Intelligent packing machine based on machine vision and using method thereof

Abstract

The invention discloses an intelligent packaging machine based on machine vision and a using method thereof, and relates to the technical field of intelligent packaging, the intelligent packaging machine comprises a rack, a visual detector and a waste removing mechanism, the visual detector is fixedly installed at the top end of the outer wall of the rack through a support, and the waste removing mechanism is fixedly installed at the side end of the outer wall of the rack; the visual detector is connected with the waste removing mechanism through a data line. The visual detector comprises a turning light path unit, a polarization regulation and control assembly and a two-stage filter wheel, the two-stage filter wheel is nested in the middle section of the inner wall of the turning light path unit, and the polarization regulation and control assembly is arranged at the light path outlet end of the turning light path unit. According to the invention, through the visual detector, a composite visual detection function of multiband spectrum detection and polarization state regulation and control is realized, the problems of insufficient detection precision and poor light path stability in a single filtering mode are solved, the precision of detection of material surface defects, dimensional deviation and the like is improved, and the system is suitable for intelligent identification of different materials.

Description

Technical Field

[0001] The present invention relates to the field of intelligent packaging technology, and in particular to an intelligent packaging machine based on machine vision and a method of using the same. Background Art

[0002] In modern industrial automation, the efficiency and precision of intelligent packaging equipment have become key to improving production efficiency. Traditional packaging machines face technical bottlenecks such as insufficient visual inspection accuracy, poor temperature control stability, and low waste rejection efficiency, making them difficult to meet the needs of automated processing of a wide range of materials.

[0003] Patent CN116176918B discloses an intelligent baling machine and its usage method. The above patent can realize the traditional strapping function, the function of adding leg pads only, and the function of adding leg pads and baling, thereby reducing production costs, reducing equipment size, and reducing equipment footprint.

[0004] The above patent realizes multifunctional combination packaging by integrating the strapping and leg pad adding functions, effectively reducing production costs and reducing the size of the equipment. However, there is no in-depth research on the real-time detection of material status, the dynamic calibration mechanism of the optical path system, and the adaptive control of the waste rejection process.

[0005] To this end, the present application proposes a machine vision-based intelligent baling machine and its use method that can realize multi-band visual detection through a folded optical path and a double-stage filter wheel to dynamically remove waste materials. Summary of the Invention

[0006] The purpose of the present invention is to provide an intelligent baler based on machine vision and a method of using the same, so as to solve the technical problems of insufficient visual detection accuracy, poor temperature control stability and low waste removal efficiency raised in the above background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: an intelligent baler based on machine vision, comprising a frame, a visual detector and a waste rejection mechanism, wherein the visual detector is fixedly mounted on the top of the outer wall of the frame via a bracket, the waste rejection mechanism is fixedly mounted on the side end of the outer wall of the frame, and the visual detector is connected to the waste rejection mechanism via a data cable;

[0008] The visual detector includes a folding light path unit, a polarization control component and a double-stage filter wheel. The double-stage filter wheel is nested in the middle section of the inner wall of the folding light path unit, and the polarization control component is provided at the light path outlet end of the folding light path unit.

[0009] Preferably, a conveyor belt is provided at the bottom end of the outer wall of the frame, and the end of the conveyor belt is suspended on a dynamic packing head through a three-dimensional slide rail mechanism, and the three-dimensional slide rail mechanism includes a transverse guide rail, a longitudinal slider and a lifting column;

[0010] The transverse guide rail is fixedly installed on the top of the outer wall of the frame, the longitudinal slider is connected to the transverse guide rail by sliding, and the longitudinal guide rail is hinged to the lifting column.

[0011] Preferably, the dynamic packaging head includes a rotating clamp, a hot melt sealer and a tension sensor, the rotating clamp is vertically installed at the bottom end of the outer wall of the lifting column, the hot melt sealer is fixedly installed at the side end of the outer wall of the rotating clamp, and the clamping surface of the rotating clamp is embedded with the tension sensor.

[0012] Preferably, the waste removal mechanism includes a pneumatic push rod group, a waste guide groove and a photoelectric counter. The side beam of the conveyor belt is fixedly installed on a U-shaped mounting frame by bolts. The top crossbeam of the U-shaped mounting frame is fixedly installed with a pneumatic push rod group. The piston rod of the pneumatic push rod group is coaxially connected to the bending guide plate. The transition section of the bending guide plate is embedded with a photoelectric counter. A waste guide groove is set at the top of the outer wall of the U-shaped mounting frame. The piston rod of the pneumatic push rod group is axially connected in series with a magnetorheological damper.

[0013] Preferably, the folding optical path unit divides the incident light path into an imaging light path and an illumination light path through a 45° semi-transparent and semi-reflective mirror, a rotating base is fixedly installed at the bottom end of the outer wall of the double-stage filter wheel, a broadband filter is arranged on the edge of the outer wall of the rotating base, a narrow-band filter is fixedly installed on the central axis of the rotating base, and a cross strain gauge is attached to the edge of the semi-transparent and semi-reflective mirror.

[0014] Preferably, the polarization control assembly comprises a phase retarder slot, a rotating bracket, and an angle locking knob; the bottom end of the outer wall of the folding optical path unit is fixedly mounted on an L-base via a thermally conductive adhesive layer; the vertical plate surface of the L-base is provided with a phase retarder slot; the horizontal panel of the L-base is hingedly connected to the rotating bracket via a pin; an angle locking knob is provided through a side end of the outer wall of the rotating bracket, and the angle locking knob presses against a shoulder of the pin;

[0015] A circular hole is provided at the end of the rotating bracket, and a wire grid mounting ring is pressed into the circular hole. The wire grid polarizer is fixed inside the wire grid mounting ring by a pressing ring. The hinge axis of the rotating bracket forms an angle of 22.5° with the optical axis of the phase retarder. A dovetail groove is provided at the top of the vertical pole of the rotating bracket, and a heat dissipation substrate is embedded in the dovetail groove. The rear end of the outer wall of the heat dissipation substrate is attached to the microfluidic cold plate, and a paraffin heat storage bag is embedded at the intersection of the flow channels of the microfluidic cold plate.

