Positioning and swinging device for soft bag foreign matter detection and soft bag lamp inspection machine

Abstract

The invention discloses a positioning and swinging device for soft bag foreign matter detection and a soft bag light inspection machine, and the positioning and swinging device for soft bag foreign matter detection comprises a first conveying mechanism, a bag sorting manipulator, a second conveying mechanism, a positioning and transferring mechanism and a swinging mechanism; the bag arranging robot arm is used for transferring the soft bags on the first conveying mechanism to the second conveying mechanism one by one. The second conveying mechanisms comprise second conveying belts and guide barriers arranged on the second conveying belts, the guide barriers are used for correcting the positions and deflection angles of the soft bags, and the multiple second conveying mechanisms are arranged side by side; the positioning and transferring mechanism comprises a transferring frame, a positioning assembly and a transferring assembly, the positioning assembly and the transferring assembly are installed on the transferring frame, the positioning assembly is used for blocking the soft bags on the second conveying belt so as to position the soft bags, and the transferring assembly is used for transferring the positioned soft bags to the swing mechanism; the swing mechanism is used for driving the soft bag to swing back and forth. The positioning and swinging device for soft bag foreign matter detection is simple in structure and high in applicability.

Description

Technical Field

[0001] The present invention relates to the technical field of light inspection equipment, in particular to a positioning and swinging device for detecting foreign matter in soft bags, and a soft bag light inspection machine using the positioning and swinging device for detecting foreign matter in soft bags. Background Art

[0002] In the pharmaceutical industry, automatic foreign body inspection machines (also known as light inspection machines) are essential quality inspection equipment used to detect the presence of foreign matter in pharmaceuticals. When inspecting pharmaceuticals for foreign matter, the pharmaceutical packaging container to be inspected usually needs to be rotated at high speed and then quickly stopped. At this time, the liquid medicine in the packaging container continues to rotate due to inertia. Then, a high-speed sequence of images can be captured. By comparing the changes in the trajectory of the foreign matter in the sequence of images, it can be determined whether there is a foreign matter in the liquid medicine. However, the above detection method is only applicable to bottled medicines. For soft bag packaging, since soft bags are easily deformed, they cannot be rotated at high speed to move the liquid medicine during light inspection like bottles. In addition, the soft bag structure is thin and needs to be photographed from the front or bottom.

[0003] In this regard, Chinese invention patent CN115626347A provides a soft bag optical inspection machine, which clamps the soft bag and rotates it around the central axis of the soft bag, and then uses a light inspection mechanism to detect whether there are foreign objects in the liquid in the soft bag. In addition, Chinese invention patent CN116748162A provides a soft bag foreign object automatic inspection machine, which clamps the soft bag with a disc, rotates it around an axis perpendicular to the plane of the soft bag, and inspects the soft bag. Although the above-mentioned various bag rotation methods can make the liquid in the soft bag move, they all have the problems of complex structure and high cost. In particular, for some heavy soft bags, such as 1000mL / 2000mL soft bags, the mouth tube of the soft bag cannot bear the weight of the soft bag, resulting in the inability to clamp the mouth tube. The method of clamping by friction is also difficult to clamp stably due to the heavy weight of the soft bag. Secondly, the robot arm mainly uses visual positioning to guide the grabbing of soft bags. Since soft bags are prone to deformation and other reasons, there is a certain deviation in the position of the soft bags after the robot arm grabs them and places them on the platform, which easily leads to detection errors. Summary of the Invention

[0004] The present invention primarily provides a positioning and swinging device for detecting foreign matter in soft bags, so as to solve the technical problems that existing light inspection equipment is difficult to accurately detect soft bag packaging products, and the equipment structure is complex and the cost is high.

[0005] The present invention also provides a soft bag light inspection machine, which adopts the positioning and swinging device for detecting foreign matter in soft bags.

[0006] According to one aspect of the present invention, a positioning and swinging device for detecting foreign matter in soft bags is provided, comprising a first conveying mechanism, a bag sorting robot, a second conveying mechanism, a positioning and transfer mechanism, and a swinging mechanism, which are arranged in sequence;

[0007] The first conveying mechanism includes a first conveyor belt, and the first conveyor belt is used to connect to the upstream conveyor line and receive the soft bags transported by the upstream conveyor line;

[0008] The bag sorting robot is used to transfer the soft bags on the first conveyor belt to the second conveying mechanism one by one;

[0009] The second conveying mechanism includes a second conveyor belt and a guide fence provided on the second conveyor belt, wherein the guide fence is used to correct the position and deflection angle of the soft bag during the process of the second conveyor belt conveying the soft bag, and a plurality of the second conveying mechanisms are provided side by side;

[0010] The positioning and transferring mechanism includes a transfer frame, a positioning assembly and a transfer assembly respectively mounted on the transfer frame, the transfer frame being mounted above the plurality of second conveying mechanisms and being used to move along the connecting direction of the second conveying mechanisms and the swing mechanism, the positioning assembly being used to block the soft bags on the second conveyor belt to position the soft bags, and the transfer assembly being used to transfer the positioned soft bags to the swing mechanism;

[0011] The swing mechanism includes a swing plate for supporting the soft bag and driving the soft bag to swing back and forth.

[0012] Preferably, the swing plate is made of a transparent material, and the swing mechanism further comprises two lighting components, which are respectively arranged on the upper and lower sides of the swing plate.

[0013] Preferably, the bag sorting robot comprises a lifting mechanism, a lifting rod passing through the lifting mechanism, and a first suction cup assembly provided at the bottom end of the lifting rod;

[0014] The lifting mechanism is used to drive the lifting rod to move up and down. The top end of the lifting rod passes through the top of the lifting mechanism and is provided with a first air pipe joint. The bottom end of the lifting rod passes through the bottom of the lifting mechanism and is provided with a second air pipe joint. The interior of the lifting rod is provided with an air guide hole connecting the first air pipe joint and the second air pipe joint. The first air pipe joint is used to connect to an external suction device, and the second air pipe joint is connected to the first suction cup assembly.

[0015] Preferably, the bottom end of the guide fence is lower than the upper surface of the second conveyor belt.

