A detection positioning device for a visual positioning machine

Abstract

The application provides a detection positioning device for a visual positioning machine, and belongs to the positioning field of visual detection, and comprises a belt conveyor composed of a conveying belt and fixed frames arranged on the front, rear and right three sides of the conveying belt, and the right side and the rear side of the belt conveyor are jointly provided with an arc-shaped mounting plate, and a detection positioning unit is arranged on the upper end of the arc-shaped mounting plate. The detection positioning unit can realize multi-stage mutual locking of the CCD visual camera and the coaxial light source, the CCD visual camera / coaxial light source and the fixing mechanism, and the fixing mechanism and the limiting guide mechanism, and the fixing mechanism can stably mount the CCD visual camera and the coaxial light source on the upper end of the bottom plate. The fixing mode of the CCD visual camera and the coaxial light source can not only increase the connection degree between the CCD visual camera and the coaxial light source, ensure that the CCD visual camera and the coaxial light source are always in a relatively stable state, but also help to increase the convenience of the CCD visual camera and the coaxial light source during the mounting process.

Description

Technical Field

[0001] This invention relates to the field of positioning in visual inspection, specifically to a detection and positioning device for a visual positioning machine. Background Technology

[0002] A visual positioning machine is a device that uses computer vision technology to determine the position and orientation of an object. A common type is the CCD vision camera. A CCD vision camera is an imaging device based on CCD image sensor technology. It features high resolution, low noise, and excellent light sensitivity, and has wide applications in industrial production, such as quality inspection, positioning, and guidance.

[0003] During the production of wine boxes, when the cardboard is coated with glue and transported to the folding station, a CCD vision camera is used to position the cardboard. The CCD vision camera can accurately identify the position and orientation of the cardboard, ensuring that each fold is made in the correct place, thereby maintaining the consistency of all products.

[0004] However, CCD vision cameras currently still have the following problems in the detection and positioning process:

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

[0006] (2) During the moving detection process, the CCD vision camera and coaxial light source are prone to vibration or shaking due to the operation of external equipment, making it difficult to ensure the accuracy of the moving path, thus affecting the positioning accuracy during the detection process, and the overall stability needs to be improved.

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

[0008] This invention provides a detection and positioning device for a visual positioning machine, comprising a belt conveyor consisting of a conveyor belt and fixed frames arranged on its front, rear, and right sides. An arc-shaped mounting plate is provided on the right and rear sides of the belt conveyor. A detection and positioning unit is disposed at the upper end of the arc-shaped mounting plate. The detection and positioning unit includes a base plate disposed at the upper end of the arc-shaped mounting plate, a CCD vision camera disposed at the upper end of the base plate, a coaxial light source disposed in front of the CCD vision camera and interlocking with the base plate, and a fixing mechanism for fixing the CCD vision camera and the coaxial light source disposed at the upper end of the base plate. The fixing mechanism includes a tail shell disposed at the rear end of the CCD vision camera and mounted on the upper end of the base plate. The upper end of the D-vision camera is fitted with an inverted U-shaped plate. Vertical rods that interlock with the base plate are installed on both sides of the inverted U-shaped plate. A housing is fitted onto the upper end of the coaxial light source. A connector is provided between the housing and the rear-mounted bracket. Insert rods that interlock with the base plate are installed on both sides of the housing. Horizontal rods that slide back and forth on the insert rods, corresponding to the vertical rods, slide back and forth. A limit guide mechanism is provided at the upper end of the arc-shaped mounting plate, and a moving mechanism for controlling the movement of the base plate is also provided at the upper end of the arc-shaped mounting plate. An alignment mechanism is provided above the belt conveyor. The alignment mechanism includes two side plates distributed front and rear, with two left and right alignment plates slidably mounted on opposite sides of the two side plates.

