Detection positioning equipment for visual positioning machine

Abstract

The invention provides detection positioning equipment for a visual positioning machine, and belongs to the field of positioning of visual detection, the detection positioning equipment comprises a belt conveyor composed of a conveying belt and fixing frames arranged on the front side, the rear side and the right side of the conveying belt, the right side and the rear side of the belt conveyor are jointly provided with an arc-shaped mounting plate, and the upper end of the arc-shaped mounting plate is provided with a detection positioning unit. The detection positioning unit can perform multi-stage mutual locking on the CCD visual camera and the coaxial light source, the CCD visual camera / the coaxial light source and the fixing mechanism, and the fixing mechanism and the limiting guide mechanism, and the fixing mechanism can stably install the CCD visual camera and the coaxial light source at the upper end of the bottom plate. According to the mode of fixing the CCD visual camera and the coaxial light source, the connection degree between the CCD visual camera and the coaxial light source can be increased, it is ensured that the CCD visual camera and the coaxial light source are always in a relatively stable state, and the convenience of the CCD visual camera and the coaxial light source in the installation process can be improved.

Description

Technical Field

[0001] The invention relates to the field of visual detection positioning, in particular to a detection and positioning device used for a visual positioning machine. Background Art

[0002] A visual positioning machine is a device that uses computer vision technology to determine the position and posture of an object. Common examples include CCD vision cameras. CCD vision cameras are imaging devices based on CCD image sensor technology. They have high resolution, low noise, and excellent light sensitivity. They are widely used in industrial production, such as quality inspection, positioning, and guidance in production.

[0003] In the wine box production process, when the cardboard is glued and conveyed to the folding station, a CCD vision camera is needed to position the cardboard. The CCD vision camera can accurately identify the position and direction of the cardboard to ensure that each fold is performed in the right place, thereby maintaining the consistency of all products.

[0004] However, there are still the following problems in the detection and positioning process of CCD vision cameras:

[0005] (1) CCD vision camera and coaxial light source are usually fixed by bolt connection. The stability of CCD vision camera and coaxial light source under this single fixing method may be insufficient, which may easily cause the CCD vision camera or coaxial light source to shake during the detection and positioning process, thereby affecting the accuracy of the detection result. In addition, this fixing method is not convenient, takes a long time to install, and is inefficient.

[0006] (2) During the mobile detection process, the CCD visual camera and the coaxial light source are easily affected by the operation of external equipment and are prone to vibration or shaking. It is difficult to ensure the accuracy of the moving path, which affects the positioning accuracy during the detection process. The overall stability needs to be improved.

[0007] Therefore, in order to solve the problems existing in the detection and positioning process of the CCD visual camera, the present invention provides a detection and positioning device for a visual positioning machine. Summary of the invention

[0008] The present invention provides a detection and positioning device for a vision positioning machine, including a belt conveyor composed of a conveyor belt and fixed frames arranged on its front, rear, and right sides. An arc-shaped mounting plate is jointly arranged on the right side and the rear side of the belt conveyor. A detection and positioning unit is arranged at the upper end of the arc-shaped mounting plate. The detection and positioning unit includes a bottom plate arranged at the upper end of the arc-shaped mounting plate. A CCD vision camera is arranged at the upper end of the bottom plate. A coaxial light source inserted and matched with the bottom plate is arranged on the front side of the CCD vision camera. A fixing mechanism for fixing the CCD vision camera and the coaxial light source is arranged at the upper end of the bottom plate. The fixing mechanism includes a tail shell arranged at the rear end of the CCD vision camera and mounted on the upper end of the bottom plate. An inverted U-shaped plate is clamped at the upper end of the CCD vision camera. Vertical rods inserted and matched with the bottom plate are mounted on both the left and right sides of the inverted U-shaped plate. A housing is sleeved at the upper end of the coaxial light source. A connecting piece is arranged between the housing and the fixed frame located at the rear side. Plug rods inserted and matched with the bottom plate are mounted on both the left and right sides of the housing. Cross rods slidably mounted back and forth on the plug rods and slidably matched with the corresponding vertical rods back and forth are arranged. A limit guiding mechanism is arranged at the upper end of the arc-shaped mounting plate. A moving mechanism for controlling the movement of the bottom plate is arranged at the upper end of the arc-shaped mounting plate. A positioning mechanism is arranged above the belt conveyor. The positioning mechanism includes two side plates distributed front and back. Two positioning plates distributed left and right are slidably arranged on the opposite sides of the front and back two side plates.