[0016] Preferably, the positioning and swinging device for detecting foreign matter in a soft bag further comprises a first driving mechanism, the first driving mechanism comprising a first driving assembly, a first rotating shaft connected to an output shaft of the first driving assembly, and a plurality of first driving wheels arranged on the first rotating shaft at intervals along the axial direction of the first rotating shaft;

[0017] The second conveying mechanism also includes a driving pulley and a driven pulley, and the second conveyor belt is sequentially wound around the driving pulley and the driven pulley. The driving pulleys on multiple second conveying mechanisms are connected one-to-one with multiple first driving wheels. The first driving assembly is used to drive the first rotating shaft to rotate and drive multiple driving pulleys to rotate respectively through multiple first driving wheels, thereby synchronously driving the second conveyor belts on multiple second conveying mechanisms to move.

[0018] Preferably, the positioning and swinging device for detecting foreign matter in a soft bag further comprises a second driving mechanism, the second driving mechanism comprising a second driving assembly, a second rotating shaft connected to an output shaft of the second driving assembly, and a plurality of rocker assemblies arranged on the second rotating shaft at intervals along the axial direction of the second rotating shaft;

[0019] There are multiple swing mechanisms, and the multiple swing mechanisms are arranged in a one-to-one correspondence with the multiple second conveying mechanisms. The swing mechanism also includes a swing shaft installed on the second conveying mechanism, the first end of the swing plate is hinged to the swing shaft, and the second ends of the swing plates on the multiple swing mechanisms are hinged to a plurality of rocker assemblies in a one-to-one correspondence. The second driving assembly is used to drive the second rotating shaft to rotate reciprocatingly to drive the multiple rocker assemblies to swing reciprocatingly, and then synchronously drive the multiple swing plates to swing reciprocatingly around their corresponding swing shafts through the multiple rocker assemblies.

[0020] Preferably, the positioning and swinging device for detecting foreign matter in a soft bag further comprises a bottom plate and a third driving mechanism provided on the bottom plate, the positioning and transferring mechanism further comprises two supporting frames provided on opposite sides of the bottom plate, and two slide rail assemblies provided on the bottom plate and connected to the two supporting frames in a one-to-one correspondence, both ends of the transferring frame are connected to the two supporting frames in a one-to-one correspondence and are erected above the bottom plate through the two supporting frames, and the second conveying mechanism and the swinging mechanism are both provided between the two supporting frames;

[0021] The transmission gears are connected with the third gear of the driving member, and the transmission gears are connected with the third gear of the driving member, and the transmission gears are connected with the third gear of the driving member.

[0022] Preferably, the positioning assembly includes at least one first lifting assembly provided on the transfer frame, and a positioning plate connected to the first lifting assembly and configured to be driven to move up and down by the first lifting assembly;

[0023] The guide fence is used to enclose a guide channel on the second conveyor belt. The positioning plate includes a positioning arm that is adapted to the guide channel and is used to descend and insert into the guide channel. A plurality of positioning arms are arranged at intervals, and the plurality of positioning arms are arranged in a one-to-one correspondence with the guide channels on the plurality of second conveying mechanisms.

[0024] Preferably, the transfer assembly includes at least one second lifting assembly provided on the transfer frame, and a second suction cup assembly connected to the second lifting assembly and configured to be driven to move up and down by the second lifting assembly;

[0025] The second suction cup assembly is arranged at the rear end of the positioning assembly along the conveying direction of the second conveyor belt. There are multiple second suction cup assemblies, and the multiple second suction cup assemblies are arranged in a one-to-one correspondence with the multiple second conveying mechanisms.

[0026] As a second aspect, the present invention further provides a soft bag light inspection machine, comprising a detection device and the above-mentioned positioning swing device for soft bag foreign body detection, wherein the detection device is used to detect foreign bodies on the soft bag on the swing plate.

[0027] The present invention has the following beneficial effects:

[0028] In the positioning and swinging device for detecting foreign objects in soft bags provided by the present invention, a first conveying mechanism is first connected to an upstream conveying line and automatically receives the soft bags transported by the upstream conveying line. Then, a bag sorting robot transfers the soft bags on the first conveyor belt to the second conveyor belt one by one. The position and deflection angle of the soft bags are corrected by a guide fence on the second conveyor belt. Then, a positioning component on the positioning and transfer mechanism blocks the soft bags on the second conveyor belt from moving forward, so that the soft bags are accurately positioned at a preset position. At this time, the positioned soft bags can be accurately transferred to the swinging mechanism by the transfer component, ensuring the placement position, angle and deformation state of the soft bags on the swinging plate. Finally, the swinging plate drives the soft bags to swing back and forth, and the swinging action causes the liquid medicine and foreign objects in the soft bags to move, which is beneficial to improving the accuracy of foreign object detection and realizing fully automated soft bag conveying, positioning and swinging actions. Compared with the method of using a high-precision robot to grab the soft bags for rotation, there is no need to set up a complex bag clamping mechanism and bag rotating mechanism. Not only is the structure simpler and the cost lower, but there is no restriction on the shape, volume and weight of the soft bags, and the applicability is stronger.

[0029] Secondly, since multiple second conveying mechanisms are arranged side by side, the positions and deflection angles of multiple soft bags can be corrected respectively through multiple second conveying mechanisms, and the soft bags on multiple second conveyor belts can be positioned at the same time through the positioning components. Multiple soft bags can be positioned with high precision at one time and transferred in batches to the swing mechanism for swinging and shaking operations. At the same time, it can detect whether there are foreign objects in multiple soft bags, ensuring the detection accuracy while effectively improving the detection efficiency.

[0030] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0032] Figure 1 A schematic structural diagram of a positioning and swinging device for detecting foreign matter in a soft bag provided by an embodiment of the present invention;

[0033] Figure 2 for Figure 1 The structural diagram of the positioning and swinging device for detecting foreign matter in soft bags shown in the figure removes the first conveying mechanism and the bag sorting robot;

[0034] Figure 3 for Figure 1 The schematic diagram of the structure of the bag sorting robot in the positioning and swinging device for detecting foreign objects in soft bags is shown;

[0035] Figure 4 for Figure 3 A cross-sectional view of the bag sorting robot arm shown along the plane where the axis of its lifting rod is located;

[0036] Figure 5 for Figure 2 A top view of the second conveying mechanism in the positioning and swinging device for detecting foreign matter in a soft bag is shown;

[0037] Figure 6 for Figure 2 The structural diagram of the first driving mechanism in the positioning and swinging device for detecting foreign matter in a soft bag is shown;

[0038] Figure 7 for Figure 2 A structural schematic diagram of the second driving mechanism in the positioning and swinging device for detecting foreign matter in a soft bag is shown;

[0039] Figure 8 for Figure 2 The structural diagram of the swing mechanism in the positioning swing device for detecting foreign matter in a soft bag is shown;

[0040] Figure 9 for Figure 2 The figure shows a schematic structural diagram of the positioning transfer mechanism in the positioning swing device for detecting foreign objects in a soft bag.