[0009] In one possible implementation, the arc-shaped mounting plate consists of two straight segments located on the rear and right sides and an arc segment installed between the two straight segments. Multiple mounting frames are installed on the side of the arc-shaped mounting plate away from the belt conveyor, and inclined plates connect the mounting frames to the corresponding fixed frames of the belt conveyor.

[0010] In one possible implementation, the moving mechanism includes an arc-shaped guide rail mounted on the upper end of an arc-shaped mounting plate, an inverted U-shaped slider that slides with the arc-shaped guide rail mounted on the lower end of the base plate, an arc-shaped chain belt located on the side of the arc-shaped guide rail away from the belt conveyor and fixedly connected to the vertical section of the inverted U-shaped slider on the upper end of the arc-shaped mounting plate, the arc-shaped chain belt being driven by two sprockets rotatably mounted on the upper end of the arc-shaped mounting plate, an arc-shaped rod slidably connected to the arc section of the arc-shaped chain belt mounted on the upper end of the arc-shaped mounting plate, the lower end of a sprocket located on the rear side of the belt conveyor being connected to the output shaft of a motor that rotates through the arc-shaped mounting plate, the motor being mounted on a mounting frame via a support, and a clearance groove for avoiding rotation of the base plate being provided on the fixed frame on the right side.

[0011] In one possible implementation, the limiting and guiding mechanism includes an arc-shaped guide plate mounted on the upper end of the mounting frame and following the same trajectory as the arc-shaped mounting plate. An arc-shaped side groove is provided on the side of the arc-shaped guide plate near the belt conveyor. A sliding rod that is slidably connected to the arc-shaped side groove is installed at the rear end of the tail shell. Two vertical rods on the left and right are installed at the lower end of the same top plate. An arc-shaped sliding groove is provided at the upper end of the arc-shaped guide plate. A guide rod that is slidably engaged with the arc-shaped sliding groove is installed at the lower end of the top plate.

[0012] In one possible implementation, the connector includes two left-right inclined rods mounted on the front end of the housing, with a rectangular plate located on the upper end of the fixing frame mounted on the lower ends of the two inclined rods.

[0013] In one possible implementation, the upper ends of the fixing frame located on the rear and right sides are provided with arc-shaped grooves that follow the same trajectory as the arc-shaped mounting plate. The lower end of the arc-shaped rectangular plate is equipped with a sliding column that is slidably connected to the arc-shaped groove. The arc segments of the arc-shaped guide rail, arc-shaped chain, arc-shaped rod, arc-shaped groove, arc-shaped guide plate, arc-shaped side groove, and arc-shaped sliding groove are all concentric with the arc segments of the arc-shaped mounting plate.

[0014] In one possible implementation, the upper end of the base plate has a rectangular groove located in front of the CCD vision camera. A baffle is slidably installed inside the rectangular groove, and a telescopic spring evenly arranged on the left and right is connected between the lower end of the baffle and the bottom wall of the rectangular groove.

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

[0016] In one possible implementation, the inverted U-shaped slider has rollers evenly arranged and in rotatable contact with the arc-shaped guide rail rotatably mounted on the adjacent sides of its front and rear vertical sections.

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

[0018] The beneficial effects of this invention are:

[0019] 1. The detection and positioning unit in this invention can perform multi-level mutual locking between the CCD vision camera and the coaxial light source, between the CCD vision camera / coaxial light source and the fixing mechanism, and between the fixing mechanism and the limiting and guiding mechanism. The fixing mechanism can securely mount the CCD vision camera and the coaxial light source on the upper part of the base plate. This method of fixing the CCD vision camera and the coaxial light source not only increases the connection between the CCD vision camera and the coaxial light source, ensuring that the two are always in a relatively stable state and improving the stability and reliability of the CCD vision camera and the coaxial light source during operation, but also helps to increase the convenience of the CCD vision camera and the coaxial light source during installation.

