction to limit the food 30 on the second conveyor belt 12 from approaching the encoding wheel 1421, so as to avoid affecting the operation of the encoding wheel 1421.

[0053] In addition, the precise quantitative canning intelligent production line 10 of this embodiment further includes a food loading device 15, which is located at the loading end of the second conveyor belt 12 in the X-axis direction. The food loading device 15 of this embodiment includes a silo 151, a sliding plate 157, a first feed tray 152, a first vibration mechanism 155, a second feed tray 153, a second vibration mechanism 156 and a third conveyor belt 154. The sliding plate 157 can be slidably inserted into the bottom of the silo 151 in the X-axis direction and form a discharge port 158 ​​between the circumferential wall of the silo 151, so as to adjust the size of the discharge port 158 ​​for foods 30 of different sizes, so that the discharge port 158 ​​can only allow one food 30 to pass through in the X-axis direction. The first feed tray 152 is located below the discharge port 158 ​​in the Z-axis direction, and a plurality of first feed troughs 1521 arranged in a V-shape are arranged on the upper end surface of the first feed tray 152 near the discharge port 158 ​​in the Z-axis direction. The plurality of first feed troughs 1521 are arranged side by side in the Y-axis direction to receive the food 30 supplied from the discharge port 158, and the first feed troughs 1521 extend in the X-axis direction and penetrate the first feed tray 152. The first vibration mechanism 155 can control the vibration of the first feed tray 152 to convey the food 30 in the first feed trough 1521 to the second feed tray 153. Since the second feed end of the second feed tray 153 is located directly below the first discharge end of the first feed trough 1521 in the Z-axis direction, the spacing between adjacent foods 30 on the second feed tray 153 in the X-axis direction is greater than the spacing between adjacent foods 30 in the first receiving trough in the X-axis direction, thereby achieving the purpose of accurately adjusting the spacing between adjacent foods 30, thereby ensuring production quality and production accuracy. The upper end surface of the second feed tray 153 is provided with a plurality of second V-shaped feeding troughs 1531, and the plurality of second feeding troughs 1531 are arranged side by side in the Y-axis direction to receive the food 30 supplied by the first feeding trough 1521, and the second feeding troughs 1531 extend in the X-axis direction and penetrate the second feed tray 153, and the second vibration mechanism 156 can control the vibration of the second feed tray 153 to transport the food 30 in the second feeding trough 1531 to the third conveyor belt 154. Since the second discharge end of the second feed tray 153 is located directly above the input end of the third conveyor belt 154 in the Z-axis direction, the spacing between adjacent foods 30 in the X-axis direction on the third conveyor belt 154 is greater than the spacing between adjacent foods 30 in the X-axis direction in the second receiving trough, thereby achieving the purpose of secondary precise adjustment of the spacing between adjacent foods 30, thereby ensuring production quality and production accuracy.The third conveyor belt 154 transports the food 30 in the X-axis direction, so that the food 30 on the third conveyor belt 154 is transported to the second conveyor belt 12. Since the output end of the third conveyor belt 154 is located directly above the loading end of the second conveyor belt 12 in the Z-axis direction, the spacing between adjacent foods 30 on the second conveyor belt 12 in the X-axis direction is greater than the spacing between adjacent foods 30 on the third conveyor belt 154 in the X-axis direction, thereby achieving the purpose of three-time precise adjustment of the spacing between adjacent foods 30, thereby ensuring production quality and production accuracy.

[0054] Combination Fig.21 and Fig. 22 The control mechanism of this embodiment includes a control motor 1315, a first control arm 1316 and a second control arm 1317. The control motor 1315 can control the first end of the first control arm 1316 to rotate. The second end of the first control arm 1316 is rotatably hinged to the first end of the second control arm 1317. The second end of the second control arm 1317 is rotatably hinged to the mounting base 1311, thereby being able to control the mounting base 1311 to move and rotate in multiple degrees of freedom, thereby improving working accuracy and reliability.

[0055] The above embodiments are only preferred examples of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structure, characteristics and principles of the patent application scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. An intelligent production line for precise quantitative canning, comprising a first conveyor belt and a second conveyor belt, wherein the first conveyor belt conveys bottles and cans in the X-axis direction, and the second conveyor belt conveys food in the X-axis direction, and the first conveyor belt and the second conveyor belt are arranged side by side in the Y-axis direction, characterized in that: The precise quantitative canning intelligent production line also includes a quantitative canning device, which includes a pushing mechanism, a weighing detection mechanism and a multi-axis robot. The pushing mechanism and the weighing detection mechanism are respectively located on both sides of the first conveyor belt in the Y-axis direction, and the pushing mechanism includes a pushing plate and a pushing control mechanism. The weighing detection mechanism includes a supporting plate, a weighing sensor, two clamping claw heads and a clamping claw control mechanism. The pushing plate and the supporting plate are arranged opposite to each other in the Y-axis direction. The pushing control mechanism can control the pushing plate to move in the Y-axis direction to push the bottles and cans on the first conveyor belt to the supporting plate. The weighing sensor is arranged at the bottom of the supporting plate. The two clamping claw heads are located above the supporting plate in the Z-axis direction. The clamping claw control mechanism can control the two clamping claw heads to move toward or away from each other, and the two clamping claw heads can clamp the bottles and cans on the supporting plate. The multi-axis robot includes a control mechanism, a mounting seat, a vacuum suction cup, two clamping heads and a clamping control mechanism. The control mechanism can control the movement of the mounting seat. The vacuum suction cup is arranged on the mounting seat and can absorb the food on the second conveyor belt. The clamping control mechanism is arranged on the mounting seat and can control the two clamping heads to move toward or away from each other. The two clamping heads can clamp the bottles and cans on the support plate.