[0041] Description of reference numerals:

[0042] 1000. Positioning and swinging device for detecting foreign matter in soft bags; 100. Bottom plate; 1. First conveying mechanism; 11. First conveyor belt; 2. Bag sorting robot; 21. Lifting mechanism; 22. Lifting rod; 221. First air pipe joint; 222. Second air pipe joint; 223. Air guide hole; 23. First suction cup assembly; 231. First suction cup; 24. Rotating mechanism; 25. Rotating arm; 3. Second conveying mechanism; 31. Second conveyor belt; 32. Guide fence; 33. Guide channel; 34. Fence bracket; 35. Driving pulley; 36. Driven pulley; 4. Positioning and transfer mechanism; 41. Transfer frame; 42. Positioning assembly; 421. First lifting assembly; 422. Positioning plate; 4221. Positioning arm; 43. Transfer assembly; 431. Second lifting assembly; 432. Second suction cup assembly; 4321. Second suction cup; 44. Support Frame; 45. Slide rail assembly; 451. Guide rail; 452. Slider; 5. Swing mechanism; 51. Swing plate; 511. Articulated seat; 52. Swing shaft; 53. Overlapping soft board; 54. Lighting assembly; 6. First driving mechanism; 61. First driving assembly; 611. First driving motor; 612. Reducer; 62. First rotating shaft; 63. First driving wheel; 64. First bearing seat; 7. Second driving mechanism; 71. Second driving assembly; 711. Second driving motor; 712. First transmission gear; 713. Second transmission gear; 72. Second rotating shaft; 73. Rocker assembly; 731. Cam; 732. Connecting rod; 74. Second bearing seat; 8. Third driving mechanism; 81. Third driving assembly; 82. Driving gear; 83. Driven gear; 84. Third rotating shaft; 85. Rack; 9. Recycling robot. DETAILED DESCRIPTION

[0043] The following detailed description of embodiments of the present invention is provided in conjunction with the accompanying drawings. However, the present invention may be implemented in a variety of different ways as defined and covered below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are illustrative and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0044] Those skilled in the art will understand that, unless expressly stated otherwise, the term "comprising" used in the description of the present invention refers to the presence of the features, integers, steps, operations, parts and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, parts, components and / or combinations thereof. It should be understood that when we refer to a component as being "connected" to another component, it can be directly connected to the other component or connected through an intermediate component. The term "and / or" used here includes all or any unit and all combinations of one or more associated listed items. The terms "first" and "second" and the like in the description and claims of the present invention are used to distinguish different objects, rather than to describe a specific order.

[0045] Figures 1 to 9 The figures together show a positioning and swinging device 1000 for detecting foreign objects in soft bags provided by an embodiment of the present invention, which is used to perform high-precision positioning of soft bags in batches and drive the positioned soft bags to swing back and forth. The swinging action allows the liquid medicine and foreign objects in the soft bags to move, which is beneficial to improving the accuracy of foreign object detection.

[0046] Please combine Figure 1 and Figure 2 The positioning and swinging device 1000 for detecting foreign matter in soft bags includes a first conveying mechanism 1, a bag sorting robot 2, a second conveying mechanism 3, a positioning and transferring mechanism 4, and a swinging mechanism 5, which are arranged in sequence.

[0047] Specifically, the first conveying mechanism 1 includes a first conveyor belt 11, which is used to connect to the upstream conveyor line and receive the soft bags transported by the upstream conveyor line; the bag sorting robot 2 is used to transfer the soft bags on the first conveyor belt 11 to the second conveying mechanism 3 one by one; the second conveying mechanism 3 includes a second conveyor belt 31 and a guide fence 32 provided on the second conveyor belt 31, and the guide fence 32 is used to correct the position and deflection angle of the soft bags during the process of the second conveyor belt 31 transporting the soft bags. The second conveying mechanism 3 is provided with Multiple; the positioning and transfer mechanism 4 includes a transfer frame 41, a positioning component 42 and a transfer component 43 respectively installed on the transfer frame 41, the transfer frame 41 is erected above multiple second conveying mechanisms 3 and is used to move along the connecting direction of the second conveying mechanism 3 and the swinging mechanism 5, the positioning component 42 is used to block the soft bag on the second conveyor belt 31 to position the soft bag, and the transfer component 43 is used to transfer the positioned soft bag to the swinging mechanism 5; the swinging mechanism 5 includes a swinging plate 51 for supporting the soft bag and driving the soft bag to swing back and forth.

[0048] The working principle of the positioning and swinging device 1000 for detecting foreign objects in soft bags is as follows: first, the first conveying mechanism 1 is connected to the upstream conveying line and automatically receives the soft bags transported by the upstream conveying line, and then the soft bags on the first conveyor belt 11 are transferred one by one to the second conveying mechanism 3 by the bag sorting robot 2, and the position and deflection angle of the soft bags are corrected by using the guide fence 32 on the second conveying mechanism 3, and then the positioning component 42 on the positioning transfer mechanism 4 is used to prevent the soft bags on the second conveyor belt 31 from continuing to move forward. At this time, the soft bags slip relative to the second conveyor belt 31, so that the soft bags are accurately positioned at the preset position. At this time, the positioned soft bag can be accurately transferred to the swing mechanism 5 through the transfer component 43 to ensure the placement position, angle and deformation state of the soft bag on the swing plate 51. Finally, the swing plate 51 drives the soft bag to swing back and forth, and the swinging action allows the liquid medicine and foreign matter in the soft bag to move, which is beneficial to improve the accuracy of foreign matter detection and realize fully automated soft bag transportation, positioning and swinging actions. Compared with the method of using a high-precision robot to grab the soft bag for rotation, there is no need to set up a complicated bag clamping mechanism and bag rotating mechanism. Not only is the structure simpler and the cost lower, but there is no restriction on the shape, volume and weight of the soft bag, and it is more applicable.