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

[0021] 3. The CCD vision camera, coaxial light source and fixing mechanism in this invention are rotatable as a whole, and the viewing angle can be flexibly adjusted to ensure the best detection angle. This allows for precise control of the cardboard's position on the X and Y axes, completing the centering and alignment of the cardboard. At the same time, the cardboard's folding point can be detected to accurately complete the folding operation, improving the quality and efficiency of the folding operation.

[0022] In addition to the technical problems solved by the embodiments of the present invention, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the detection and positioning device for a visual positioning machine provided by the embodiments of this 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 embodiments. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a front-view stereoscopic structural diagram of the present invention.

[0025] Figure 2 This is a three-dimensional structural diagram of the mounting bracket, fixing bracket, and inclined plate of the present invention.

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

[0027] Figure 4 This is a cross-sectional planar structural diagram of the detection and positioning unit of the present invention.

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

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

[0030] In the diagram: 11. Conveyor belt; 111. Side plate; 112. Alignment plate; 12. Fixing frame; 2. Arc-shaped mounting plate; 21. Detection and positioning unit; 211. Base plate; 212. CCD vision camera; 213. Coaxial light source; 214. Tail shell; 216. Baffle; 217. Telescopic spring; 218. Inverted U-shaped plate; 219. Vertical rod; 220. Top plate; 221. Pressure rod; 222. Outer shell; 223. Inclined rod; 224. Rectangular plate; 225. 226. Arc-shaped groove; 227. Sliding column; 228. Insert rod; 229. Crossbar; 220. Triangular block; 23. Mounting bracket; 230. Connecting spring; 231. Inclined plate; 232. Arc-shaped guide plate; 233. Arc-shaped side groove; 234. Sliding rod; 235. Arc-shaped slide groove; 236. Guide rod; 241. Arc-shaped guide rail; 242. Inverted U-shaped slider; 243. Roller; 244. Arc-shaped chain belt; 245. Sprocket; 246. Arc-shaped rod; 247. Motor. Detailed Implementation

[0031] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough 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 modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

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

[0033] Please see Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6The detection and positioning unit 21 includes a base plate 211 disposed on the upper end of the arc-shaped mounting plate 2. A CCD vision camera 212 is disposed on the upper end of the base plate 211. A coaxial light source 213 is disposed on the front side of the CCD vision camera 212 and is inserted into the base plate 211. The CCD vision camera 212 and the coaxial light source 213 are coaxial. A fixing mechanism for fixing the CCD vision camera 212 and the coaxial light source 213 is disposed on the upper end of the base plate 211. The fixing mechanism includes a tail shell 214 disposed at the rear end of the CCD vision camera 212 and mounted on the upper end of the base plate 211. A rectangular groove is provided at the upper end of 211, located in front of the CCD vision camera 212. A baffle 216 is slidably installed inside the rectangular groove. A telescopic spring 217 is evenly arranged on the left and right sides between the lower end of the baffle 216 and the bottom wall of the rectangular groove. An inverted U-shaped plate 218 is snapped into the upper end of the CCD vision camera 212. Vertical rods 219 that are inserted and matched with the bottom plate 211 are installed on both the left and right sides of the inverted U-shaped plate 218. The two vertical rods 219 are installed at the lower end of the same top plate 220. A pressure rod 221 is installed at the lower end of the top plate 220 corresponding to the position of the tail shell 214.