[0016] Preferably, the driving roller of the tail section of the conveyor belt is coaxially connected to the speed encoder, a weighing sensor is embedded in the support frame of the first section of the belt, side thrust cylinder groups are symmetrically arranged on both sides of the middle section, and a flip suction cup is hinged above the conveyor belt through a swing arm.

[0017] Preferably, the dynamic packaging head and the visual detector are respectively connected to the central control cabinet, the lifting column is penetrated by a waterproof connector, fins are welded on the side of the outer wall of the lifting column, a piezoelectric ceramic micro-motion ring is embedded in the lens barrel interface of the folding optical path unit, and a thermal conductive alloy wire is connected in series with the electrode of the piezoelectric ceramic micro-motion ring and the cross strain gauge.

[0018] Preferably, the method of use comprises the following steps:

[0019] S1. The central control cabinet introduces coolant to the lifting column fins through waterproof connectors, activates the circulation pump of the microchannel cold plate, causes the paraffin heat storage capsule to reach the phase transition temperature, and returns the stepper motor of the rotating base plate to zero, aligning the broadband filter with the imaging optical path.

[0020] S2: The weighing sensor at the first section of the conveyor belt detects the material mass. When the mass exceeds the threshold, the speed encoder at the tail section is triggered to slow down. The side push cylinder group in the middle section pushes the material to the center line of the conveyor belt. The flip suction cup uses the swing arm to absorb the material and flip it 90°. The 45° semi-transparent and semi-reflective mirror of the deflecting optical path unit splits the incident light into imaging and illumination paths. The cross strain gauge monitors the lens deformation in real time.

[0021] S3. Insert the liquid crystal phase retarder into the phase retarder slot of the polarization control assembly. The rotating bracket is locked at a 22.5° angle. The narrowband filter is maintained at -10°C ± 0.5°C by the thermoelectric cooler. The dual-stage filter wheel alternates between filter modes at 10 rpm. The piezoelectric ceramic fine-motion ring fine-tunes the optical path coaxiality along the spiral guide groove based on the feedback from the cross strain gauge.

[0022] S4: After the photoelectric counter counts three consecutive scrap signals, it triggers the pneumatic push rod group. The magnetorheological damper dynamically adjusts the piston rod impact force according to the scrap mass. The bending guide plate throws the scrap into the scrap guide trough. The Helmholtz coil generates a reverse magnetic field to suppress vibration.

[0023] S5. The longitudinal slider of the three-dimensional slide mechanism moves along the transverse guide rail to the top of the material. The acceleration sensor monitors the inertial impact in real time. The lifting column descends until the tension sensor detects a value ≥ 50N. The rotating jaws rotate in 30° steps to wrap the material. The hot melt sealer starts during the second wrapping cycle.

[0024] Preferably, the method of use further comprises the following steps:

[0025] S21, the thermal conductive alloy wire converts the thermal expansion of the cross strain gauge into a voltage signal, driving the piezoelectric ceramic micro-motion ring to compensate for displacement along the axial direction;

[0026] S22. Apply thermal grease to the dovetail groove joint of the heat dissipation substrate every 8 hours of operation. When the temperature of the liquid metal contact exceeds 120°C, the deformation of the cantilever beam triggers the ceramic insulating ejector pin at the free end, causing the bursting disc to rupture and release inert gas, thus cutting off the current path of the electromagnetic shielding pipe embedded in the outer wall of the inert gas storage tank.

[0027] S31. Loosen the angle locking knob of the rotating bracket every 24 hours, disengage the knob axis from the sector gear ring on the horizontal panel of the L base, rotate the wire grid mounting ring 45° along the circumferential guide rail, and then relock it at an angle of 22.5°. Inject refractive index matching fluid into the phase retarder slot.

[0028] S32. The detection head of the eddy current sensor is embedded in the entrance of the waste guide trough. When the metal debris detected is greater than 5g, the Helmholtz coil performs frequency conversion and vibration elimination. The coil is coaxially sleeved on the outer periphery of the steel frame of the bent guide plate.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. This invention uses a visual detector to achieve a composite visual detection function that combines multi-band spectral detection with polarization state control. This solves the problems of insufficient detection accuracy and poor optical path stability in single-filter mode, improves the accuracy of detecting surface defects and dimensional deviations, and adapts to the intelligent identification of materials of different materials.

[0031] 2. The present invention uses a waste rejection mechanism to achieve dynamic matching of waste rejection force and active suppression of vibration energy, solving the problems of equipment impact loss or waste residue caused by a fixed impact force rejection method, reducing equipment vibration noise and extending the service life of mechanical components.

[0032] 3. This invention uses a dynamic packing head to achieve real-time feedback of material clamping force and packing in three-dimensional spatial coordinates. This solves the problem of loose or damaged packaging caused by uneven clamping force and positioning deviation during the packing process, and improves the sealing and standardization of packaging.