[0049] Secondly, since multiple second conveying mechanisms 3 are arranged side by side, the positions and deflection angles of multiple soft bags can be corrected respectively by multiple second conveying mechanisms 3, and the soft bags on multiple second conveyor belts 31 can be positioned at the same time by the positioning component 42. The high-precision positioning of multiple soft bags can be completed at one time and transferred in batches to the swing mechanism 5 for swinging and shaking operations. At the same time, it can detect whether there are foreign objects in multiple soft bags, ensuring the detection accuracy while effectively improving the detection efficiency.

[0050] Furthermore, since the transfer frame 41 can move along the direction of the line connecting the second conveying mechanism 3 and the swinging mechanism 5, before the transfer component 43 grabs the soft bag, the transfer frame 41 can be driven to move in the direction toward the swinging mechanism 5 and the moving speed of the transfer frame 41 can be kept consistent with the conveying speed of the second conveyor belt 31, that is, the transfer frame 41 and the second conveyor belt 31 run synchronously. At this time, the soft bag on the second conveyor belt 31 is grabbed by the transfer component 43, which can avoid the speed difference between the upper and lower surfaces of the soft bag and cause the soft bag to deform, thereby ensuring that the soft bag can remain regular during the transfer to the swing plate 51.

[0051] Please combine Figure 3 and Figure 4The bag sorting robot 2 includes a lifting mechanism 21 and a lifting rod 22 passing through the lifting mechanism 21, and a first suction cup assembly 23 provided at the bottom end of the lifting rod 22; the lifting mechanism 21 is used to drive the lifting rod 22 to move up and down, the top end of the lifting rod 22 passes through the top of the lifting mechanism 21 and is provided with a first air pipe joint 221, the bottom end of the lifting rod 22 passes through the bottom of the lifting mechanism 21 and is provided with a second air pipe joint 222, the interior of the lifting rod 22 is provided with an air guide hole 223 connecting the first air pipe joint 221 and the second air pipe joint 222, the first air pipe joint 221 is used for external suction equipment, and the second air pipe joint 222 is connected to the first suction cup assembly 23 through an air pipe.

[0052] Specifically, the suction device adopts a vacuum pump or a vacuum generator. The bag sorting robot 2 is connected to the suction device through the first air pipe joint 221 at the top of the lifting rod 2, and is connected to the first suction cup assembly 23 through the second air pipe joint 222 at the bottom of the lifting rod 2. The air guide hole 223 inside the lifting rod 2 is used to connect the first suction cup assembly 23 and the suction device, which effectively reduces the pipeline layout at the bottom end of the lifting rod 2. Compared with the solution of directly connecting the first suction cup assembly 23 to the suction device, it effectively avoids the messy air pipes of the suction device from interfering with the operation of the first suction cup assembly 23, and the piping is neater.

[0053] Furthermore, the first air pipe joint 221 is a rotary joint, that is, the first air pipe joint 221 can adaptively rotate relative to the lifting rod 22 to adapt to different moving positions and angles of the bag sorting robot 2 to avoid bending and clogging of the pipeline.

[0054] Furthermore, the lifting mechanism 21 is also used to drive the lifting rod 22 to rotate, thereby driving the soft bags on the first suction cup assembly 23 to rotate and adjust the angle through the lifting rod 22, so that the soft bags can enter the second conveyor belt 31 at a preset angle. Since the soft bags on the first conveyor belt 11 are randomly oriented, by rotating and adjusting the angle of the first suction cup assembly 23, soft bags of any orientation can be rotated to a preset angle to enter the second conveyor belt 31. Moreover, since the first air pipe joint 221 is a rotary joint, even if the lifting rod 22 rotates 360 degrees, it will not cause the supporting pipelines of the suction equipment to twist. The lifting rod 22 can adapt to any rotation angle, thereby accurately sucking soft bags at any angle.

[0055] Furthermore, multiple second air pipe joints 222 are arranged along the circumference of the lifting rod 22, and the first suction cup assembly 23 includes multiple first suction cups 231. The multiple first suction cups 231 are connected one-to-one with the multiple second air pipe joints 222. While the lifting rod 2 is connected to an external suction device, one pipeline of the suction device can also be diverted into multiple pipelines, and the suction action of multiple first suction cups 231 can be realized at the same time, so that different positions of the soft bag can be sucked by the multiple first suction cups 231 respectively, avoiding that the soft bag is only locally subjected to force and undergoes large deformation.

[0056] Preferably, the bag sorting robot 2 also includes a rotating mechanism 24 and a rotating arm 25, the first end of the rotating arm 25 is connected to the rotating mechanism 24, and the second end of the rotating arm 25 is connected to the lifting mechanism 21, and the rotating mechanism 24 is used to drive the rotating arm 25 to rotate, thereby driving the lifting mechanism 21 to swing and switch positions through the rotating arm 25, so that the lifting mechanism 21 can move back and forth between the first conveyor belt 11 and the second conveyor belt 31.

[0057] Furthermore, the lifting mechanism 21 is also provided with a rotation drive assembly, which is used to drive the lifting mechanism 21 as a whole to rotate relative to the second end of the rotating arm 25, and the rotation axis of the rotation drive group is offset relative to the lifting rod 22, so that the lifting rod 22 has more degrees of freedom and can be accurately moved to different positions on the first conveyor belt 11.

[0058] Furthermore, there are multiple bag sorting robots 2, and the multiple bag sorting robots 2 are arranged in a one-to-one correspondence with the multiple second conveying mechanisms 3. Each second conveying mechanism 3 is loaded with materials through an independent bag sorting robot 2, thereby improving loading efficiency.

[0059] like Figure 5 As shown, the second conveying mechanism 3 also includes two fence supports 34 arranged on opposite sides of the second conveyor belt 31, and two guide fences 32 are provided. The two guide fences 32 are connected to the two fence supports 34 in a one-to-one manner. The two guide fences 32 are enclosed on the upper surface of the second conveyor belt 31 to form a guide channel 33. The width of at least part of the section of the guide channel 33 gradually decreases along the conveying direction of the second conveyor belt 31. The bottom end of the guide fence 32 is lower than the upper surface of the second conveyor belt 31, and the installation position of the guide fence 32 relative to the fence support 34 is adjustable.

[0060] Specifically, since the width of at least some sections of the guide channel 33 gradually decreases along the conveying direction of the second conveyor belt 31, after the soft bag on the second conveyor belt 31 enters the guide channel 33, the deflection angle of the soft bag can be gradually corrected through the guide channel 33, so that the mouth of the soft bag is set toward the front or rear of the second conveyor belt 31. At the same time, the left and right positions of the soft bag can also be corrected, and the soft bag can be guided and positioned on the center line of the second conveyor belt 31. In addition, since the bottom end of the guide fence 32 is lower than the upper surface of the second conveyor belt 31, the edge of the soft bag can be prevented from getting stuck in the guide fence 32, ensuring that the soft bag can be smoothly conveyed.