[0034] Please see Figure 4 , Figure 5 and Figure 6 The coaxial light source 213 is fitted with a housing 222 at its upper end. A connector is provided between the housing 222 and the fixing frame 12 located on the rear side. The connector includes two inclined rods 223 mounted on the front end of the housing 222, which are distributed to the left and right. The lower ends of the two inclined rods 223 are jointly mounted with a rectangular plate 224 located on the upper end of the fixing frame 12. The upper ends of the fixing frame 12 located on the rear and right sides are jointly provided with an arc-shaped groove 225 that follows the same trajectory as the arc-shaped mounting plate 2. The lower end of the arc-shaped rectangular plate 224 is mounted with a groove that follows the same trajectory as the arc-shaped mounting plate 2. The groove 225 is slidably connected to the sliding column 226. The left and right sides of the outer shell 222 are equipped with plug rods 227 that are inserted and engaged with the base plate 211. The plug rods 227 are slidably mounted with crossbars 228 that are slidably engaged with the corresponding vertical rods 219. The upper and lower ends of the crossbars 228 are provided with two triangular blocks 229 distributed front and back. The triangular block 229 located on the front side is fixedly connected to the crossbar 228, and the triangular block 229 located on the rear side is slidably connected to the crossbar 228 through a connecting spring 230.

[0035] Please see Figures 1-6The arc-shaped mounting plate 2 has multiple mounting brackets 23 installed on the side away from the belt conveyor. An inclined plate 231 connects the mounting bracket 23 to the fixed frame 12 corresponding to the belt conveyor. The inclined plate 231 helps to increase the stability between the mounting bracket 23 and the fixed frame 12. A limiting guide mechanism is provided at the upper end of the arc-shaped mounting plate 2. The limiting guide mechanism includes an arc-shaped guide plate 232 installed at the upper end of the mounting bracket 23 and on the same trajectory as the arc-shaped mounting plate 2. An arc-shaped side groove 233 is opened on the side of the arc-shaped guide plate 232 near the belt conveyor. A sliding rod 234 that is slidably connected to the arc-shaped side groove 233 is installed at the rear end of the tail shell 214. An arc-shaped sliding groove 235 is opened at the upper end of the arc-shaped guide plate 232. A guide rod 236 that is slidably engaged with the arc-shaped sliding groove 235 is installed at the lower end of the top plate 220.

[0036] During the process of fixing the CCD vision camera 212 and the coaxial light source 213 onto the base plate 211, the CCD vision camera 212 can first be placed on the upper part of the base plate 211 and its rear end inserted into the tail shell 214. At this time, it is also necessary to use external force to press down the baffle 216, so that the baffle 216 compresses the telescopic spring 217 and moves down 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 its circumference by surrounding the tail of the CCD vision camera 212. After the external force is released, the baffle 216 can move up under the action of the telescopic spring 217 to abut against the front end of the CCD vision camera 212, but the baffle 216 will not block the lens of the CCD vision camera 212. The baffle 216, together with the tail shell 214, limits the CCD vision camera 212 in the front and rear directions.

[0037] Next, the top plate 220, vertical rod 219, inverted U-shaped plate, pressure rod 221, and guide rod 236 can be moved downwards, so that the vertical rods 219 on both sides simultaneously engage with the bottom plate 211. The inverted U-shaped plate is engaged with the upper end of the CCD vision camera 212 through its vertical sections on both sides. The pressure rod 221 presses against the upper end of the tail shell 214, and the guide rod 236 is simultaneously inserted into the arc-shaped slide groove 235. While the inverted U-shaped plate 218 presses and limits the upper end of the CCD vision camera 212, the vertical rods 219 on both sides help increase the connection between the inverted U-shaped plate 218, top plate 220, guide rod 236, pressure rod 221, and bottom plate 211, thereby increasing the stability of the CCD vision camera 212 placed on the upper end of the support plate. Subsequently, the coaxial light... 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 housing 222 can be put on the upper end of the coaxial light source 213. The housing 222 drives the insertion rods 227 on its left and right sides to simultaneously engage with the base plate 211 to connect the housing 222 and the base plate 211. In addition, the housing 222 drives the rectangular plate 224 and the sliding column 226 to move downward synchronously through the two tilting rods 223 at its front end. The sliding column 226 gradually inserts into the arc-shaped groove 225. The tilting rods 223 help to increase the stability between the housing 222 and the rectangular plate 224. 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 both sides can be moved backward along the corresponding insertion rod 227, so that they are inserted into the corresponding vertical bar 219. During this process, the upper and lower triangular locking blocks 229 located on the rear side are subjected to squeezing force and can move synchronously up and down towards each other along the horizontal bar 228 by compressing the corresponding connecting spring 230, so that the horizontal bar 228 can pass smoothly through the corresponding vertical bar 219, and finally the vertical bar 219 is located between the triangular locking blocks 229 on the front and rear sides. During the subsequent disassembly process, the horizontal bar 228 can be disengaged by pressing the upper and lower triangular locking blocks 229 on both sides with external force. The vertical rod 219, the horizontal rod 228, and the triangular locking blocks 229 on both sides can not only limit the vertical rod 219, the inverted U-shaped plate 218 and the top plate 220 in the vertical direction, but also limit the vertical position of the insertion rod 227 and the outer shell 222. At the same time, it can also increase the connection between the CCD vision camera 212 and the coaxial light source 213, ensuring 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.