[0033] 4. The present invention realizes the active protection function of constant temperature control through the microchannel cold plate, solves the problems of optical path system performance degradation and shortened electronic component life in high temperature environment, and ensures the continuous operation of the visual inspection module. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a front view structural schematic diagram of the present invention;

[0035] Figure 2 This is a structural diagram of the dynamic packaging header of the present invention;

[0036] Figure 3 It is a schematic structural diagram of the three-dimensional slide rail mechanism of the present invention;

[0037] Figure 4 It is a schematic structural diagram of the waste removal mechanism of the present invention;

[0038] Figure 5 Schematic diagram of the structure of the visual detector of the present invention;

[0039] Figure 6 It is a schematic diagram of the structure of the rotating bracket of the present invention;

[0040] Figure 7 This is a schematic diagram of the wire grid mounting ring structure of the present invention;

[0041] Figure 8 It is a schematic diagram of the structure of the flip suction cup of the present invention.

[0042] In the figure: 1. Rack; 2. Visual detector; 3. Waste rejection mechanism; 4. Deflection optical path unit; 5. Polarization control component; 6. Double-stage filter wheel; 7. Three-dimensional slide mechanism; 8. Dynamic packaging head; 9. Horizontal guide rail; 10. Longitudinal slider; 11. Lifting column; 12. Rotating clamp; 13. Hot melt sealer; 14. Tension sensor; 15. Bending guide plate; 16. Rotating base plate; 17. Phase delay slot; 18. Rotating bracket; 19. Angle locking knob; 20. Wire grid mounting ring; 21. Speed encoder; 22. Weighing sensor; 23. Flip suction cup; 24. Waterproof connector; 25. Heat dissipation substrate; 26. Microchannel cold plate; 27. Piezoelectric ceramic micro-ring; 28. Magnetorheological damper; 29. Waste guide groove; 30. Pneumatic push rod group. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0046] See also Figure 1 、 Figure 2 and Figure 3 The present invention provides an embodiment of an intelligent packaging machine based on machine vision, wherein the method of using the intelligent packaging machine comprises the following steps:

[0047] S1. The central control cabinet introduces coolant to the fins of the lifting column 11 through the waterproof connector 24, activates the circulation pump of the microchannel cold plate 26, causes the paraffin heat storage capsule to reach the phase transition temperature, and returns the stepper motor of the rotating base plate 16 to zero, aligning the broadband filter with the imaging light path;

[0048] S2. The weighing sensor 22 at the first section of the conveyor belt detects the material mass. When the mass is greater than the threshold, the speed encoder 21 at the tail section is triggered to slow down. The side push cylinder group in the middle section pushes the material to the center line of the conveyor belt. The flip suction cup 23 uses the swing arm to absorb the material and flip it 90°. The 45° semi-transparent and semi-reflective mirror of the deflecting optical path unit 4 splits the incident light into two paths: imaging and illumination. The cross strain gauge monitors the lens deformation in real time.

[0049] S3. Insert the liquid crystal phase retarder into the phase retarder slot 17 of the polarization control assembly 5. The rotating bracket 18 is locked at a 22.5° angle. The narrowband filter is maintained at -10°C ± 0.5°C by the thermoelectric cooler. The dual-stage filter wheel 6 alternates between filter modes at 10 rpm. The piezoelectric ceramic fine-motion ring 27 fine-tunes the optical path coaxiality along the spiral guide groove based on the feedback from the cross strain gauge.

[0050] S4: After the photoelectric counter 17 counts three consecutive scrap signals, it triggers the pneumatic push rod assembly 30. The magnetorheological damper 28 dynamically adjusts the piston rod impact force according to the scrap mass. The bending guide plate throws the scrap into the scrap guide trough 29. The Helmholtz coil generates a reverse magnetic field to suppress vibration.

[0051] S5. The longitudinal slider 10 of the three-dimensional slide mechanism 7 moves along the transverse guide rail 9 to the point directly above the material. The acceleration sensor monitors the inertial impact in real time. The lifting column 11 descends until the tension sensor 14 detects a value ≥ 50N. The rotating jaw 12 rotates in 30° steps to wrap the material. The hot melt sealer 13 starts during the second wrapping cycle.

[0052] The method of use further comprises the following steps:

[0053] S21, the thermal conductive alloy wire converts the thermal expansion of the cross strain gauge into a voltage signal, driving the piezoelectric ceramic fine-motion ring 27 to compensate for the displacement in the axial direction;

[0054] S22. Apply thermal grease to the dovetail groove joint of the heat dissipation substrate 25 every 8 hours of operation. When the temperature of the liquid metal contact is greater than 120°C, the deformation of the cantilever beam triggers the ceramic insulating ejector pin at the free end, causing the bursting diaphragm to rupture and release inert gas, thus cutting off the current path of the electromagnetic shielding pipe embedded in the outer wall of the inert gas storage tank.

[0055] S31. The angle locking knob 19 of the rotating bracket 18 is loosened every 24 hours, the knob axis is disengaged from the sector gear ring of the horizontal panel of the L base, the wire grid mounting ring 20 is rotated 45° along the circumferential guide rail and then relocked at an angle of 22.5°. Refractive index matching liquid is injected into the phase retarder slot 17.

[0056] S32, the detection head of the eddy current sensor is embedded in the entrance of the waste guide groove 29. When the metal debris detected is greater than 5g, the Helmholtz coil performs frequency conversion vibration elimination. The coil is coaxially sleeved on the outer periphery of the steel frame of the bent guide plate 15;

[0057] Furthermore, first, the central control cabinet introduces coolant to the fins of the lifting column 11 through the waterproof connector 24, activating the circulation pump of the microchannel cold plate 26, so that the paraffin heat storage capsule reaches the phase transition temperature, ensuring that the temperature of each component of the equipment is within the appropriate range during operation, and avoiding the impact of excessive temperature on equipment performance. The stepper motor of the rotating base plate 16 is reset to zero, so that the broadband filter is aligned with the imaging light path.