2. The precise quantitative canning intelligent production line according to claim 1 is characterized by: The weighing detection mechanism also includes a mounting seat, and the supporting plate and the clamping jaw control mechanism are respectively arranged on the mounting seat; The weighing detection mechanism also includes two support rods and two sliding bearing structures, one of the support rods is adapted to one of the clamping claw head and one of the sliding bearing structures, the top end of the support rod in the Z-axis direction is connected to the clamping claw head, the sliding bearing structure includes a shaft rod, a rolling bearing and a ball, the shaft rod extends in the Z-axis direction, and the upper end of the shaft rod is connected to the bottom end of the support rod in the Z-axis direction, the rolling bearing is sleeved on the lower end of the shaft rod, the ball is rollably supported on the lower end of the rolling bearing, and the ball is rollably abutted against the mounting seat; And / or, the weighing detection mechanism also includes a positioning plate, which is arranged on the mounting seat and has two positioning grooves, each of which extends in the moving direction of the clamping jaw head, and a claw arm of the clamping jaw head is arranged through one of the positioning grooves.

3. The precise quantitative canning intelligent production line according to claim 2 is characterized by: A supporting plate is provided at the bottom end of each supporting rod protruding toward the supporting plate, and the supporting plate can be moved to the lower end of the supporting plate to be received on the lower end surface of the supporting plate.

4. The precise quantitative canning intelligent production line according to claim 3 is characterized by: The upper edge of the support plate in the moving direction away from the insertion end of the support rod is an inclined chamfer or an arc chamfer; And / or, the outer edge of the lower end surface of the bearing plate in the moving direction of the support plate is an inclined chamfer or an arc chamfer.

5. The precise quantitative canning intelligent production line according to claim 1 is characterized by: The quantitative canning device further includes a first limiting mechanism and a second limiting mechanism, the first limiting mechanism and the second limiting mechanism are respectively located at two ends of the pushing plate in the X-axis direction, and the first limiting mechanism includes a first limiting plate and a first driving mechanism, the second limiting mechanism includes a second limiting plate and a second driving mechanism, and the first limiting plate and the second limiting plate are both located above the first conveyor belt in the Z-axis direction; The first driving mechanism can control the first limiting plate to move in the Y-axis direction, and the second driving mechanism can control the second limiting plate to move in the Y-axis direction. The first limiting plate and the second limiting plate can form a first limiting distance in the X-axis direction, and the first limiting distance is used to accommodate one of the bottles and cans on the first conveyor belt.

6. The precise quantitative canning intelligent production line according to claim 5 is characterized by: The quantitative canning device also includes a third limiting mechanism, and the third limiting mechanism, the second limiting mechanism and the first limiting mechanism are arranged in sequence in the conveying direction of the first conveyor belt, and the third limiting mechanism includes a third limiting plate and a third driving mechanism. The third limiting plate is located above the first conveyor belt in the Z-axis direction, and the third driving mechanism can control the third limiting plate to move in the Y-axis direction. The third limiting plate and the second limiting plate can form a second limiting distance in the X-axis direction, and the second limiting distance is used to accommodate one of the bottles and cans on the first conveyor belt.

7. The precise quantitative canning intelligent production line according to claim 1 is characterized by: The control mechanism includes a control motor, a first control arm and a second control arm. The control motor can control the first end of the first control arm to rotate. The second end of the first control arm is rotatably hinged to the first end of the second control arm. The second end of the second control arm is rotatably hinged to the mounting seat.

8. The precise quantitative canning intelligent production line according to any one of claims 1 to 7, characterized in that: The precise quantitative canning intelligent production line also includes a visual detection mechanism, which includes a light shielding box, a visual camera, a surface light source and four first strip light sources. The light shielding box is covered on the second conveyor belt to enclose a detection area on the second conveyor belt, and the two end surfaces of the light shielding box in the conveying direction of the second conveyor belt are penetrated with through grooves for the food to pass through; The visual camera is arranged in the light shielding box, the surface light source is arranged in the light shielding box and is located below the visual camera in the Z-axis direction, and the surface light source is provided with a through hole in the Z-axis direction, the camera head of the visual camera is arranged toward the detection area corresponding to the through hole, and the surface light source emits light downward toward the detection area; The four first strip-shaped light sources are arranged in the light shielding box and distributed around the surface light source, and the first strip-shaped light sources are located below the surface light source in the Z-axis direction and emit light sources toward the detection area in a downwardly inclined manner.

9. The precise quantitative canning intelligent production line according to claim 8 is characterized by: The visual detection mechanism also includes four second bar-shaped light sources, which are arranged in the light blocking box and distributed around the surface light source. The second bar-shaped light sources are located below the first bar-shaped light sources in the Z-axis direction and emit light sources toward the detection area at a downward tilt.

10. The precise quantitative canning intelligent production line according to claim 8 is characterized by: The precise quantitative canning intelligent production line also includes a speed detector, which is located in the detection area, and includes a baffle and an encoder. The encoder wheel can be rotatably pressed against the second conveyor belt around the Y-axis, and the baffle is located on the outside of the encoder in the Y-axis direction and above the second conveyor belt in the Z-axis direction to limit the food on the second conveyor belt from approaching the encoder wheel.

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