A ganoderma lucidum spore powder packaging box automatic turnover detection equipment

Abstract

The present application provides a ganoderma lucidum spore powder packaging box automatic turnover detection equipment, including: transmission substrate, the top of transmission substrate is provided with conveyor belt, the outer surface of transmission substrate is fixedly connected with placing box, the end of transmission substrate away from placing box is provided with slide symmetrically, the outer surface of transmission substrate is also fixedly connected with partition, the both sides of partition are provided with detection module symmetrically, also includes: setting in the flat unit of the partition near the slide side and setting in the first turnover unit and the second turnover unit of transmission substrate both sides, the staff will soft packing tape and hard packing tape respectively into both sides slide, the flat device will first to soft packing will be pretreated, detection module will first to one side of packing tape detection, then the first turnover unit and the second turnover unit will respectively to soft packing tape and hard packing tape overturn, it is convenient subsequent detection module to the detection of the other side.

Description

Technical Field

[0001] This invention relates to the field of packaging box flipping detection technology, and in particular to an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes. Background Technology

[0002] As a product with high nutritional and medicinal value, the packaging quality of Ganoderma lucidum spore powder is of paramount importance. The automatic flipping and inspection equipment for Ganoderma lucidum spore powder packaging boxes is mainly used to conduct comprehensive inspections of the sealed packaging boxes during the production and packaging process of Ganoderma lucidum spore powder products. This equipment can automatically flip the packaging boxes and, through various inspection methods such as visual inspection, weight inspection, and sealing inspection, quickly and accurately determine whether the packaging boxes have problems such as appearance defects (e.g., scratches, stains, unclear printing), abnormal weight (insufficient or excessive contents), and poor sealing.

[0003] For visual inspection of flexible packaging boxes, there is a problem that the boxes may deform and overlap during the process of entering the conveyor belt, which not only affects subsequent inspection but also makes subsequent flipping difficult. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that flexible packaging boxes are prone to deformation and overlap during inspection and flipping, and to provide an automatic flipping and inspection device for Ganoderma lucidum spore powder packaging boxes.

[0005] The technical solution adopted by this invention to solve its technical problem is: an automatic flipping and detection device for Ganoderma lucidum spore powder packaging boxes, comprising: a transmission base plate, a conveyor belt disposed on the top of the transmission base plate, a placement box fixedly connected to the outer surface of the transmission base plate, a sliding plate symmetrically disposed at the end of the transmission base plate away from the placement box, a partition plate fixedly connected to the outer surface of the transmission base plate, the partition plate dividing the conveyor belt into two transmission areas, a conversion notch disposed on the partition plate, detection modules symmetrically disposed on both sides of the partition plate, a control panel disposed on the front of the transmission base plate, and further comprising:

[0006] A flattening unit is provided on the side of the partition plate near the lower slide plate, and a first flipping unit and a second flipping unit are provided on both sides of the transmission substrate. The first flipping unit is provided on the transmission substrate on the side with the flattening unit, and the second flipping unit is provided on the other side.

[0007] When using a flexible packaging strip to hold Ganoderma lucidum spore powder, the flattening unit first lays the flexible transparent packaging strip flat to facilitate detection by the detection module and subsequent flipping of the packaging strip by the first flipping unit.

[0008] The leveling unit includes a first support block, a first telescopic rod fixedly connected to the bottom of the first support block, a first support plate fixedly connected to the output end of the first telescopic rod, a vision sensor fixedly connected to the outer surface of the first support block, an adjustable camera fixedly connected to the vision sensor, a flipping mechanism provided on the outer surface of the first support plate, and an adjustment mechanism that works in conjunction with the flipping mechanism on the outer surface of the first support plate.

[0009] The flipping mechanism includes a first motor, the output end of which is fixedly connected to a reciprocating lead screw. A movable nut is threaded onto the outer surface of the reciprocating lead screw, and the movable nut performs translational motion on the reciprocating lead screw. A flipping rod is rotatably connected to the outer surface of the movable nut, and protrusions are evenly distributed on the outer surface of the flipping rod. A gear is fixedly connected to one end of the flipping rod near the movable nut. An inner groove is also provided on the flipping rod, and an insert assembly is provided on the inner groove.

[0010] Furthermore, the outer surface of the first support block is fixedly connected to the outer surface of the partition, and the base of the first motor is bolted to the outer surface of the first support plate.