[0058] Then, the material is placed on the first section of the conveyor belt, and the weighing sensor 22 on the first section of the conveyor belt detects the material mass. When the detected mass is greater than the preset threshold, the speed encoder 21 on the tail section is triggered to slow down, so that the movement speed of the material on the conveyor belt is coordinated. The middle section side push cylinder group pushes the material to the center line of the conveyor belt, so that the material is within the detection range. The flip suction cup 23 absorbs the material through the swing arm and flips it 90°, so that the material can smoothly enter the detection area. The 45° semi-transparent and semi-reflective mirror inside the folding optical path unit 4 splits the incident light into the imaging optical path and the illumination optical path. At the same time, the cross strain gauge monitors the lens deformation in real time, providing data support for optical path adjustment.

[0059] During visual inspection, the liquid crystal phase retarder is inserted into the phase retarder slot 17, the rotating bracket 18 is locked at a 22.5° angle, and the narrowband filter is maintained at -10°C ± 0.5°C by the thermoelectric cooler, ensuring stable filter performance. The dual-stage filter wheel 6 alternates between filter modes at a speed of 10 rpm to achieve filtering and detection of different light sources. At the same time, the piezoelectric ceramic fine-motion ring 27 fine-tunes the optical path coaxiality along the spiral guide groove based on the lens deformation data fed back by the cross strain gauge to ensure high-quality inspection images.

[0060] Finally, after the visual inspection is completed, the inspection data is transmitted to the central control cabinet via a data line. The central control cabinet determines whether the material is qualified based on the inspection results and makes processing instructions. If the material is qualified, the packaging process continues; if the material is unqualified, the waste rejection mechanism 3 is triggered to process defective products.

[0061] See also Figure 1 、 Figure 3 and Figure 4 , the present invention provides an embodiment: an intelligent baler based on machine vision, comprising a frame 1, a visual detector 2 and a waste rejection mechanism 3, wherein the visual detector 2 is fixedly mounted on the top of the outer wall of the frame 1 through a bracket, the waste rejection mechanism 3 is fixedly mounted on the side end of the outer wall of the frame 1, and the visual detector 2 is connected to the waste rejection mechanism 3 through a data cable; the visual detector 2 comprises a deflecting optical path unit 4, a polarization control component 5 and a double-stage filter wheel 6, the double-stage filter wheel 6 is nested in the middle section of the inner wall of the deflecting optical path unit 4, and the polarization control component 5 is provided at the optical path outlet end of the deflecting optical path unit 4;

[0062] A conveyor belt is provided at the bottom end of the outer wall of the frame 1, and a dynamic packing head 8 is suspended at the end of the conveyor belt through a three-dimensional slide rail mechanism 7. The three-dimensional slide rail mechanism 7 includes a transverse guide rail 9, a longitudinal slider 10 and a lifting column 11; the transverse guide rail 9 is fixedly mounted on the top end of the outer wall of the frame 1, the longitudinal slider 10 is connected to the transverse guide rail 9 by sliding, and the longitudinal guide rail 10 is hinged to the lifting column 11;

[0063] Furthermore, first, the conveyor belt transports materials, and the photoelectric counter 17 counts the material signals passing by in real time; when the photoelectric counter 17 counts three consecutive waste signals, unqualified materials are detected, and the pneumatic push rod group 15 will be triggered. The pneumatic push rod group 15 is fixedly installed on the top crossbeam of the U-shaped mounting frame of the conveyor belt side beam, and the pneumatic push rod group 15 triggers the piston rod.

[0064] Then, during the movement of the piston rod of the pneumatic push rod group 15, the magnetorheological damper 28 dynamically adjusts the impact force of the piston rod according to the mass of the waste. If the mass of the waste is large, the damping force of the magnetorheological damper 28 will increase, so that the piston rod pushes out the waste with a larger impact force; when the mass of the waste is small, the magnetorheological damper 28 reduces the damping force to avoid damage to the equipment due to excessive impact. During piston rod movement, the bending guide plate 15 ejects the waste. Because the transition section of the bending guide plate 15 is embedded with a photoelectric counter 17, when the bending guide plate 15 ejects the waste through the transition section, the waste blocks the light emitted by the transmitter, preventing the receiver from receiving light. The receiver's electrical signal state immediately changes. The central control cabinet detects the transition from a normal state to a state of no light reception, and that the duration and number of triggers meet the preset waste passage characteristics. It then determines that the waste has successfully passed this position and is ejected. When the waste leaves the transition section, the light returns to direct radiation, and the receiver's electrical signal returns to normal. The central control cabinet records this complete signal change process, confirming that the waste has been successfully removed. Simultaneously, after being ejected, the waste moves toward the waste diversion trough 29. The waste diversion trough 29 is located at the top of the outer wall of the U-shaped mounting frame. The Helmholtz coil generates a reverse magnetic field to suppress vibration, preventing vibration caused by the ejected waste from affecting the normal operation of the equipment.

[0065] Finally, when the waste successfully falls into the waste guide trough 29, the detection head of the eddy current sensor embedded at the entrance of the waste guide trough 29 detects the weight of the metal debris falling into the trough in real time; if the metal debris is detected to be greater than 5g, the Helmholtz coil frequency conversion vibration elimination ensures stable operation of the equipment; the Helmholtz coil is coaxially sleeved on the outer periphery of the steel frame of the bending guide plate 15 to effectively suppress the vibration caused by the removal of waste.