[0061] Secondly, since the installation position of the guide fence 32 relative to the fence bracket 34 is adjustable, the installation height of the guide fence 32 or the distance between the guide fence 32 and the center line of the second conveyor belt 31 can be adjusted, so that the guide channel 33 can be accurately adapted to soft bags of different specifications, thereby improving applicability.

[0062] Please combine Figure 6 The positioning and swinging device 1000 for detecting foreign objects in a soft bag further includes a first driving mechanism 6, which includes a first driving component 61, a first rotating shaft 62 connected to the output shaft of the first driving component 61, and a plurality of first driving wheels 63 arranged on the first rotating shaft 62 at intervals along the axial direction of the first rotating shaft 62. The first driving wheels 63 are installed on the first rotating shaft 62 through an expansion sleeve to be circumferentially fixed relative to the first rotating shaft 62.

[0063] Furthermore, the second conveying mechanism 3 also includes a driving pulley 35 and a driven pulley 36, and the second conveying belt 31 is sequentially wound around the driving pulley 35 and the driven pulley 36. The driving pulleys 35 on multiple second conveying mechanisms 3 are connected one-to-one with multiple first driving wheels 63. The first driving component 61 is used to drive the first rotating shaft 62 to rotate and drive the multiple driving pulleys 35 to rotate through multiple first driving wheels 63, thereby synchronously driving the second conveying belts 31 on multiple second conveying mechanisms 3 to move. Multiple second conveying mechanisms 3 can be synchronously driven to operate through one first driving mechanism 6, and the driving structure is simple, efficient and low in cost.

[0064] Furthermore, the positioning and swinging device 1000 for detecting foreign objects in the soft bag also includes a base plate 100, and the first driving mechanism 6 also includes a plurality of first bearing seats 64 arranged on the base plate 100 at axial intervals along the first rotating shaft 62. A first bearing is provided in the first bearing seat 64, and the first rotating shaft 62 can be rotatably passed through the first bearing, so as to jointly support and limit the first rotating shaft 62 through the plurality of first bearing seats 64, thereby improving the stability of the first rotating shaft 62.

[0065] Preferably, the first drive assembly 61 includes a first drive motor 611 and a reducer 612 connected to the output shaft of the first drive motor 611, and the first rotating shaft 62 is connected to the reducer 612 to increase the output torque of the first drive motor 611 through the reducer 612 to ensure that the first rotating shaft 62 can stably drive multiple second conveying mechanisms 3.

[0066] Furthermore, the second conveying mechanism 3 also includes a tensioning assembly (not shown in the figure, the same below), which is connected to the driven pulley 36 and is used to adjust the distance between the driven pulley 36 and the driving pulley 35, thereby adjusting the tension of the second conveyor belt 31 to prevent the second conveyor belt 31 from loosening.

[0067] Furthermore, the driving pulley 35 and the driven pulley 36 are both provided with first transmission teeth along the circumferential direction, and the inner side surface of the second conveyor belt 31 is provided with second transmission teeth meshing with the first transmission teeth. The cooperation between the first transmission teeth and the second transmission teeth achieves stable transmission of the second conveyor belt 31, thereby preventing the second conveyor belt 31 from slipping.

[0068] like Figure 5 As shown, preferably, the second conveyor belt 31 includes two third conveyor belts arranged side by side and at intervals, and the spacing between the two third conveyor belts is adapted to the width of the mouth tube of the soft bag, so that the mouth tube of the soft bag can be clamped through the gap between the two third conveyor belts, thereby enhancing the positioning accuracy of the soft bag and preventing the soft bag from deviating.

[0069] like Figure 7 As shown, the positioning and swinging device 1000 for detecting foreign matter in the bag also includes a second driving mechanism 7, which includes a second driving component 71, a second rotating shaft 72 connected to the output shaft of the second driving component 71, and a plurality of rocker components 73 arranged on the second rotating shaft 72 at intervals along the axial direction of the second rotating shaft 72.

[0070] Please combine Figure 8The swing mechanism 5 is provided with multiple, multiple swing mechanisms 5 are arranged in a one-to-one correspondence with multiple second conveying mechanisms 3, and the swing mechanism 5 also includes a swing shaft 52 installed on the second conveying mechanism 3, the first end of the swing plate 51 is hinged to the swing shaft 52, and the second end of the swing plate 51 is provided with a hinge seat 511, and the swing plates 51 on the multiple swing mechanisms 5 are hinged to the multiple rocker assemblies 73 in a one-to-one correspondence through the hinge seat 511, that is, each rocker assembly 73 is hinged to the hinge seat 511 on the swing plate 51 of the swing mechanism 5, and the second driving assembly 71 is used to drive the second rotating shaft 72 to rotate reciprocatingly to drive the multiple rocker assemblies 73 to swing reciprocatingly, and then synchronously drive the multiple rocker assemblies 73 to synchronously drive the multiple rocker plates 51 to swing reciprocatingly around their corresponding rocker shafts 52, thereby realizing the swinging operation of the rocking plate 51. Similarly, multiple swing mechanisms 5 can be driven synchronously by a second driving mechanism 7. The driving structure is simple, efficient and low-cost, and each soft bag is driven to swing by an independent swing plate 51. Compared with the solution of supporting multiple soft bags at the same time by a swing plate 51, it can avoid resonance between the soft bags and affect the swing and detection effects.

[0071] Furthermore, the rocker assembly 73 includes a cam 731 and a connecting rod 732, and the connecting rod 732 is composed of a pair of joint bearings. The cam 731 is sleeved on the second rotating shaft 72 and is circumferentially fixed relative to the second rotating shaft 72. The first end of the connecting rod 732 is hinged to the raised portion of the cam 731, and the second end of the connecting rod 732 is hinged to the second end of the swing plate 51. The swing plate 51 is driven to rotate by the cooperation of the cam 731 and the connecting rod 732, which can extend the swing force arm and increase the swing stroke of the swing plate 51, so that the second rotating shaft 72 can drive the swing plate 51 to swing significantly by rotating at a small angle.