[0011] Furthermore, the adjustment mechanism includes a support column, a hydraulic press is fixedly connected to the top of the support column, a telescopic end is provided on the outer surface of the hydraulic press, a second support plate is fixedly connected to the bottom of the telescopic end, and a rack groove that meshes with the gear is fixedly connected to the bottom of the second support plate.

[0012] Furthermore, the bottom of the support column is fixedly connected to the top of the first support plate;

[0013] When the hydraulic press drives the telescopic end to press down, the rack groove and the gear mesh with each other.

[0014] Furthermore, the insert assembly includes power supplies symmetrically arranged at both ends of the inner groove. The power supplies are connected to a solenoid block via wires. An outer shell is fixedly connected to the outer surface of the solenoid block. An inner sliding shell is slidably connected to the inner wall of the outer shell. A magnetic plate is fixedly connected to one end of the inner sliding shell. A thin column is fixedly connected to the outer surface of the magnetic plate.

[0015] The outer surface of the power supply is fixedly connected to the outer surface of the inner tank, and the magnetism of the electromagnetic block can be changed.

[0016] Furthermore, the first flipping unit includes a fourth support plate, the top of which is fixedly connected to a first robotic arm base, the top of which is provided with a first multi-degree-of-freedom robotic arm, and the end of the first multi-degree-of-freedom robotic arm away from the first robotic arm base is provided with a second support block, the outer surface of which is provided with a bionic hand mechanism.

[0017] Furthermore, the bionic hand mechanism includes a second motor, the output end of which is fixedly connected to a first rotating plate. A vacuum pump is fixedly connected to the outer surface of the first rotating plate. Track plates are symmetrically arranged on both sides of the first rotating plate. An electric slide rail is provided on the track plate, and the electric slide rail moves in translational motion on the track plate. A bionic finger is fixedly connected to the outer surface of the electric slide rail. This bionic finger borrows the "metacarpal-phalangeal" structure of the human finger and is designed with multi-segment movable bones to achieve flexible bending and swinging. An air tube is provided between the bones of the bionic finger. An air plate is provided at the bottom of the bones of the bionic hand, which has the functions of air outlet and air inlet. An air tube is fixedly connected to the outer surface of the bones of the bionic hand near the electric slide rail.

[0018] Furthermore, the outer surface of the fourth support plate is fixedly connected to the outer surface of the transmission substrate, and the base of the second motor is bolted to the inner wall of the fourth support plate.

[0019] Furthermore, the second flipping unit includes a third support plate, a second robotic arm base is fixedly connected to the top of the third support plate, a second multi-degree-of-freedom robotic arm is fixedly connected to the top of the second robotic arm base, a third support block is fixedly connected to the end of the second multi-degree-of-freedom robotic arm away from the third support plate, a third motor is fixedly connected to the inner wall of the third support block, a support frame is fixedly connected to the output end of the third motor, second telescopic rods are fixedly connected to both sides of the support frame, and a clamping plate is fixedly connected to the output end of the second telescopic rods.

[0020] Furthermore, the outer surface of the third support plate is fixedly connected to the outer surface of the transmission substrate, and the second flipping unit is used to flip the rigid box.

[0021] The beneficial effects of the automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention are as follows:

[0022] (1) The conveyor belt is divided into two areas by a partition, and a first flipping unit and a second flipping unit are set respectively. For packaging belts of different materials, the first flipping unit is used to flip soft packaging belts to place Ganoderma lucidum spore powder, while the second flipping unit is used to flip hard packaging boxes.

[0023] (2) When the soft packaging tape is slid into the conveyor belt, the friction generated at the moment of sliding in will cause the soft packaging tape to overlap, which will affect the detection module's detection of packaging quality. At this time, the flattening mechanism will flatten the overlapping soft packaging tape.

[0024] (3) Flipping mechanism: When the overlapping soft packaging strips are laid out using the flipping mechanism, a specific laying method will be adopted according to the overlapping state of the soft packaging. If inward overlap occurs, the insert component will be activated to flip it. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0026] Figure 2 This is a schematic diagram of the detection module of an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0027] Figure 3 This is a schematic diagram of the flattening unit of an automatic flipping and detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0028] Figure 4 This is a schematic diagram of the flipping mechanism of an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0029] Figure 5 This is a schematic diagram of the adjustment mechanism of an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0030] Figure 6 This is a schematic diagram of the internal insertion component of an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the first flipping unit of an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0032] Figure 8 This is a schematic diagram of the bionic hand mechanism of an automatic flipping and detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0033] Figure 9 This is a schematic diagram of the structure of a bionic finger in an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0034] Figure 10 This is a schematic diagram of the structure of the second flipping unit of an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention;

[0035] Figure 11 This is a diagram showing the overlapping of the packaging boxes.