[0066] See also Figure 1 、 Figure 2 and Figure 7 The present invention provides an embodiment of an intelligent baling machine based on machine vision, wherein the dynamic baling head 8 includes a rotating jaw 12, a hot melt sealer 13, and a tension sensor 14. The rotating jaw 12 is vertically mounted on the bottom end of the outer wall of the lifting column 11, the hot melt sealer 13 is fixedly mounted on the side end of the outer wall of the rotating jaw 12, and the clamping surface of the rotating jaw 12 is embedded with the tension sensor 14.

[0067] The waste rejection mechanism 3 includes a pneumatic push rod group 30, a waste guide groove 29 and a photoelectric counter 17. The side beam of the conveyor belt is fixedly installed with a U-shaped mounting frame by bolts. The top crossbeam of the U-shaped mounting frame is fixedly installed with the pneumatic push rod group 30. The piston rod of the pneumatic push rod group 30 is coaxially connected to the bending guide plate 15. The transition section of the bending guide plate 15 is embedded with the photoelectric counter 17. The waste guide groove 29 is set at the top of the outer wall of the U-shaped mounting frame. The piston rod of the pneumatic push rod group 30 is axially connected in series with the magnetorheological damper 28.

[0068] Furthermore, first, the material is placed on the first section of the conveyor belt, and the weighing sensor 22 embedded in the support frame of the first section of the conveyor belt detects the quality of the material in real time. The weighing sensor 22 transmits the detected quality data to the central control cabinet, and the central control cabinet analyzes and processes the data; when the detected material quality is greater than the preset threshold, the central control cabinet issues an instruction to trigger the tail section belt speed encoder 21 to reduce the running speed of the tail section of the conveyor belt to avoid inaccurate material positioning due to excessive speed.

[0069] Then, when the material reaches the middle section of the conveyor belt, the symmetrically positioned side-push cylinders, acting on instructions from the central control cabinet, push the material to the centerline of the conveyor belt. The sensing device receives the signal and sends a command to the central control cabinet. The flip suction cups 23, hinged by swing arms above the conveyor belt, use the swing arms to absorb the material and flip it 90°. During material transfer, a speed encoder 21, coaxially connected to the drive roller at the end of the conveyor belt, continuously monitors the conveyor belt's operating speed and feeds this speed data back to the central control cabinet, which adjusts the conveyor belt speed in real time based on this feedback.

[0070] Finally, when the material reaches the end of the conveyor belt, 0.3 meters in front of the vertical projection of the dynamic packaging head 8, the material's transfer and positioning on the conveyor belt are complete. Using the principle of photoelectric sensing, the speed encoder 21 converts the number of rotations of the drive roller and the time information into an electrical signal, calculates the conveyor belt's operating speed, and continuously feeds it back to the central control cabinet. The closed-loop control system within the central control cabinet compares this feedback data with the preset speed value. If the actual speed deviates from the preset speed, the central control cabinet adjusts the output parameters of the motor driver to prevent speed fluctuations from affecting the material's transfer and positioning accuracy.

[0071] See also Figure 1 、 Figure 3 and Figure 6 The present invention provides an embodiment of a machine vision-based intelligent packaging machine, wherein the deflecting optical path unit 4 divides the incident light path into an imaging light path and an illumination light path via a 45° semi-transparent and semi-reflective mirror, a rotating base 16 is fixedly mounted on the bottom end of the outer wall of the dual-stage filter wheel 6, a broadband filter is provided on the outer edge of the rotating base 16, a narrowband filter is fixedly mounted on the central axis of the rotating base 16, and a cross strain gauge is attached to the edge of the semi-transparent and semi-reflective mirror;

[0072] The polarization control component 5 includes a phase retarder slot 17, a rotating bracket 18 and an angle locking knob 19. The bottom end of the outer wall of the folding optical path unit 4 is fixedly mounted on an L base through a thermal conductive adhesive layer. The vertical plate surface of the L base is provided with a phase retarder slot 17. The horizontal panel of the L base is hinged to the rotating bracket 18 through a pin shaft. The side end of the outer wall of the rotating bracket 18 is penetrated by an angle locking knob 19, and the angle locking knob 19 presses against the shoulder of the pin shaft; a circular hole is provided at the end of the rotating bracket 18, and a wire grid mounting ring 20 is pressed into the circular hole. The wire grid mounting ring 20 is fixedly mounted with a pressing ring inside the wire grid polarizer. The hinge axis of the rotating bracket 18 forms an angle of 22.5° with the optical axis of the phase retarder. A dovetail groove is provided at the top of the vertical pole of the rotating bracket 18, and a heat dissipation substrate 25 is embedded in the dovetail groove. The rear end of the outer wall of the heat dissipation substrate is attached to the microfluidic cold plate 26, and a paraffin heat storage bag is embedded at the intersection of the flow channels of the microfluidic cold plate 26.

[0073] Furthermore, first, after the visual detector 2 detects that the material is qualified, the central control cabinet issues an instruction to control the three-dimensional slide rail mechanism 7. The three-dimensional slide rail mechanism 7 includes a transverse guide rail 9, a longitudinal slider 10 and a lifting column 11. The transverse guide rail 9 is fixedly installed on the top of the outer wall of the frame 1, and the longitudinal slider 10 is connected to the transverse guide rail 9 by sliding; under the control of the central control cabinet, the longitudinal slider 10 moves along the transverse guide rail 9 to move the dynamic packaging head 8 to the top of the material. The acceleration sensor installed on the dynamic packaging head 8 monitors the inertial impact in real time and feeds back the data to the central control cabinet. The central control cabinet adjusts the moving speed and acceleration of the longitudinal slider 10 according to the feedback data.