[0009] In a possible implementation manner, the arc-shaped mounting plate is composed of two straight line segments located at the rear side and the right side and an arc segment installed between the two straight line segments. A plurality of mounting frames are installed on the side of the arc-shaped mounting plate away from the belt conveyor. A sloping plate is connected between the mounting frame and the corresponding fixed frame of the belt conveyor.

[0010] In a possible implementation manner, the moving mechanism includes an arc-shaped guide rail installed at the upper end of the arc-shaped mounting plate. An inverted U-shaped slider slidably matched with the arc-shaped guide rail is installed at the lower end of the bottom plate. An arc-shaped chain belt is arranged at the upper end of the arc-shaped mounting plate on the side away from the belt conveyor and fixedly connected to the vertical section of the inverted U-shaped slider. The arc-shaped chain belt is传动连接通过两个链轮转动安装在弧形安装板上端。 An arc-shaped rod slidably connected to the arc segment of the arc-shaped chain belt is installed at the upper end of the arc-shaped mounting plate. The lower end of the sprocket located at the rear side of the belt conveyor is connected to the output shaft of the motor rotatably penetrating the arc-shaped mounting plate. The motor is installed on the mounting frame through a support. An avoidance groove for avoiding the rotation of the bottom plate is opened on the fixed frame located on the right side.

[0011] In a possible implementation manner, the limit guiding mechanism includes an arc-shaped guiding plate installed at the upper end of the mounting frame and having the same trajectory as the arc-shaped mounting plate. An arc-shaped side groove is opened on the side of the arc-shaped guiding plate close to the belt conveyor. A sliding rod slidably connected to the arc-shaped side groove is installed at the rear end of the tail shell. The left and right two vertical rods are installed at the lower end of the same top plate. An arc-shaped sliding groove is opened at the upper end of the arc-shaped guiding plate. A guiding rod slidably matched with the arc-shaped sliding groove is installed at the lower end of the top plate.

[0012] In a possible implementation, the connecting member includes two tilting rods distributed on the left and right and installed at the front end of the housing, and a rectangular plate located at the upper end of the fixing frame is commonly installed at the lower ends of the left and right tilting rods.

[0013] In one possible implementation, the upper ends of the fixing frames located at the rear and right sides are jointly provided with arc-shaped grooves having the same track as the arc-shaped mounting plate, and the lower end of the arc-shaped rectangular plate is provided with sliding columns slidably connected to the arc-shaped grooves, and the arc-shaped guide rails, arc-shaped chain belts, arc-shaped rods, arc-shaped grooves, arc-shaped guide plates, arc-shaped side grooves, and arc-shaped slide grooves are all concentric with the arc-shaped segments of the arc-shaped mounting plate.

[0014] In one possible implementation, a rectangular groove located in front of the CCD visual camera is opened at the upper end of the bottom plate, a baffle is installed inside the rectangular groove for sliding up and down, and telescopic springs evenly arranged left and right are connected between the lower end of the baffle and the bottom wall of the rectangular groove.

[0015] In one possible implementation, two triangular blocks distributed front and back are provided at both upper and lower ends of the cross bar, the triangular block located at the front is fixedly connected to the cross bar, and the triangular block located at the rear is slidably connected to the cross bar up and down via a connecting spring.

[0016] In a possible implementation, rollers that are evenly arranged and in rotational contact with the arc-shaped guide rail are rotatably mounted on the sides of the front and rear vertical sections of the inverted C-shaped sliding block that are adjacent to each other.

[0017] In a possible implementation, a pressure rod is installed at a position of the lower end of the top plate corresponding to the tail shell.