[0036] In the diagram: 1. Transmission substrate; 2. Conveyor belt; 3. Placement box; 4. Partition; 5. Flattening unit; 6. First flipping unit; 7. Second flipping unit; 8. Lower slide plate; 9. Detection module; 10. Control panel; 11. Conversion notch; 91. Camera assembly; 92. High-frequency ultrasonic component; 51. First support block; 52. First telescopic rod; 53. First support plate; 54. Vision sensor; 55. Adjustable camera; 56. Adjustment mechanism; 57. Flipping mechanism; 571. First motor; 572. Reciprocating screw; 573. Moving nut; 574. Flipping rod; 575. Gear; 576. Protrusion; 577. Inner groove; 578. Insertion assembly; 561. Support column; 562. Hydraulic press; 563. Telescopic end; 564. Second support plate; 565. Rack groove; 5781. Power supply; 5782. Electromagnetic block; 5783. Outer shell; 5784. Inner sliding shell; 5785. Magnetic plate; 5786. Thin column; 61. Fourth support plate; 62. First robotic arm base; 63. First multi-degree-of-freedom robotic arm; 64. Second support block; 65. Bionic hand mechanism; 651. Second motor; 652. First rotating plate; 653. Vacuum pump; 654. Track plate; 655. Electric slide rail; 656. Bionic finger; 657. Air tube one; 658. Air plate; 659. Air tube two; 71. Third support plate; 72. Second robotic arm base; 73. Second multi-degree-of-freedom robotic arm; 74. Third support block; 75. Third motor; 76. Support frame; 77. Second telescopic rod; 78. Clamping plate;

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the further embodiments described herein are merely illustrative and not intended to limit the invention.

[0038] like Figures 1-2 As shown, an automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes includes: a transmission base plate 1, a conveyor belt 2 disposed on the top of the transmission base plate 1, a placement box 3 fixedly connected to the outer surface of the transmission base plate 1, a sliding plate 8 symmetrically disposed at the end of the transmission base plate 1 away from the placement box 3, a partition 4 fixedly connected to the outer surface of the transmission base plate 1, the partition 4 dividing the conveyor belt 2 into two transmission areas, a conversion notch 11 disposed on the partition 4, and detection modules symmetrically disposed on both sides of the partition 4, the detection module including a camera assembly 91 and a high-frequency ultrasonic component 92;

[0039] The camera assembly 91 includes an industrial camera, a multispectral light source, a telecentric lens, and an image acquisition card. It utilizes the differences in transmittance of different spectra by a soft, transparent packaging strip to achieve multidimensional defect identification.

[0040] An ultrasonic probe emits ultrasonic waves toward the packaging edge sealing. The sound waves are reflected at the interfaces of different media on the edge sealing. By analyzing the amplitude and propagation time of the reflected waves, the degree of fusion of the edge sealing is determined.

[0041] The front side of the transmission substrate 1 is also provided with a control panel 10, which includes:

[0042] A flattening unit 5 is provided on the side of the partition 4 near the lower slide plate 8, and a first flipping unit 6 and a second flipping unit 7 are provided on both sides of the transmission substrate 1. The first flipping unit 6 is provided on the transmission substrate 1 on the side with the flattening unit 5, while the second flipping unit 7 is provided on the other side.

[0043] When using a soft packaging strip to hold Ganoderma lucidum spore powder, the flattening unit first lays the soft transparent packaging strip flat to facilitate detection by the detection module and subsequent flipping of the packaging strip by the first flipping unit 6.

[0044] During the operation of this invention, the operator places the soft packaging strip and the hard packaging strip into the sliding plates 8 on both sides respectively. The packaging strip will slide onto the conveyor belt 2. The flattening device will first pre-process the soft packaging strip. The detection module 9 will first detect one side of the packaging strip. Then, the first flipping unit 6 and the second flipping unit 7 will flip the soft packaging strip and the hard packaging strip respectively, so that the subsequent detection module 9 can detect the other side.