[0074] Then, the dynamic packaging head 8 moves to the top of the material, and the lifting column 11 starts to descend. The lifting column 11 is penetrated by a waterproof connector 24. During the descent, the fins welded on the outer wall of the lifting column 11 assist in heat dissipation; the lifting column 11 descends at the initial speed preset by the central control cabinet, and the distance sensor on the lifting column 11 monitors the vertical distance between the bottom of the lifting column 11 and the top of the material in real time, and transmits the distance data to the central control cabinet in real time. When the distance sensor detects that the vertical distance between the bottom of the lifting column 11 and the top of the material reaches the first preset value, the central control cabinet controls the lifting column 11 to reduce the descending speed and enter the slow descent stage. During the slow descent, it is detected that the vertical distance reaches the second preset value. The lifting column 11 approaches the material at an extremely slow speed. When the tension sensor 14 embedded in the clamping surface of the rotating clamp 12 detects that the tension is ≥50N, the rotating clamp 12 rotates in 30° steps to wrap the material; during the process of the rotating clamp 12 wrapping the material, the hot melt sealer 13 seals the packaging material by heating when wrapping the second circle. The hot melt sealer 13 is fixedly installed on the side end of the outer wall of the rotating clamp 12 to realize the packaging of materials; during the packaging process, the tension sensor 14 continuously monitors the clamping force and feeds back the data to the central control cabinet, which adjusts the clamping force of the rotating clamp 12 according to the feedback data.

[0075] Finally, after the rotating clamp 12 completes the material wrapping and the hot melt sealer 13 seals, the lifting column 11 rises, driving the dynamic packing head 8 to rise to the initial position.

[0076] See also Figure 1 、 Figure 3 and Figure 5 The present invention provides an embodiment of an intelligent baler based on machine vision, wherein the driving roller of the tail section of the conveyor belt is coaxially connected to a speed encoder 21, a weighing sensor 22 is embedded in the support frame of the first section of the conveyor belt, side thrust cylinder groups are symmetrically arranged on both sides of the middle section, and a flip suction cup 23 is hinged above the conveyor belt through a swing arm;

[0077] The dynamic packaging head 8 and the visual detector are respectively connected to the central control cabinet. The lifting column 11 is penetrated by a waterproof connector 24. The outer wall side of the lifting column 11 is welded with fins. The barrel interface of the folding optical path unit 4 is embedded with a piezoelectric ceramic micro-motion ring 27. The piezoelectric ceramic micro-motion ring 27 and the electrodes of the cross strain gauge are connected in series with a thermal conductive alloy wire.

[0078] Furthermore, first, the 45° semi-transparent and semi-reflective mirror of the folding optical path unit 4 splits the incident light into an imaging optical path and an illumination optical path. At the same time, the cross strain gauge monitors the lens deformation in real time. The cross strain gauge converts the monitored lens deformation data into an electrical signal, which is transmitted to the central control cabinet through the thermal conductive alloy wire. The central control cabinet analyzes and processes the electrical signal, converts the thermal expansion of the cross strain gauge into a voltage signal, and drives the piezoelectric ceramic micro-motion ring 27. The piezoelectric ceramic micro-motion ring 27 and the electrode of the cross strain gauge are connected in series with the thermal conductive alloy wire. Driven by the voltage signal, the piezoelectric ceramic micro-motion ring 27 compensates for the displacement along the axial direction, thereby fine-tuning the coaxiality of the optical path of the folding optical path unit 4 and ensuring the accuracy of the optical path and the clarity of the image.

[0079] Then, after every 8 hours of operation, apply thermal grease to the dovetail groove of the heat dissipation substrate 25 to maintain the auxiliary heat dissipation quality. When the liquid metal contact temperature exceeds 120°C, it indicates that the equipment may be overheating. The deformation of the cantilever beam triggers the ceramic insulating pin at the free end, causing the bursting disc to rupture and release inert gas. The released inert gas cuts off the current path of the electromagnetic shielding pipe embedded in the outer wall of the inert gas storage tank, preventing damage to the equipment due to overheating. The angle locking knob 19 of the rotating bracket 18 in the polarization control assembly 5 is loosened once every 24 hours. After loosening, the knob axis disengages from the fan-shaped gear ring of the horizontal panel of the L base. The wire grid mounting ring 20 rotates 45° along the circumferential guide rail and is then relocked at an angle of 22.5°. At the same time, the phase retarder slot 17 needs to be injected with refractive index matching fluid to improve detection accuracy.

[0080] Finally, the equipment automatically calibrates the test optical path. The central control cabinet controls the dual-stage filter wheel 6 to rotate at a constant speed of 10 rpm and simultaneously sends a test command to the visual detector 2. The visual detector 2 captures an image of the standard test sample and transmits the image data to the central control cabinet. The central control cabinet analyzes the captured image using a preset image analysis algorithm to determine whether the optical path is accurate. If the test result is unsatisfactory, the central control cabinet activates the piezoelectric ceramic micro-motion ring 27 to fine-tune the optical path again, repeating the cycle until the test passes.

[0081] Working Principle: First, the central control cabinet introduces coolant to the fins of the lifting column 11 through the waterproof connector 24, activating the circulation pump of the microchannel cold plate 26, allowing the paraffin heat storage capsule to reach the phase transition temperature. At the same time, the stepper motor of the rotating base plate 16 is reset to zero, allowing the broadband filter to align with the imaging light path, stabilizing the equipment operating temperature and calibrating the initial position of the light path.