[0072] Furthermore, the swing mechanism 5 also includes a overlapping soft plate 53 made of elastic material, the first end of the overlapping soft plate 53 is connected to the swing plate 51, and the second end of the overlapping soft plate 53 is mounted on the swing shaft 52 to block the swing shaft 52 through the overlapping soft plate 53 to prevent the soft bag from being stuck in the swing shaft 52.

[0073] like Figure 7 As shown, further, the second driving mechanism 7 also includes a plurality of second bearing seats 74 arranged on the base plate 100 along the axial direction of the second rotating shaft 72 at intervals, and a second bearing is provided in the first bearing seat 74, and the second rotating shaft 72 is rotatably passed through the second bearing, so that the second rotating shaft 72 is jointly supported and limited by the plurality of second bearing seats 74, thereby improving the stability of the second rotating shaft 72.

[0074] Furthermore, the second drive assembly 71 includes a second drive motor 711, a first transmission gear 712, and a second transmission gear 713. The second drive motor 711 is installed on the lower surface of the base plate 100 to avoid occupying the upper surface space of the base plate 100. The first transmission gear 712 is connected to the output shaft of the second drive motor 711. The second transmission gear 713 is connected to the second rotating shaft 72 and meshes with the first transmission gear 712. The outer diameter of the second transmission gear 713 is smaller than the outer diameter of the first transmission gear 712. Through the cooperation of the first transmission gear 712 and the second transmission gear 713, not only can the driving force located on the lower surface of the base plate 100 be transmitted to the upper surface of the base plate 100, but also a deceleration and torque-increasing effect can be achieved, thereby increasing the output torque of the second drive motor 711 and ensuring that the second rotating shaft 72 can stably drive multiple swing mechanisms 5 without the need for an additional reducer.

[0075] like Figure 5 As shown, the swing plate 51 is preferably made of a transparent material, specifically glass, crystal, quartz, acrylic, or transparent ceramic, to provide high transparency, allowing for foreign object detection from both the upper and lower surfaces of the swing plate 51. The swing mechanism 5 also includes two lighting assemblies 54, which are disposed on the upper and lower sides of the swing plate 51 to illuminate the upper and lower surfaces of the soft bag on the swing plate 51, respectively, thereby improving the accuracy of light inspection.

[0076] It should be understood that in other embodiments, there may be only one or more (two or more) light components 54. When there is only one light component 54, the light component 54 is mounted above the swing plate 51 or below the swing plate 51; when there are multiple light components 54, all of the multiple light components 54 are mounted above the swing plate 51 or all of them are mounted below the swing plate 51. At least one light component 54 may be mounted above the swing plate 51, and another part of the light components 54 may be mounted below the swing plate 51, and multiple light components 54 may be arranged around the center of the swing plate 51 to avoid shadow areas. In actual applications, the number and layout of the light components 54 can be flexibly adjusted according to needs to meet the detection requirements of soft bags of different specifications.

[0077] like Figure 9As shown, the positioning transfer mechanism 4 also includes two support frames 44 respectively arranged on opposite sides of the base plate 100, and two slide rail assemblies 45 arranged on the base plate 100 and connected one-to-one with the two support frames 44. The two ends of the transfer frame 41 are connected one-to-one with the two support frames 44 and are erected above the base plate 100 through the two support frames 44. The second conveying mechanism 3 and the swinging mechanism 5 are both arranged between the two support frames 44, that is, the transfer frame 41 and the two support frames 44 together form a gantry structure spanning the second conveying mechanism 3 and the swinging mechanism 5, so that the transfer frame 41 can simultaneously cover multiple second conveying mechanisms 3 and multiple swinging mechanisms 5.

[0078] Preferably, the positioning and swinging device 1000 for detecting foreign matter in the soft bag also includes a third driving mechanism 8 provided on the base plate 100, and the third driving mechanism 8 includes a third driving assembly 81 installed on one of the support frames 44, a driving gear 82 connected to the output shaft of the third driving assembly 81, a driven gear 83 rotatably installed on the other support frame 44, a third rotating shaft 84 passing through the driving gear 82 and the driven gear 83 in sequence, and two racks 85 provided on the base plate 100 and meshing with the driving gear 82 and the driven gear 83 respectively. The racks 85 and the slide rail assembly 45 are both extended along the preset moving direction of the transfer frame 41. The third driving assembly 81 includes a third driving motor, which is used to drive the driving gear 82 to rotate and drive the driven gear 83 to rotate synchronously through the third rotating shaft 84, thereby driving the support frame 44 to slide along the slide rail assembly 45 through the rolling action of the driving gear 82 and the driven gear 83 on the two racks 85 respectively.

[0079] The third driving mechanism 8 can simultaneously drive the two support frames 44 to move through the rolling action of the driving gear 82 and the driven gear 83 on the two racks 85 respectively, and cooperate with the guiding and limiting function of the slide rail assembly 45 to enable the two support frames 44 to move along the preset trajectory with high precision, thereby ensuring the movement accuracy and stability of the transfer frame 41, thereby ensuring the positioning accuracy of the positioning assembly 42 and the soft bag transfer accuracy of the transfer assembly 43.

[0080] Furthermore, the slide rail assembly 45 includes a guide rail 451 and a slider 452. The guide rail 451 is arranged on one side of the rack 85 parallel to the rack 85. The slider 452 is embedded in the guide rail 451 and is used to guide the sliding along the guide rail 451. The support frame 44 is installed on the slider 452. The guided movement of the support frame 44 is achieved through the guiding cooperation between the slider 452 and the guide rail 451, thereby improving the movement accuracy and smoothness of the support frame 44.

[0081] like Figure 2 As shown, the positioning assembly 42 includes at least one first lifting assembly 421 provided on the transfer frame 41, and a positioning plate 422 connected to the first lifting assembly 421 and used to be driven by the first lifting assembly 421 to move up and down, the positioning plate 422 includes a positioning arm 4221 adapted to the guide channel 33 and used to descend and insert into the guide channel 33, and a plurality of the positioning arms 4221 are arranged at intervals, and the plurality of positioning arms 4221 are arranged one-to-one corresponding to the guide channels 33 on the plurality of second conveying mechanisms 3.