[0045] During the process of flipping and flattening the packaging box, conveyor belt 2 will stop transporting.

[0046] like Figure 10 As shown, the second flipping unit 7 includes a third support plate 71. A second robotic arm base 72 is fixedly connected to the top of the third support plate 71. A second multi-degree-of-freedom robotic arm 73 is fixedly connected to the top of the second robotic arm base 72. A third support block 74 is fixedly connected to the end of the second multi-degree-of-freedom robotic arm 73 away from the third support plate 71. A third motor 75 is fixedly connected to the inner wall of the third support block 74. A support frame 76 is fixedly connected to the output end of the third motor 75. Second telescopic rods 77 are fixedly connected to both sides of the support frame 76. A clamping plate 78 is fixedly connected to the output end of the second telescopic rods 77.

[0047] When inspecting rigid packaging tape, one side of the tape is first inspected by the inspection module 9. Then, the second multi-degree-of-freedom robotic arm 73 controls the third support block 74 and the support frame 76 to move to the tape that needs to be flipped. The tape is then positioned between two clamping plates 78. The second telescopic rod 77 extends and clamps the tape with the clamping plates 78. The second multi-degree-of-freedom robotic arm 73 then lifts the tape a certain distance. The third motor 75 then rotates the support frame 76, causing the tape to flip. Finally, the second multi-degree-of-freedom robotic arm 73 controls the support frame 76 to move closer to the conveyor belt 2, and the second telescopic rod 77 retracts and releases the tape.

[0048] The outer surface of the third support plate 71 is fixedly connected to the outer surface of the transmission substrate 1, and the second flipping unit 7 is used to flip the rigid box.

[0049] The leveling unit 5 includes a first support block 51, a first telescopic rod 52 fixedly connected to the bottom of the first support block 51, a first support plate 53 fixedly connected to the output end of the first telescopic rod 52, a vision sensor 54 fixedly connected to the outer surface of the first support block 51, an adjustable camera 55 fixedly connected to the vision sensor 54, a flipping mechanism 57 provided on the outer surface of the first support plate 53, and an adjustment mechanism 56 that works in conjunction with the flipping mechanism 57 on the outer surface of the first support plate 53.

[0050] After the flexible packaging tape slips onto conveyor belt 2, the following will occur: Figure 11 As shown in the overlapping situation, the vision sensor 54 will detect the situation of the packaging tape, and when it appears... Figure 11 In case A, the first telescopic rod 52 will extend downwards to control the first support bar to approach the conveyor belt 2. At this time, the adjustment mechanism 56 is in working state, and the flipping mechanism 57 starts to work.

[0051] like Figure 3 As shown, the working state of the adjustment mechanism 56 is that the hydraulic press 562 controls the telescopic end 563, the second support plate 564, and the rack groove 565 to move downward, and finally make the rack groove 565 mesh with the gear 575. The non-working state of the adjustment mechanism 56 is that the rack groove 565 and the gear 575 are separated and not meshed.

[0052] like Figure 4As shown, the flipping mechanism 57 includes a first motor 571. A reciprocating lead screw 572 is fixedly connected to the output end of the first motor 571. A movable nut 573 is threadedly connected to the outer surface of the reciprocating lead screw 572. The movable nut 573 performs translational motion on the reciprocating lead screw 572. A flipping rod 574 is rotatably connected to the outer surface of the movable nut 573. Protrusions 576 are evenly arranged on the outer surface of the flipping rod 574. A gear 575 is fixedly connected to one end of the flipping rod 574 near the movable nut 573. An inner groove 577 is also provided on the flipping rod 574. An inner insertion component 578 is provided on the inner groove 577.

[0053] When the flipping rod 574 moves downwards to be flush with the overlapping part, the first motor 571 drives the reciprocating screw 572 to rotate, thereby controlling the moving nut 573 to move laterally along the reciprocating screw 572. During the lateral movement, due to the meshing of the gear 575 and the rack groove 565, the flipping rod 574 will rotate. The lateral movement and rotation of the flipping rod 574 flatten the overlapping part of the soft packaging tape.

[0054] The outer surface of the first support block 51 is fixedly connected to the outer surface of the partition plate 4, and the base of the first motor 571 is bolted to the outer surface of the first support plate 53.