[0082] Then, the weighing sensor 22 at the first section of the conveyor belt detects the material quality. If the quality is greater than the threshold, the speed encoder 21 at the tail section is triggered to slow down. At the same time, the side push cylinder group in the middle section pushes the material to the center line of the conveyor belt, and the flip suction cup 23 flips the material 90° through the swing arm; the 45° semi-transparent and semi-reflective mirror of the folding optical path unit 4 splits the incident light into imaging / illumination dual paths, and the cross strain gauge monitors the lens deformation in real time; the phase retarder slot 17 in the polarization control component 5 is inserted into the liquid crystal phase retarder, and the rotating bracket 18 locks the angle of 22.5°. The narrowband filter is maintained under the action of the thermoelectric cooling plate. Maintaining a temperature of -10°C ± 0.5°C, the dual-stage filter wheel 6 alternately switches filtering modes at 10 rpm, while the piezoelectric ceramic fine-motion ring 27 fine-tunes the optical path coaxiality based on feedback from the cross strain gauge. After the photoelectric counter 17 counts three consecutive scrap signals, it triggers the pneumatic push rod assembly 30. The magnetorheological damper 28 dynamically adjusts the piston rod impact force based on the scrap mass. The bent guide plate throws the scrap into the scrap guide trough 29, where the Helmholtz coil generates a reverse magnetic field to suppress vibration. The eddy current sensor at the entrance of the scrap guide trough 29 detects metal debris > 5g, and the Helmholtz coil performs frequency conversion vibration elimination.

[0083] Finally, the thermally conductive alloy wire converts the thermal expansion of the cross strain gauge into a voltage signal, driving the piezoelectric ceramic micro-ring 27 to compensate for the axial displacement. The dovetail groove fitting of the heat dissipation substrate 25 is coated with thermal grease every 8 hours of operation. The angle locking knob 19 of the rotating bracket 18 is loosened every 24 hours. The wire grid mounting ring 20 is rotated 45° and then re-locked at an angle of 22.5°, and a refractive index matching liquid is injected into the phase retarder slot 17. The longitudinal slider 10 of the three-dimensional slide mechanism 7 moves along the transverse guide rail 9 to the top of the material. The acceleration sensor monitors the inertial impact. When the lifting column 11 descends to the point where the detection value of the tension sensor 14 is ≥50N, the rotating jaw 12 rotates in 30° steps to wrap the material, and the hot melt sealer 13 seals the material during the second wrapping.

[0084] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An intelligent packaging machine based on machine vision, characterized by: It comprises a frame (1), a visual detector (2) and a waste rejection mechanism (3), wherein the visual detector (2) is fixedly mounted on the top of the outer wall of the frame (1) via a bracket, the waste rejection mechanism (3) is fixedly mounted on the side end of the outer wall of the frame (1), and the visual detector (2) is connected to the waste rejection mechanism (3) via a data line; The visual detector (2) comprises a deflecting light path unit (4), a polarization control component (5) and a double-stage filter wheel (6); the double-stage filter wheel (6) is nested in the middle section of the inner wall of the deflecting light path unit (4); and the polarization control component (5) is provided at the light path outlet end of the deflecting light path unit (4).

2. The intelligent packaging machine based on machine vision according to claim 1, characterized in that: A conveyor belt is provided at the bottom end of the outer wall of the frame (1), and a dynamic packing head (8) is suspended at the end of the conveyor belt through a three-dimensional slide rail mechanism (7), and the three-dimensional slide rail mechanism (7) includes a transverse guide rail (9), a longitudinal slider (10) and a lifting column (11); The transverse guide rail (9) is fixedly mounted on the top of the outer wall of the frame (1), the longitudinal slider (10) is connected to the transverse guide rail (9) by sliding, and the longitudinal guide rail (10) is hinged to the lifting column (11).

3. The intelligent packaging machine based on machine vision according to claim 2, characterized in that: The dynamic packing head (8) comprises a rotating clamp (12), a hot melt sealer (13) and a tension sensor (14); the rotating clamp (12) is vertically mounted on the bottom end of the outer wall of the lifting column (11); the hot melt sealer (13) is fixedly mounted on the side end of the outer wall of the rotating clamp (12); and the clamping surface of the rotating clamp (12) is embedded with the tension sensor (14).

4. The intelligent packaging machine based on machine vision according to claim 1, characterized in that: The waste rejection mechanism (3) comprises a pneumatic push rod group (30), a waste guide groove (29) and a photoelectric counter (17); the side beam of the conveyor belt is fixedly mounted on a U-shaped mounting frame by bolts; the top crossbeam of the U-shaped mounting frame is fixedly mounted on the pneumatic push rod group (30); the piston rod of the pneumatic push rod group (30) is coaxially docked with the bending guide plate (15); the transition section of the bending guide plate (15) is embedded with the photoelectric counter (17); the waste guide groove (29) is provided at the top end of the outer wall of the U-shaped mounting frame; and the piston rod of the pneumatic push rod group (30) is axially connected in series with a magnetorheological damper (28).

5. The intelligent packaging machine based on machine vision according to claim 1, characterized in that: The deflecting optical path unit (4) divides the incident optical path into an imaging optical path and an illumination optical path through a 45° semi-transparent semi-reflective mirror. A rotating base (16) is fixedly mounted on the bottom end of the outer wall of the double-stage filter wheel (6). A broadband filter is arranged on the edge of the outer wall of the rotating base (16). A narrowband filter is fixedly mounted on the central axis of the rotating base (16). A cross strain gauge is attached to the edge of the semi-transparent semi-reflective mirror.