[0082] Specifically, the first lifting component 421 adopts a cylinder, a hydraulic cylinder or a linear motor. The first lifting component 421 can be provided with one or more. The number of the first lifting components 421 is adjusted according to the actual length of the positioning plate 422 to ensure that the first lifting component 421 can stably drive the positioning plate 422 to move up and down as a whole to avoid the positioning plate 422 from shaking. When the positioning plate 422 moves downward, the multiple positioning arms 4221 on the positioning plate 422 can be respectively inserted into the multiple guide channels 33, while intercepting the multiple soft bags on the second conveying mechanism 3, and positioning the multiple soft bags on the second conveying mechanism 3 in a straight line, so that the transfer component 43 can transfer multiple soft bags at the same time, and the positioning structure is simple and efficient.

[0083] like Figure 9 As shown, the transfer assembly 43 includes at least one second lifting assembly 431 provided on the transfer frame 41, and a second suction cup assembly 432 connected to the second lifting assembly 431 and used to be driven to lift and move by the second lifting assembly 431; the second suction cup assembly 432 is provided at the rear end of the positioning assembly 42 along the conveying direction of the second conveyor belt 31, and there are multiple second suction cup assemblies 432, and the multiple second suction cup assemblies 432 are arranged in a one-to-one correspondence with the multiple second conveying mechanisms 3.

[0084] Specifically, the second lifting assembly 431 utilizes a pneumatic cylinder, a hydraulic cylinder, or a linear motor. One or more second lifting assemblies 431 can be provided. The number of second lifting assemblies 431 can be adjusted based on the actual number of second suction cup assemblies 432 to ensure that the second lifting assembly 431 can stably drive the plurality of second suction cup assemblies 432 to move upward and downward as a whole, preventing the second suction cup assemblies 432 from shaking. This allows the plurality of second suction cup assemblies 432 to accurately grasp the plurality of soft bags on the second conveyor mechanism 3. Furthermore, because the second suction cup assemblies 432 are located at the rear end of the positioning assembly 42 along the conveying direction of the second conveyor belt 31, they provide the transfer assembly 43 with sufficient acceleration space after the positioning plate 422 rises and contacts the positioning plate 422. After the transfer assembly 43 is accelerated to the same speed as the second conveyor belt 31 by the transfer frame 41, the soft bags on the second conveyor belt 31 can be moved directly below the second suction cup assemblies 432, facilitating the second suction cup assemblies 432 to stably grasp the soft bags.

[0085] Preferably, there are multiple second lifting components 431, and the multiple second lifting components 431 are arranged in a one-to-one correspondence with the multiple second suction cup components 432, so that each second suction cup component 432 is controlled to rise and fall by an independent second lifting component 431, so that the lifting height of each second suction cup component 432 can be flexibly adjusted to adapt to the soft bags on different second conveying mechanisms 3.

[0086] Furthermore, the second suction cup assembly 432 includes multiple second suction cups 4321, and the multiple second suction cups 4321 are respectively connected to the suction equipment through air pipes, so that different positions of the soft bag can be sucked respectively through the suction action of the multiple second suction cups 4321, so as to avoid the soft bag being subjected to only local force and causing large deformation.

[0087] like Figure 1 As shown, the positioning and swinging device 1000 for detecting foreign objects in soft bags also includes a recycling robot 9, the structure of which is the same as or different from that of the bag sorting robot 2. Furthermore, a visual detection component is provided at the front end of the first conveying mechanism 1, which is used to detect the shape and position of the soft bags on the first conveyor belt 11 and transmit the detection data to the bag sorting robot 2 or the recycling robot 9. When the soft bags on the first conveyor belt 11 meet the detection requirements, the corresponding soft bags can be transferred one by one to the second conveying mechanism 3 by the bag sorting robot 2; and when the soft bags on the first conveyor belt 11 do not meet the detection requirements, the recycling robot 9 can be activated to grab the corresponding soft bags and transfer them to the recycling channel, so as to avoid foreign object detection of soft bags that do not meet the requirements and affect the detection efficiency.

[0088] As a second aspect, the present invention further provides a soft bag inspection machine (not shown, the same below), comprising a detection device and the aforementioned positioning and swinging device 1000 for detecting foreign matter in soft bags. The detection device is mounted on one side of the swing mechanism 5 and is used to detect foreign matter in soft bags on the swing plate 51. Because the positioning and swinging device 1000 for detecting foreign matter in soft bags can achieve fully automated soft bag conveying, positioning, and swinging, it can precisely position a batch of soft bags and then drive the positioned soft bags to swing back and forth. The swinging motion causes the liquid medicine and foreign matter in the soft bags to move, thereby improving the foreign matter detection accuracy of the soft bag inspection machine. Furthermore, the device has a simple and efficient structure, low cost, and strong applicability.

[0089] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A positioning and swinging device for detecting foreign matter in a soft bag, characterized in that: It comprises a first conveying mechanism (1), a bag sorting robot (2), a second conveying mechanism (3), a positioning transfer mechanism (4) and a swing mechanism (5) which are arranged in sequence; The first conveying mechanism (1) comprises a first conveyor belt (11), and the first conveyor belt (11) is used to connect with an upstream conveyor line and receive the soft bags transported by the upstream conveyor line; The bag sorting robot (2) is used to transfer the soft bags on the first conveyor belt (11) one by one to the second conveying mechanism (3); The second conveying mechanism (3) comprises a second conveying belt (31) and a guide fence (32) provided on the second conveying belt (31), wherein the guide fence (32) is used to correct the position and deflection angle of the soft bag during the process of the second conveying belt (31) conveying the soft bag, and a plurality of the second conveying mechanisms (3) are arranged side by side; The positioning transfer mechanism (4) comprises a transfer frame (41), a positioning assembly (42) and a transfer assembly (43) respectively mounted on the transfer frame (41); the transfer frame (41) is mounted above a plurality of second conveying mechanisms (3) and is used to move along a line connecting the second conveying mechanisms (3) and the swing mechanism (5); the positioning assembly (42) is used to block the soft bag on the second conveyor belt (31) to position the soft bag; and the transfer assembly (43) is used to transfer the positioned soft bag to the swing mechanism (5); The swing mechanism (5) comprises a swing plate (51) for supporting the soft bag and driving the soft bag to swing back and forth.

2. The positioning and swinging device for detecting foreign matter in a soft bag according to claim 1, characterized in that: The swing plate (51) is made of a transparent material. The swing mechanism (5) further comprises two lighting components (54). The two lighting components (54) are respectively arranged on the upper and lower sides of the swing plate (51).