[0039] Please see Figures 1-6The upper end of the arc-shaped mounting plate 2 is provided with a moving mechanism for controlling the movement of the base plate 211 along the trajectory of the arc-shaped mounting plate 2. The moving mechanism includes an arc-shaped guide rail 241 mounted on the upper end of the arc-shaped mounting plate 2. An inverted U-shaped slider 242 that slides with the arc-shaped guide rail 241 is mounted on the lower end of the base plate 211. Rollers 243 that are evenly arranged and rotate in contact with the arc-shaped guide rail 241 are rotatably mounted on the side of the front and rear vertical sections of the inverted U-shaped slider 242 that are close to each other. An arc-shaped chain belt 244 is provided on the upper end of the arc-shaped mounting plate 2, located on the side of the arc-shaped guide rail 241 away from the belt conveyor and fixedly connected to the vertical section of the inverted U-shaped slider 242. The arc-shaped chain belt 244 is rotatably mounted on the arc-shaped guide rail 241. Two sprockets 245 are connected at the upper end of the curved mounting plate 2. An arc rod 246 is installed at the upper end of the curved mounting plate 2 and is slidably connected to the arc segment of the arc chain belt 244. The lower end of the sprocket 245 located at the rear of the belt conveyor is connected to the output shaft of the motor 247 that rotates through the curved mounting plate 2. The motor 247 is mounted on the mounting frame 23 through a support. A clearance groove is provided on the fixed frame 12 on the right side to avoid the rotation of the bottom plate 211. The arc segments of the arc guide rail 241, arc chain belt 244, arc rod 246, arc groove 225, arc guide plate 232, arc side groove 233, and arc slide 235 are all concentric with the arc segment of the curved mounting plate 2.

[0040] Please see Figure 1 The belt conveyor is equipped with an alignment mechanism, which includes two side plates 111 distributed front and rear. Two alignment plates 112 are slidably arranged on opposite sides of the two side plates 111. Sensors are provided on both the side plates 111 and the alignment plates 112. Both the side plates 111 and the alignment plates 112 are connected to an existing motion control system. The motion control system can control the side plates 111 on both sides to move back and forth in opposite directions, and the alignment plates 112 on both sides to move left and right in opposite directions. The motion control system is connected to a CCD vision camera 212 (the sensors and motion control system are not shown in the figure).

[0041] Please see Figures 1-6 During operation: The belt conveyor can transport the cardboard to be folded from left to right to the folding station via the conveyor belt 11. During the conveying process, the cardboard may be offset or misaligned 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. The coaxial light source 213 works in conjunction with the CCD vision camera 212 to capture clear images for the system to analyze and determine the position of the cardboard, ensuring the correct position and orientation of the cardboard for precise folding. It should be noted that both the CCD vision camera 212 and the coaxial light source 213 are connected to the existing control equipment.