[0018] Beneficial effects of the present invention:

[0019] 1. The detection and positioning unit in the present invention can perform multi-level mutual locking of the CCD vision camera and the coaxial light source, the CCD vision camera / coaxial light source and the fixing mechanism, and the fixing mechanism and the limiting guide mechanism, and the fixing mechanism can firmly install the CCD vision camera and the coaxial light source on the upper end of the base plate. The method of fixing the CCD vision camera and the coaxial light source can not only increase the connection between the CCD vision camera and the coaxial light source, ensure that the two are always in a relatively stable state, improve the stability and reliability of the CCD vision camera and the coaxial light source during operation, but also help to increase the convenience of the CCD vision camera and the coaxial light source during installation.

[0020] 2. The limiting guide mechanism used in the present invention can limit and guide the overall movement of the CCD vision camera, coaxial light source and fixing mechanism, ensuring that the CCD vision camera and coaxial light source can accurately move along a predetermined path, thereby improving the positioning accuracy during the detection and imaging process. At the same time, it can also reduce vibration or shaking during movement, enhance stability, and improve overall operating efficiency.

[0021] 3. The CCD visual camera, coaxial light source and fixing mechanism in the present invention are rotatable as a whole, and the viewing angle can be flexibly adjusted to ensure the best detection angle, so as to accurately control the position of the cardboard on the X-axis and Y-axis, complete the centering of the cardboard, and at the same time, the folding operation of the cardboard can be accurately completed by detecting the folding point of the cardboard, thereby improving the quality and efficiency of the folding operation.

[0022] In addition to the technical problems solved by the embodiments of the present invention described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by a detection and positioning device for a visual positioning machine provided by an embodiment of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the main stereoscopic structure of the present invention.

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of the mounting frame, the fixing frame and the inclined plate of the present invention.

[0026] Figure 3 It is a partial three-dimensional structural schematic diagram of the moving mechanism of the present invention.

[0027] Figure 4 It is a schematic diagram of the cross-sectional plan structure of the detection and positioning unit of the present invention.

[0028] Figure 5 It is a three-dimensional structural schematic diagram of the fixing mechanism and the limiting guide mechanism of the present invention.

[0029] Figure 6 It is a partial three-dimensional structural schematic diagram of the fixing mechanism and the connecting member of the present invention.

[0030] In the figure: 11, conveyor belt; 111, side plate; 112, alignment plate; 12, fixing frame; 2, arc-shaped mounting plate; 21, detection and positioning unit; 211, bottom plate; 212, CCD visual camera; 213, coaxial light source; 214, tail shell; 216, baffle; 217, telescopic spring; 218, inverted plate; 219, vertical rod; 220, top plate; 221, pressure rod; 222, shell; 223, tilt rod; 224, rectangular plate; 225, Arc groove; 226, slide column; 227, plug rod; 228, cross bar; 229, triangular block; 23, mounting frame; 230, connecting spring; 231, inclined plate; 232, arc guide plate; 233, arc side groove; 234, sliding rod; 235, arc slide groove; 236, guide rod; 241, arc guide rail; 242, inverted slider; 243, roller; 244, arc chain belt; 245, sprocket; 246, arc rod; 247, motor. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described below, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] See also Figure 1 A detection and positioning device for a visual positioning machine includes a belt conveyor composed of a conveyor belt 11 and fixed frames 12 arranged on the front, rear and right sides thereof. An arc-shaped mounting plate 2 is commonly arranged on the right and rear sides of the belt conveyor. The arc-shaped mounting plate 2 is composed of two straight line segments located on the rear and right sides and an arc segment installed between the two straight line segments. A detection and positioning unit 21 is arranged on the upper end of the arc-shaped mounting plate 2, and a folding station is arranged above the right end of the belt conveyor (only part of the belt conveyor is shown in the figure, and the equipment specifically involved in the folding station is not shown in the figure).