3. The positioning and swinging device for detecting foreign matter in a soft bag according to claim 1, characterized in that: The bag sorting robot (2) comprises a lifting mechanism (21), a lifting rod (22) passing through the lifting mechanism (21), and a first suction cup assembly (23) provided at the bottom end of the lifting rod (22); The lifting mechanism (21) is used to drive the lifting rod (22) to move up and down. The top end of the lifting rod (22) passes through the top of the lifting mechanism (21) and is provided with a first air pipe joint (221). The bottom end of the lifting rod (22) passes through the bottom of the lifting mechanism (21) and is provided with a second air pipe joint (222). The interior of the lifting rod (22) is provided with an air guide hole (223) connecting the first air pipe joint (221) and the second air pipe joint (222). The first air pipe joint (221) is used for connecting to an external suction device, and the second air pipe joint (222) is connected to the first suction cup assembly (23).

4. The positioning and swinging device for detecting foreign matter in a soft bag according to claim 1, characterized in that: The bottom end of the guide fence (32) is lower than the upper surface of the second conveyor belt (31).

5. The positioning and swinging device for detecting foreign matter in a soft bag according to claim 1, characterized in that: The positioning and swinging device for detecting foreign matter in a soft bag further comprises a first driving mechanism (6), the first driving mechanism (6) comprising a first driving component (61), a first rotating shaft (62) connected to an output shaft of the first driving component (61), and a plurality of first driving wheels (63) arranged on the first rotating shaft (62) at intervals along the axial direction of the first rotating shaft (62); The second conveying mechanism (3) further comprises a driving pulley (35) and a driven pulley (36); the second conveying belt (31) is sequentially wound around the driving pulley (35) and the driven pulley (36); the driving pulleys (35) on the plurality of second conveying mechanisms (3) are connected to the plurality of first driving wheels (63) in a one-to-one correspondence; the first driving assembly (61) is used to drive the first rotating shaft (62) to rotate and respectively drive the plurality of driving pulleys (35) to rotate through the plurality of first driving wheels (63), thereby synchronously driving the second conveying belts (31) on the plurality of second conveying mechanisms (3) to move.

6. The positioning and swinging device for detecting foreign matter in a soft bag according to claim 1, characterized in that: The positioning and swinging device for detecting foreign matter in a soft bag further comprises a second driving mechanism (7), the second driving mechanism (7) comprising a second driving assembly (71), a second rotating shaft (72) connected to an output shaft of the second driving assembly (71), and a plurality of swing rod assemblies (73) arranged on the second rotating shaft (72) at intervals along the axial direction of the second rotating shaft (72); The swing mechanism (5) is provided with a plurality of swing mechanisms (5), and the plurality of swing mechanisms (5) are arranged in a one-to-one correspondence with the plurality of second conveying mechanisms (3). The swing mechanism (5) also includes a swing shaft (52) installed on the second conveying mechanism (3), the first end of the swing plate (51) is hinged to the swing shaft (52), the second ends of the swing plates (51) on the plurality of swing mechanisms (5) are hinged to a plurality of rocker assemblies (73) in a one-to-one correspondence, the second driving assembly (71) is used to drive the second rotating shaft (72) to rotate back and forth to drive the plurality of rocker assemblies (73) to swing back and forth, and then the plurality of rocker assemblies (73) synchronously drive the plurality of swing plates (51) to swing back and forth around their corresponding swing shafts (52).

7. The positioning and swinging device for detecting foreign matter in a soft bag according to claim 1, characterized in that: The positioning and swinging device for detecting foreign matter in a soft bag further comprises a base plate (100) and a third driving mechanism (8) arranged on the base plate (100); the positioning and transferring mechanism (4) further comprises two support frames (44) respectively arranged on opposite sides of the base plate (100); and two slide rail assemblies (45) arranged on the base plate (100) and connected to the two support frames (44) in a one-to-one correspondence; both ends of the transfer frame (41) are connected to the two support frames (44) in a one-to-one correspondence and are mounted above the base plate (100) through the two support frames (44); the second conveying mechanism (3) and the swinging mechanism (5) are both arranged between the two support frames (44); The third driving mechanism (8) includes a third driving assembly (81) mounted on one of the supporting frames (44), a driving gear (82) connected to the output shaft of the third driving assembly (81), a driven gear (83) rotatably mounted on the other supporting frame (44), a third rotating shaft (84) passing through the driving gear (82) and the driven gear (83) in sequence, and a third rotating shaft (84) provided on the bottom plate (100) and meshing with the driving gear (82) and the driven gear (83) in a one-to-one correspondence. The two racks (85) are arranged to extend along the preset moving direction of the transfer frame (41), and the third driving assembly (81) is used to drive the driving gear (82) to rotate and drive the driven gear (83) to rotate synchronously through the third rotating shaft (84), so that the supporting frame (44) is driven to slide along the slide rail assembly (45) through the rolling action of the driving gear (82) and the driven gear (83) on the two racks (85).

8. The positioning and swinging device for detecting foreign matter in a soft bag according to claim 1, characterized in that: The positioning assembly (42) includes at least one first lifting assembly (421) provided on the transfer frame (41), and a positioning plate (422) connected to the first lifting assembly (421) and used for being driven to move up and down by the first lifting assembly (421); The guide fence (32) is used to enclose a guide channel (33) on the second conveyor belt (31), and the positioning plate (422) includes a positioning arm (4221) adapted to the guide channel (33) and used to descend and insert into the guide channel (33). A plurality of the positioning arms (4221) are arranged at intervals, and the plurality of positioning arms (4221) are arranged in a one-to-one correspondence with the plurality of guide channels (33) on the second conveying mechanism (3).

9. The positioning and swinging device for detecting foreign matter in a soft bag according to claim 1, characterized in that: The transfer assembly (43) includes at least one second lifting assembly (431) provided on the transfer frame (41), and a second suction cup assembly (432) connected to the second lifting assembly (431) and used for being driven to move up and down by the second lifting assembly (431); The second suction cup assembly (432) is arranged at the rear end of the positioning assembly (42) along the conveying direction of the second conveyor belt (31), and a plurality of second suction cup assemblies (432) are provided, and the plurality of second suction cup assemblies (432) are arranged in a one-to-one correspondence with the plurality of second conveying mechanisms (3).

10. A soft bag light inspection machine, comprising a detection device, characterized in that: The soft bag light inspection machine further comprises a positioning swing device for detecting foreign matter in a soft bag as claimed in any one of claims 1 to 9, wherein the detection device is used to detect foreign matter in the soft bag on the swing plate (51).

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