[0055] like Figure 5 As shown, the adjustment mechanism 56 includes a support column 561, a hydraulic press 562 is fixedly connected to the top of the support column 561, a telescopic end 563 is provided on the outer surface of the hydraulic press 562, a second support plate 564 is fixedly connected to the bottom of the telescopic end 563, and a rack groove 565 that meshes with the gear 575 is fixedly connected to the bottom of the second support plate 564.

[0056] The bottom of the support column 561 is fixedly connected to the top of the first support plate 53;

[0057] When the hydraulic press 562 drives the telescopic end 563 to press down, the rack groove 565 and the gear 575 mesh with each other.

[0058] like Figure 6 As shown, the inner insertion assembly 578 includes power supplies 5781 symmetrically arranged at both ends of the inner groove 577. The power supplies 5781 are connected to a solenoid block 5782 via wires. An outer shell 5783 is fixedly connected to the outer surface of the solenoid block 5782. An inner sliding shell 5784 is slidably connected to the inner wall of the outer shell 5783. A magnetic plate 5785 is fixedly connected to one end of the inner sliding shell 5784. A thin column 5786 is fixedly connected to the outer surface of the magnetic plate 5785.

[0059] But it appears Figure 11 In the case of overlapping parts in scenario B, due to the large amount of overlap, the above method of flattening is not only difficult to achieve, but also exacerbates the compression of the overlapping parts.

[0060] First, after the flipping rod 574 rotates to the point where the inner groove 577 faces downwards, the adjustment unit changes from the working state to the non-working state. Then, the first motor 571 controls the reciprocating screw 572 to rotate, causing the moving nut 573 to move to the rear of the overlap. After that, the power supply 5781 energizes the solenoid block 5782, causing the solenoid block 5782 to generate a force that repels the magnetic plate 5785, thereby causing the inner sliding shell 5784 to extend out of the outer shell 5783, and causing the thin column 5786 to extend out. Then, the first telescopic rod 52 and the first motor 571 work together with the reciprocating screw 572 to make the thin column 5786 enter the bottom along the gap between the conveyor belt 2 and the overlapping part of the packaging bag. After that, the first motor 571 drives the reciprocating screw 572 to move the moving nut 573 again, pulling out the bottom of the overlapping part, thus flattening the soft packaging strap.

[0061] The outer surface of the power supply 5781 is fixedly connected to the outer surface of the inner groove 577, and the magnetism of the electromagnet 5782 can be changed.

[0062] like Figure 7 As shown, the first flipping unit 6 includes a fourth support plate 61. A first robotic arm base 62 is fixedly connected to the top of the fourth support plate 61. A first multi-degree-of-freedom robotic arm 63 is provided on the top of the first robotic arm base. A second support block 64 is provided at the end of the first multi-degree-of-freedom robotic arm away from the first robotic arm base 62. A bionic hand mechanism 65 is provided on the outer surface of the second support block 64.

[0063] like Figures 8-9 As shown, the bionic hand mechanism 65 includes a second motor 651. The output end of the second motor 651 is fixedly connected to a first rotating plate 652. A vacuum pump 653 is fixedly connected to the outer surface of the first rotating plate 652. Track plates 654 are symmetrically arranged on both sides of the first rotating plate 652. An electric slide rail 655 is arranged on the track plate 654. The electric slide rail 655 can move independently on the track plate 654. A bionic finger 656 is fixedly connected to the outer surface of the electric slide rail 655. The bionic finger 656 is designed with a multi-segment movable skeleton, which is inspired by the "metacarpal-phalangeal" structure of the human finger, so as to achieve flexible bending and swinging. An air tube 657 is arranged between the bones of the bionic finger. An air plate 658 is arranged at the bottom of the bones of the bionic hand. The air plate 658 has the functions of air outlet and air inlet. An air tube 659 is fixedly connected to the outer surface of the bones of the bionic hand near the electric slide rail 655.

[0064] The aforementioned electric slide rail 655 and bionic finger 656 are both mature products of existing technology, and will not be elaborated on further here.

[0065] When flipping the soft packaging tape, the second flipping unit 7 still causes overlapping and compression problems. Therefore, the first multi-degree-of-freedom robotic arm 63 controls the bionic hand mechanism 65 to move closer to the packaging box. Then, the bionic finger 656 will attach to the surface of the packaging tape. After that, the vacuum pump 653 will generate air through the second air pipe 659, the air plate 658, and the first air pipe 657 to attract air to the bionic finger 656. After the first multi-degree-of-freedom robotic arm 63 moves up a certain distance, the second motor 651 will drive the first rotating plate 652 to rotate, thereby flipping the entire packaging tape over. Then, the first multi-degree-of-freedom robotic arm 63 will move down again, and at the same time, the vacuum pump 653 will release air to the air plate 658, so that the packaging tape floats. Then, the electric slide rail 655 will slowly move to both sides along the track plate 654, so that the packaging tape is completely flat on the conveyor belt 2, which is convenient for subsequent inspection of the other side.