[0033] See also Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6The detection and positioning unit 21 includes a bottom plate 211 arranged at the upper end of the arc-shaped mounting plate 2, a CCD visual camera 212 is arranged at the upper end of the bottom plate 211, a coaxial light source 213 plugged with the bottom plate 211 is arranged at the front side of the CCD visual camera 212, the CCD visual camera 212 and the coaxial light source 213 are coaxial, and a fixing mechanism for fixing the CCD visual camera 212 and the coaxial light source 213 is arranged at the upper end of the bottom plate 211, and the fixing mechanism includes a tail shell 214 arranged at the rear end of the CCD visual camera 212 and installed at the upper end of the bottom plate 211, and the bottom plate A rectangular groove is opened at the upper end of 211 and is located in front of the CCD vision camera 212. A baffle 216 is installed inside the rectangular groove for sliding up and down. Telescopic springs 217 evenly arranged on the left and right are connected between the lower end of the baffle 216 and the bottom wall of the rectangular groove. An inverted plate 218 is clamped on the upper end of the CCD vision camera 212. Vertical rods 219 that are plugged into and matched with the bottom plate 211 are installed on the left and right sides of the inverted plate 218. The left and right vertical rods 219 are installed at the lower end of the same top plate 220. A pressure rod 221 is installed at the position of the lower end of the top plate 220 corresponding to the tail shell 214.

[0034] See also Figure 4 , Figure 5 and Figure 6 The coaxial light source 213 is provided with a housing 222 at the upper end, and a connecting member is provided between the housing 222 and the fixing frame 12 located at the rear side, and the connecting member includes two tilting rods 223 installed at the front end of the housing 222 and distributed on the left and right sides, and the lower ends of the two tilting rods 223 are jointly installed with a rectangular plate 224 located at the upper end of the fixing frame 12, and the upper ends of the fixing frames 12 located at the rear side and the right side are jointly provided with an arc-shaped groove 225 with the same track as the arc-shaped mounting plate 2, and the lower end of the arc-shaped rectangular plate 224 is installed with a The sliding column 226 is slidably connected to the groove 225, and the left and right sides of the shell 222 are equipped with plug rods 227 that are plugged into the bottom plate 211. A cross bar 228 that is slidably installed on the plug rod 227 and is slidably matched with the corresponding vertical rod 219. Two triangular blocks 229 distributed front and back are provided at the upper and lower ends of the cross bar 228. The triangular block 229 located on the front side is fixedly connected to the cross bar 228, and the triangular block 229 located on the rear side is slidably connected to the cross bar 228 up and down through a connecting spring 230.

[0035] See also Figure 1-Figure 6A plurality of mounting frames 23 are installed on the side of the arc-shaped mounting plate 2 away from the belt conveyor, and an inclined plate 231 is connected between the mounting frame 23 and the fixed frame 12 corresponding to the belt conveyor. The inclined plate 231 is conducive to increasing the stability between the mounting frame 23 and the fixed frame 12. A limited guide mechanism is arranged on the upper end of the arc-shaped mounting plate 2, and the limited guide mechanism includes an arc-shaped guide plate 232 which is installed on the upper end of the mounting frame 23 and has the same track as the arc-shaped mounting plate 2. An arc-shaped side groove 233 is provided on the side of the arc-shaped guide plate 232 close to the belt conveyor, and a sliding rod 234 which is slidably connected to the arc-shaped side groove 233 is installed at the rear end of the tail shell 214, an arc-shaped slide groove 235 is provided on the upper end of the arc-shaped guide plate 232, and a guide rod 236 which slidably cooperates with the arc-shaped slide groove 235 is installed at the lower end of the top plate 220.

[0036] In the process of fixing the CCD vision camera 212 and the coaxial light source 213 on the base plate 211, the CCD vision camera 212 can be first placed on the upper end of the base plate 211 and its rear end can be inserted into the tail shell 214. At this time, it is also necessary to use artificial external force to press the baffle 216 downward so that the baffle 216 compresses the telescopic spring 217 and moves downward along the rectangular groove, so that the CCD vision camera 212 can be smoothly placed between the baffle 216 and the tail shell 214. The tail shell 214 can pre-limit the circumferential position of the tail of the CCD vision camera 212 by surrounding it. After the external force is released, the baffle 216 can move up to conflict with the front end of the CCD vision camera 212 under the action of the telescopic spring 217, but the baffle 216 will not block the lens of the CCD vision camera 212. The baffle 216 cooperates with the tail shell 214 to limit the CCD vision camera 212 in the front and rear directions.