6. The intelligent packaging machine based on machine vision according to claim 1, characterized in that: The polarization control component (5) comprises a phase retarder slot (17), a rotating bracket (18) and an angle locking knob (19); the bottom end of the outer wall of the folding optical path unit (4) is fixedly mounted on an L base through a heat-conducting adhesive layer; the vertical plate surface of the L base is provided with a phase retarder slot (17); the horizontal panel of the L base is hinged to the rotating bracket (18) through a pin shaft; the side end of the outer wall of the rotating bracket (18) is penetrated by an angle locking knob (19); the angle locking knob (19) presses against the pin shaft shoulder; A circular hole is provided at the end of the rotating bracket (18), and a wire grid mounting ring (20) is pressed into the circular hole. A wire grid polarizer is fixedly mounted inside the wire grid mounting ring (20) by a pressing ring. The hinge axis of the rotating bracket (18) forms an angle of 22.5° with the optical axis of the phase retarder. A dovetail groove is provided at the top of the vertical rod of the rotating bracket (18), and a heat dissipation substrate (25) is embedded in the dovetail groove. The rear end of the outer wall of the heat dissipation substrate (25) is attached to the microfluidic cold plate (26), and a paraffin heat storage bag is embedded in the intersection of the flow channels of the microfluidic cold plate (26).

7. The intelligent packaging machine based on machine vision according to claim 2, characterized in that: The driving roller of the tail section of the conveyor belt is coaxially connected to a speed encoder (21), a weighing sensor (22) is embedded in the support frame of the first section of the conveyor belt, side thrust cylinder groups are symmetrically arranged on both sides of the middle section, and a flip suction cup (23) is hinged above the conveyor belt through a swing arm.

8. The intelligent packaging machine based on machine vision according to claim 2, characterized in that: The dynamic packaging head (8) and the visual detector (2) are respectively connected to the central control cabinet, the lifting column (11) is penetrated by a waterproof connector (24), fins are welded on the side of the outer wall of the lifting column (11), a piezoelectric ceramic micro-motion ring (27) is embedded in the lens barrel interface of the folding optical path unit (4), and a heat-conducting alloy wire is connected in series with the electrode of the cross strain gauge.

9. A method for using a machine vision-based intelligent packaging machine, applicable to the machine vision-based intelligent packaging machine according to any one of claims 1 to 8, characterized in that: The method of use comprises the following steps: S1, the central control cabinet passes the cooling liquid to the fins of the lifting column (11) through the waterproof connector (24), activates the circulation pump of the microchannel cold plate (26), makes the paraffin heat storage bag reach the phase change temperature, and returns the stepper motor of the rotating base plate (16) to zero, so that the broadband filter is aligned with the imaging light path; S2, the weighing sensor (22) of the first section of the conveyor belt detects the material quality. When the quality is greater than the threshold, the speed encoder (21) of the tail section is triggered to slow down. The middle section side push cylinder group pushes the material to the center line of the conveyor belt. The flip suction cup (23) flips the material 90° through the swing arm. The 45° semi-transparent and semi-reflective mirror of the folding light path unit (4) splits the incident light into imaging / illumination dual paths. The cross strain gauge monitors the lens deformation in real time. S3, the phase retarder slot (17) of the polarization control component (5) is inserted into the liquid crystal phase retarder, the rotating bracket (18) is locked at an angle of 22.5°, the narrowband filter is maintained at -10°C ± 0.5°C under the action of the thermoelectric cooling plate, the double-stage filter wheel (6) alternately switches the filter mode at 10 rpm, and the piezoelectric ceramic fine-motion ring (27) fine-tunes the coaxiality of the optical path along the spiral guide groove according to the feedback of the cross strain gauge; S4, after the photoelectric counter (17) counts three consecutive waste signals, it triggers the pneumatic push rod group (30), the magnetorheological damper (28) dynamically adjusts the piston rod impact force according to the waste mass, the bending guide plate (15) throws the waste into the waste guide trough (29), and the Helmholtz coil generates a reverse magnetic field to suppress vibration; S5. The longitudinal slider (10) of the three-dimensional slide mechanism (7) moves along the transverse guide rail (9) to the top of the material. The acceleration sensor monitors the inertial impact in real time. The lifting column (11) descends until the tension sensor (14) detects a value ≥ 50N. The rotating clamp (12) rotates in 30° steps to wrap the material. The hot melt sealer (13) starts when wrapping the second circle.

10. The method for using a machine vision-based intelligent packaging machine according to claim 9, characterized in that: The method of use further comprises the following steps: S21, the heat-conducting alloy wire converts the thermal expansion of the cross strain gauge into a voltage signal, driving the piezoelectric ceramic micro-motion ring (27) to compensate for displacement in the axial direction; S22, the dovetail groove fitting of the heat dissipation substrate (25) is coated with thermal conductive silicone grease every 8 hours of operation. When the temperature of the liquid metal contact is greater than 120°C, the deformation of the cantilever beam triggers the ceramic insulating ejector pin at the free end, and the bursting diaphragm ruptures to release the inert gas, thereby cutting off the current path of the electromagnetic shielding pipe embedded in the outer wall of the inert gas storage tank; S31, the angle locking knob (19) of the rotating bracket (18) is loosened every 24 hours, the knob axis is disengaged from the sector gear ring of the L base horizontal panel, the wire grid mounting ring (20) is rotated 45° along the circumferential guide rail and then re-locked at an angle of 22.5°, and a refractive index matching liquid is injected into the phase retarder slot (17); S32. The detection head of the eddy current sensor is embedded in the entrance of the waste guide groove (29). When the metal debris detected is greater than 5g, the Helmholtz coil performs frequency conversion vibration elimination. The coil is coaxially sleeved on the outer periphery of the steel frame of the bent guide plate (15).

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