[0066] The outer surface of the fourth support plate 61 is fixedly connected to the outer surface of the transmission substrate 1, and the base of the second motor 651 is bolted to the inner wall of the fourth support plate 61.

[0067] The working process of the automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes provided by the present invention is as follows:

[0068] Workers place the soft and hard packaging straps into the sliding plates 8 on both sides, allowing them to slide onto the conveyor belt 2. The second multi-degree-of-freedom robotic arm 73 then controls the third support block 74 and support frame 76 to move to the location where the packaging strap needs to be flipped, positioning it between two clamping plates 78. The second telescopic rod 77 then extends, clamping the packaging strap with the clamping plates 78. The second multi-degree-of-freedom robotic arm 73 then lifts the strap a short distance, causing the third motor 75 to rotate the support frame 76, thus flipping the packaging strap. Finally, the second multi-degree-of-freedom robotic arm 73 moves the support frame 76 closer to the conveyor belt 2, and the second telescopic rod 77 retracts, releasing the packaging strap. For flexible packaging tape, when the flipping rod 574 moves downwards to be flush with the overlapping portion, the first motor 571 drives the reciprocating screw 572 to rotate, thereby controlling the moving nut 573 to move laterally along the reciprocating screw 572. During the lateral movement, due to the meshing of the gear 575 and the rack groove 565, the flipping rod 574 will rotate. The lateral movement and rotation of the flipping rod 574 flattens the overlapping portion of the flexible packaging tape. In another case, after the flipping rod 574 rotates to the point where the inner groove 577 faces downwards, the adjusting unit will change from the working state to the non-working state. Then, the first motor 571 will control the reciprocating screw 572 to rotate, causing the moving nut 573 to move to the rear of the overlap. Power supply 5781 energizes the solenoid block 5782, causing it to generate a force repelling the magnetic plate 5785. This causes the inner sliding shell 5784 to extend from the outer shell 5783, extending the thin column 5786. Then, the first telescopic rod 52, the first motor 571, and the reciprocating screw 572 work together to guide the thin column 5786 along the gap between the conveyor belt 2 and the overlapping part of the packaging bag to the bottom. Afterwards, the first motor 571 drives the reciprocating screw 572 to move the moving nut 573, pulling out the bottom of the overlapping part. When flipping is needed, the first multi-degree-of-freedom robotic arm 63 controls the bionic hand mechanism 65 to move closer to the packaging box. Then, the bionic... Finger 656 will adhere to the surface of the packaging tape. Then, vacuum pump 653 will generate air through air pipe 2 659, air plate 658 and air pipe 1 657 to adsorb the packaging tape onto the bionic finger 656. After the first multi-degree-of-freedom robotic arm 63 moves up a certain distance, the second motor 651 will drive the first rotating plate 652 to rotate, thereby flipping the entire packaging tape over. Then, the first multi-degree-of-freedom robotic arm 63 will move down again, and at the same time, vacuum pump 653 will release air to air plate 658, so that the packaging tape floats. Then, electric slide rail 655 will slowly move to both sides along track plate 654, so that the packaging tape is completely flat on conveyor belt 2, which is convenient for subsequent inspection of the other side.