[0037] Then, the top plate 220, the vertical rod 219, the inverted shaped plate, the pressure rod 221 and the guide rod 236 can be moved downward, so that the vertical rods 219 on the left and right sides are plugged into and matched with the bottom plate 211 at the same time, the inverted shaped plate is clamped on the upper end of the CCD vision camera 212 through the vertical sections on the left and right sides, the pressure rod 221 is pressed against the upper end of the tail shell 214, and the guide rod 236 is synchronously inserted into the arc-shaped slide groove 235. While the inverted shaped plate 218 presses and limits the upper end of the CCD vision camera 212, the vertical rods 219 on the left and right sides help to increase the connection between the inverted shaped plate 218, the top plate 220, the guide rod 236, the pressure rod 221 and the bottom plate 211, thereby increasing the stability of the CCD vision camera 212 placed on the upper end of the plate. Subsequently, the coaxial optical The source 213 is inserted into the upper end of the base plate 211. At this time, the coaxial light source 213 is located at the CCD vision camera 212 and the two are coaxial. Then the shell 222 can be put on the upper end of the coaxial light source 213. The shell 222 drives the insertion rods 227 on its left and right sides to simultaneously plug and cooperate with the base plate 211 to connect the shell 222 and the base plate 211. In addition, the shell 222 drives the rectangular plate 224 and the sliding column 226 to move downward synchronously through the two left and right inclined rods 223 at its front end. The sliding column 226 is gradually inserted into the arc groove 225. The inclined rod 223 helps to increase the stability between the shell 222 and the rectangular plate 224, and the rectangular plate 224 and the sliding column 226 help to improve the connection stability between the fixing mechanism and the belt conveyor fixing frame 12.

[0038] Then, the horizontal bars 228 on the left and right sides can be moved backward along the corresponding insertion rods 227 at the same time to be inserted into the corresponding vertical bars 219. In this process, the upper and lower triangular blocks 229 located on the rear side are subjected to the extrusion force and can simultaneously move up and down along the horizontal bars 228 by compressing the corresponding connecting springs 230, so that the horizontal bars 228 can smoothly pass through the corresponding vertical bars 219, and finally the vertical bars 219 are located between the triangular blocks 229 on the front and rear sides. In the subsequent disassembly process, the triangular blocks 229 on the upper and lower sides can be pressed toward each other by external force to remove the horizontal bars 228. The vertical rod 219, the horizontal rod 228 and the triangular blocks 229 on the front and rear sides thereof can not only limit the vertical rod 219, the inverted plate 218 and the top plate 220 in the up and down directions, but also implement up and down limits on the insertion rod 227 and the outer shell 222, and at the same time can also increase the connection between the CCD vision camera 212 and the coaxial light source 213 to ensure that the two are in a relatively stable state. This fixing method can not only stably install the CCD vision camera 212 and the coaxial light source 213 on the upper end of the base plate 211, but also increase the convenience of the installation process of the two.