[0042] In the initial state, the base plate 211, fixing mechanism, CCD vision camera 212, and 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 conveying. At this time, the cardboard is just below the position of the folding station. Then, the sprocket 245 located at the rear of the belt conveyor can be driven to rotate counterclockwise by the motor 247. 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 segment of the arc-shaped guide rail 241 towards the right side of the belt conveyor. The inverted U-shaped slider 242 rotates and contacts the arc-shaped guide rail 241 through the roller 243, which can reduce the friction between the inverted U-shaped slider 242 and the arc-shaped guide rail 241, thus providing a better fit for the inverted U-shaped plate 242. The movement of 18 provides guidance and facilitates the smooth sliding of the inverted U-shaped slider 242 along the arc segment of the arc guide rail 241. The base plate 211 drives the fixing mechanism, CCD vision camera 212 and coaxial light source 213 to move synchronously towards the right side of the cardboard until the CCD vision camera 212 captures the image of the front right side of the cardboard. During this process, the arc rod 246 can guide the transmission of the arc chain belt 244, and the base plate 211 can rotate smoothly along the clearance groove. The sliding column 226, guide rod 236 and sliding rod 234 can move synchronously along the arc groove 225, arc slide groove 235 and arc side groove 233 respectively, thereby limiting and guiding the movement of the base plate 211, fixing mechanism, CCD vision camera 212 and coaxial light source 213, ensuring that the CCD vision camera 212 and 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 side of the cardboard, the movement of the CCD vision camera 212 and the coaxial light source 213 is paused. At the same time, the motion control system can control the front and rear side plates 111 to move synchronously towards each other until the sensors on the left and right alignment plates 112 sense the presence of the cardboard. Then, the CCD vision camera 212 and the coaxial light source 213 can be driven to move to the left along the straight section behind the arc guide rail 241 in the same way until the CCD vision camera 212 captures the image of the left rear side of the cardboard. At this time, the left and right alignment plates 112 can also be moved synchronously towards each other to get close to the cardboard through the motion control system. 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. This realizes the position adjustment of the cardboard on the X and Y axes, completes the centering and alignment of the cardboard, and facilitates the accurate folding 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 required folding position on the back of the cardboard in sequence. The existing folding equipment can complete the longitudinal folding operation of the cardboard point by point in sequence. Under the action of the CCD vision camera 212, the folding position of different cardboards is the same and accurate each time. After the folding operation of the cardboard is completed, the folded cardboard can be transferred to other workstations to complete the subsequent operations through existing technology.