[0039] See also Figure 1-Figure 6The upper end of the arc-shaped mounting plate 2 is provided with a moving mechanism for controlling the bottom plate 211 to move along the track of the arc-shaped mounting plate 2. The moving mechanism includes an arc-shaped guide rail 241 installed on the upper end of the arc-shaped mounting plate 2. The lower end of the bottom plate 211 is provided with an inverted slider 242 that slides with the arc-shaped guide rail 241. The side of the front and rear vertical sections of the inverted slider 242 that are close to each other is rotatably installed with rollers 243 that are evenly arranged and in rotational contact with the arc-shaped guide rail 241. The upper end of the arc-shaped mounting plate 2 is provided with an arc-shaped chain belt 244 that is located on the side of the arc-shaped guide rail 241 away from the belt conveyor and is fixedly connected to the vertical section of the inverted slider 242. The arc-shaped chain belt 244 is rotatably installed on the arc-shaped guide rail 241. The two sprockets 245 at the upper end of the curved mounting plate 2 are transmission connected, and an arc rod 246 slidingly connected to the arc segment of the arc chain belt 244 is installed on the upper end of the curved mounting plate 2. The lower end of the sprocket 245 located on the rear side of the belt conveyor is connected to the output shaft of the motor 247 that rotates and passes through the curved mounting plate 2. The motor 247 is installed on the mounting frame 23 through a support. An avoidance groove for avoiding the rotation of the bottom plate 211 is provided on the fixed frame 12 on the right side. The arc segments of the arc guide rail 241, the arc chain belt 244, the arc rod 246, the arc groove 225, the arc guide plate 232, the arc side groove 233, and the arc slide groove 235 are all concentric with the arc segment of the arc mounting plate 2.

[0040] See also Figure 1 A positioning mechanism is arranged above the belt conveyor, and the positioning mechanism includes two side plates 111 distributed front and back, and two positioning plates 112 distributed left and right are slidably arranged on the opposite sides of the two side plates 111. Sensors are arranged on the side plates 111 and the positioning plates 112, and the side plates 111 and the positioning plates 112 are connected to the existing motion control system. The motion control system can control the side plates 111 on the front and back sides to move forward and backward, and the positioning plates 112 on the left and right sides to move left and right. The motion control system is connected to the CCD visual camera 212 (the sensor and the motion control system are not shown in the figure).

[0041] See also Figure 1-Figure 6 When working: the belt conveyor can convey the cardboard to be folded from left to right to the direction of the folding station through the conveyor belt 11. The cardboard during the conveying process may be offset or misplaced due to lack of alignment. At this time, it is necessary to use the CCD vision camera 212 to detect and locate the position of the cardboard and the required folding position of the cardboard. The coaxial light source 213 works with the CCD vision camera 212 to capture a clear image for the system to analyze and determine the position of the cardboard, ensuring the correct position and direction of the cardboard for accurate folding processing. It should be noted that the CCD vision camera 212 and the coaxial light source 213 are both connected to the existing control device.

[0042] In the initial state, the bottom plate 211, the fixing mechanism, the CCD vision camera 212 and the coaxial light source 213 are all located at the rear right end of the belt conveyor (i.e., the position shown in the figure). After the CCD vision camera 212 captures the image of the rear right end of the cardboard, the belt conveyor can pause the conveying. At this time, the cardboard is just located below the position of the hemming station. Then, the sprocket 245 located at the rear of the belt conveyor can be driven by the motor 247 to rotate counterclockwise. The sprocket 245 located on the right side of the belt conveyor rotates synchronously through the arc-shaped chain belt 244. At the same time, the arc-shaped chain belt 244 can drive the inverted U-shaped slider 242 to move along the arc section of the arc-shaped guide rail 241 in the direction of the right side of the belt conveyor. The inverted U-shaped slider 242 is in rotational contact with the arc-shaped guide rail 241 through the roller 243, which can not only reduce the friction between the inverted U-shaped slider 242 and the arc-shaped guide rail 241, provide a guiding effect for the movement of the inverted U-shaped plate 218, but also facilitate the smooth sliding of the inverted U-shaped slider 242 along the arc section of the arc-shaped guide rail 241. The bottom plate 211 drives the fixing mechanism, the CCD vision camera 212 and the coaxial light source 213 to move synchronously in the direction of the right side of the cardboard until the CCD vision camera 212 captures the image of the front right end of the cardboard. During this process, the arc-shaped rod 246 can guide the transmission of the arc-shaped chain belt 244, and the bottom plate 211 can rotate smoothly along the avoidance groove. The sliding column 226, the guiding rod 236 and the sliding rod 234 can move synchronously along the arc-shaped groove 225, the arc-shaped chute 235 and the arc-shaped side groove 233 respectively, so as to limit and guide the movement of the bottom plate 211, the fixing mechanism, the CCD vision camera 212 and the coaxial light source 213, and ensure that the CCD vision camera 212 and the coaxial light source 213 can cooperate stably and reliably to complete the capture and positioning of the cardboard.