[0045] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connected," "installed," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral connection, or a sliding connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made based on the structure, shape, and principle of the present invention should be covered within the scope of protection 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 and fixed frames arranged on its front, rear, and right sides, wherein an arc-shaped mounting plate is provided on the right and rear sides of the belt conveyor, characterized in that: The upper end of the arc-shaped mounting plate is provided with a detection and positioning unit; The detection and positioning unit includes a base plate mounted on the upper end of an arc-shaped mounting plate. A CCD vision camera is mounted on the upper end of the base plate. A coaxial light source that is inserted into the base plate is mounted on the front side of the CCD vision camera. A fixing mechanism for fixing the CCD vision camera and the coaxial light source is mounted on the upper end of the base plate. The fixing mechanism includes a tail shell mounted on the upper end of the base plate at the rear end of the CCD vision camera. An inverted U-shaped plate is snapped onto the upper end of the CCD vision camera. Vertical rods that are inserted into the base plate are mounted on both the left and right sides of the inverted U-shaped plate. A housing is fitted onto the upper end of the coaxial light source. A connector is provided between the housing and the fixing frame located on the rear side. Insert rods that are inserted into the base plate are mounted on both the left and right sides of the housing. Horizontal rods that slide back and forth on the insert rods and slide back and forth with the corresponding vertical rods are mounted on the insert rods. A limit guide mechanism is provided on the upper end of the arc-shaped mounting plate. A moving mechanism for controlling the movement of the base plate is provided on the upper end of the arc-shaped mounting plate. The belt conveyor is equipped with an alignment mechanism, which includes two side plates distributed in front and behind, and two alignment plates distributed in the left and right are slidably arranged on opposite sides of the two side plates. The upper ends of the fixing brackets located on the rear and right sides are provided with arc-shaped grooves that follow the same trajectory as the arc-shaped mounting plate, and the lower end of the arc-shaped rectangular plate is equipped with a sliding column that is slidably connected to the arc-shaped groove. The upper end of the base plate is provided with a rectangular groove located in front of the CCD vision camera. A baffle is slidably installed inside the rectangular groove. A telescopic spring is evenly arranged on the left and right sides between the lower end of the baffle and the bottom wall of the rectangular groove. The connector includes two inclined rods distributed on the left and right sides installed at the front end of the housing, and a rectangular plate located on the upper end of the fixing frame is installed at the lower end of the two inclined rods. The crossbar has two triangular locking blocks distributed front and back at both its upper and lower ends. The triangular locking block on the front side is fixedly connected to the crossbar, and the triangular locking block on the rear side is slidably connected to the crossbar up and down through a connecting spring. The belt conveyor transports the cardboard to be folded from left to right to the folding station. The CCD vision camera captures images of each side of the cardboard in sequence under the action of the moving mechanism. It works with the alignment mechanism to detect and position the cardboard. The coaxial light source works with the CCD vision camera to capture clear images for the system to analyze and determine the position of the cardboard, ensuring the correct position and orientation of the cardboard.

2. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: The arc-shaped mounting plate consists of two straight segments located on the rear and right sides and an arc segment installed between the two straight segments. Multiple mounting frames are installed on the side of the arc-shaped mounting plate away from the belt conveyor, and inclined plates are connected between the mounting frames and the corresponding fixed frames of the belt conveyor.

3. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: The moving mechanism includes an arc-shaped guide rail mounted on the upper end of an arc-shaped mounting plate, an inverted U-shaped slider mounted on the lower end of a base plate that slides with the arc-shaped guide rail, an arc-shaped chain belt located on the side of the arc-shaped guide rail away from the belt conveyor and fixedly connected to the vertical section of the inverted U-shaped slider on the upper end of the arc-shaped mounting plate, the arc-shaped chain belt being connected by two sprockets rotatably mounted on the upper end of the arc-shaped mounting plate, an arc-shaped rod slidably connected to the arc section of the arc-shaped chain belt on the upper end of the arc-shaped mounting plate, the lower end of a sprocket located on the rear side of the belt conveyor being connected to the output shaft of a motor that rotates through the arc-shaped mounting plate, the motor being mounted on a mounting frame via a support, and a clearance groove for avoiding rotation of the base plate being provided on the fixed frame on the right side.

4. The detection and positioning device for a visual positioning machine according to claim 1, characterized in that: The limiting and guiding mechanism includes an arc-shaped guide plate installed on the upper end of the mounting frame and following the same trajectory as the arc-shaped mounting plate. An arc-shaped side groove is provided on the side of the arc-shaped guide plate near the belt conveyor. A sliding rod that is slidably connected to the arc-shaped side groove is installed at the rear end of the tail shell. Two vertical rods on the left and right are installed at the lower end of the same top plate. An arc-shaped sliding groove is provided at the upper end of the arc-shaped guide plate. A guide rod that is slidably engaged with the arc-shaped sliding groove is installed at the lower end of the top plate.

5. A detection and positioning device for a visual positioning machine according to claim 3, characterized in that: The inverted U-shaped slider has rollers evenly arranged and rotating in contact with the arc-shaped guide rail on the side of the front and rear vertical sections that are close to each other.

6. The detection and positioning device for a visual positioning machine according to claim 4, characterized in that: A pressure bar is installed at the lower end of the top plate, corresponding to the position of the tail shell.

Images