[0043] After the CCD vision camera 212 captures the image of the front right end of the cardboard, the movement of the CCD vision camera 212 and the coaxial light source 213 is paused. At the same time, the front and rear side plates 111 can be controlled by the motion control system to move towards each other synchronously until the sensors on the alignment plates 112 on the left and right sides sense the presence of the cardboard. Subsequently, the CCD vision camera 212 and the coaxial light source 213 can be driven to move leftward along the straight section at the rear of the arc-shaped guide rail 241 in the same way until the CCD vision camera 212 captures the image of the rear left end of the cardboard. At this time, the alignment plates 112 on the left and right sides can also be moved towards each other synchronously by the motion control system to be close to the cardboard, and the front and rear side plates 111 continue to move towards each other until the front and rear side plates 111 and the left and right alignment plates 112 simultaneously contact the cardboard, so as to realize the position adjustment of the cardboard on the X-axis and Y-axis and complete the centering alignment of the cardboard, thus facilitating the accurate progress of the hemming operation.

[0044] After the cardboard is centered, the CCD vision camera 212 and the coaxial light source 213 can be driven in the same way to capture images of the positions of the required folding edges on the back side of the cardboard in sequence. The existing folding equipment can complete the longitudinal folding operation of the cardboard point by point, and under the action of the CCD vision camera 212, the folding positions of different cardboards are the same and accurate each time. After completing the folding operation of the cardboard, the folded cardboard can be transferred to other workstations through existing technology to complete subsequent operations.

[0045] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integral connection, or a sliding connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A detection and positioning device for a visual positioning machine, comprising a belt conveyor consisting of a conveyor belt (11) and fixed frames (12) arranged on the front, rear and right sides thereof, wherein an arc-shaped mounting plate (2) is arranged on the right side and rear side of the belt conveyor, characterized in that: A detection and positioning unit (21) is provided at the upper end of the arc-shaped mounting plate (2); The detection and positioning unit (21) comprises a bottom plate (211) arranged at the upper end of the arc-shaped mounting plate (2); a CCD visual camera (212) is arranged at the upper end of the bottom plate (211); a coaxial light source (213) plug-matched with the bottom plate (211) is arranged at the front side of the CCD visual camera (212); a fixing mechanism for fixing the CCD visual camera (212) and the coaxial light source (213) is arranged at the upper end of the bottom plate (211); the fixing mechanism comprises a tail shell (214) arranged at the rear end of the CCD visual camera (212) and installed at the upper end of the bottom plate (211); an inverted plate (218) is clamped at the upper end of the CCD visual camera (212); The left and right sides of the shaped plate (218) are both provided with vertical rods (219) that are plugged and matched with the bottom plate (211); the upper end of the coaxial light source (213) is sleeved with a shell (222); a connecting piece is provided between the shell (222) and the fixing frame (12) located at the rear side; the left and right sides of the shell (222) are both provided with plugging rods (227) that are plugged and matched with the bottom plate (211); a horizontal rod (228) that is slidably mounted on the plugging rod (227) and is slidably mounted on the corresponding vertical rod (219); a limited position guiding mechanism is provided on the upper end of the arc-shaped mounting plate (2); and a moving mechanism for controlling the movement of the bottom plate (211) is provided on the upper end of the arc-shaped mounting plate (2); A positioning mechanism is arranged above the belt conveyor, the positioning mechanism comprising two side plates (111) distributed front and back, and two positioning plates (112) distributed left and right are slidably arranged on opposite sides of the two side plates (111).

2. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: The arc-shaped mounting plate (2) is composed of two straight segments located at the rear side and the right side and an arc segment installed between the two straight segments. A plurality of mounting frames (23) are installed on the side of the arc-shaped mounting plate (2) away from the belt conveyor, and an inclined plate (231) is connected between the mounting frames (23) and the fixed frames (12) corresponding to the belt conveyor.

3. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: The moving mechanism comprises an arc-shaped guide rail (241) mounted on the upper end of the arc-shaped mounting plate (2); an inverted slider (242) slidably matched with the arc-shaped guide rail (241) is mounted on the lower end of the bottom plate (211); an arc-shaped chain belt (244) is arranged on the upper end of the arc-shaped mounting plate (2) and is located on a side of the arc-shaped guide rail (241) away from the belt conveyor and is fixedly connected to the vertical section of the inverted slider (242); the arc-shaped chain belt (244) is mounted on the upper end of the arc-shaped mounting plate (2) by rotation. The arc-shaped mounting plate (2) is connected to the two sprocket wheels (245) in driving connection, an arc-shaped rod (246) connected to the arc segment of the arc-shaped chain belt (244) is installed on the upper end of the arc-shaped mounting plate (2), the lower end of the sprocket wheel (245) located at the rear side of the belt conveyor is connected to the output shaft of the motor (247) that rotates and passes through the arc-shaped mounting plate (2), the motor (247) is installed on the mounting frame (23) through a support, and an avoidance groove for avoiding the rotation of the bottom plate (211) is opened on the fixing frame (12) located on the right side.

4. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: The position limiting guide mechanism comprises an arc-shaped guide plate (232) mounted on the upper end of the mounting frame (23) and co-tracing with the arc-shaped mounting plate (2); an arc-shaped side groove (233) is provided on the side of the arc-shaped guide plate (232) close to the belt conveyor; a sliding rod (234) slidably connected to the arc-shaped side groove (233) is mounted at the rear end of the tail shell (214); two left and right vertical rods (219) are mounted on the lower end of the same top plate (220); an arc-shaped slide groove (235) is provided on the upper end of the arc-shaped guide plate (232); and a guide rod (236) slidably matched with the arc-shaped slide groove (235) is mounted on the lower end of the top plate (220).

5. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: The connecting member comprises two tilting rods (223) distributed on the left and right and installed at the front end of the housing (222), and a rectangular plate (224) located at the upper end of the fixing frame (12) is commonly installed at the lower ends of the two tilting rods (223).

6. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: The upper ends of the fixing frames (12) located at the rear and right sides are provided with arc-shaped grooves (225) in the same track as the arc-shaped mounting plate (2); the lower ends of the arc-shaped rectangular plates (224) are provided with sliding columns (226) slidably connected to the arc-shaped grooves (225); the arc-shaped guide rails (241), the arc-shaped chain belts (244), the arc-shaped rods (246), the arc-shaped grooves (225), the arc-shaped guide plates (232), the arc-shaped side grooves (233), and the arc-shaped sliding grooves (235) are all concentric with the arc-shaped segments of the arc-shaped mounting plate (2).

7. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: The upper end of the bottom plate (211) is provided with a rectangular groove located in front of the CCD visual camera (212), a baffle (216) is installed in the rectangular groove for sliding up and down, and a telescopic spring (217) evenly arranged left and right is connected between the lower end of the baffle (216) and the bottom wall of the rectangular groove.

8. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: Two triangular clamping blocks (229) are arranged at both upper and lower ends of the cross bar (228) and are distributed front and back. The triangular clamping block (229) located at the front side is fixedly connected to the cross bar (228), and the triangular clamping block (229) located at the rear side is connected to the cross bar (228) by sliding up and down through a connecting spring (230).

9. The detection and positioning device for a visual positioning machine according to claim 3, characterized in that: The sides of the front and rear vertical sections of the inverted sliding block (242) that are close to each other are both rotatably mounted with rollers (243) that are evenly arranged and in rotational contact with the arc-shaped guide rail (241).

10. A detection and positioning device for a visual positioning machine according to claim 4, characterized in that: A pressure rod (221) is installed at a position of the lower end of the top plate (220) corresponding to the tail shell (214).

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