[0069] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0070] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic flipping and detection device for Ganoderma lucidum spore powder packaging boxes, comprising a transmission base plate, a conveyor belt disposed on the top of the transmission base plate, a placement box fixedly connected to the outer surface of the transmission base plate, a sliding plate symmetrically disposed at the end of the transmission base plate away from the placement box, a partition plate fixedly connected to the outer surface of the transmission base plate, the partition plate dividing the conveyor belt into two transmission areas, a conversion notch provided on the partition plate, and detection modules symmetrically disposed on both sides of the partition plate, the detection module comprising a camera assembly and a high-frequency ultrasonic component, and a control panel disposed on the front of the transmission base plate, characterized in that… Also includes: A flattening unit is provided on the side of the partition plate near the lower slide plate, and a first flipping unit and a second flipping unit are provided on both sides of the transmission substrate. The first flipping unit is provided on the transmission substrate on the side with the flattening unit, and the second flipping unit is provided on the other side. When using a soft packaging strip to hold Ganoderma lucidum spore powder, the flattening unit first lays the soft transparent packaging strip flat to facilitate detection by the detection module and subsequent flipping of the packaging strip by the first flipping unit. The leveling unit includes a first support block, a first telescopic rod fixedly connected to the bottom of the first support block, a first support plate fixedly connected to the output end of the first telescopic rod, a vision sensor fixedly connected to the outer surface of the first support block, an adjustable camera fixedly connected to the vision sensor, a flipping mechanism provided on the outer surface of the first support plate, and an adjustment mechanism that works in conjunction with the flipping mechanism on the outer surface of the first support plate. The flipping mechanism includes a first motor, the output end of which is fixedly connected to a reciprocating lead screw. A movable nut is threadedly connected to the outer surface of the reciprocating lead screw. The movable nut performs translational motion on the reciprocating lead screw. A flipping rod is rotatably connected to the outer surface of the movable nut. Protrusions are evenly distributed on the outer surface of the flipping rod. A gear is fixedly connected to one end of the flipping rod near the movable nut. An inner groove is also provided on the flipping rod, and an inner insertion component is provided on the inner groove. The adjustment mechanism includes a support column, a hydraulic press is fixedly connected to the top of the support column, a telescopic end is provided on the outer surface of the hydraulic press, a second support plate is fixedly connected to the bottom of the telescopic end, and a rack groove that meshes with the gear is fixedly connected to the bottom of the second support plate. The bottom of the support column is fixedly connected to the top of the first support plate; when the hydraulic press drives the telescopic end to press down, the rack groove and the gear mesh with each other; The internal insertion assembly includes power supplies symmetrically arranged at both ends of the inner groove. The power supplies are connected to a solenoid block via wires. An outer shell is fixedly connected to the outer surface of the solenoid block. An inner sliding shell is slidably connected to the inner wall of the outer shell. A magnetic plate is fixedly connected to one end of the inner sliding shell. A thin column is fixedly connected to the outer surface of the magnetic plate. The outer surface of the power supply is fixedly connected to the outer surface of the inner groove. The magnetism of the solenoid block can be changed.

2. The automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes according to claim 1, characterized in that: The outer surface of the first support block is fixedly connected to the outer surface of the partition, and the base of the first motor is bolted to the outer surface of the first support plate.

3. The automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes according to claim 1, characterized in that: The first flipping unit includes a fourth support plate, and a first robotic arm base is fixedly connected to the top of the fourth support plate. A first multi-degree-of-freedom robotic arm is provided on the top of the first robotic arm base. A second support block is provided at the end of the first multi-degree-of-freedom robotic arm away from the first robotic arm base. A bionic hand mechanism is provided on the outer surface of the second support block.

4. The automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes according to claim 3, characterized in that: The bionic hand mechanism includes a second motor, the output end of which is fixedly connected to a first rotating plate. A vacuum pump is fixedly connected to the outer surface of the first rotating plate. Track plates are symmetrically arranged on both sides of the first rotating plate. An electric slide rail is provided on the track plate, and the electric slide rail moves in translational motion on the track plate. A bionic finger is fixedly connected to the outer surface of the electric slide rail. The bionic finger is designed with a multi-segment movable skeleton, which is inspired by the "metacarpal-phalangeal" structure of the human finger, enabling flexible bending and swinging. An air tube is provided between the bones of the bionic finger. An air plate is provided at the bottom of the bones of the bionic hand, which has the functions of air release and air intake. An air tube is fixedly connected to the outer surface of the bones of the bionic hand near the electric slide rail.

5. The automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes according to claim 4, characterized in that: The outer surface of the fourth support plate is fixedly connected to the outer surface of the transmission substrate, and the base of the second motor is bolted to the inner wall of the fourth support plate.

6. The automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes according to claim 1, characterized in that: The second flipping unit includes a third support plate. A second robotic arm base is fixedly connected to the top of the third support plate. A second multi-degree-of-freedom robotic arm is fixedly connected to the top of the second robotic arm base. A third support block is fixedly connected to the end of the second robotic arm away from the third support plate. A third motor is fixedly connected to the inner wall of the third support block. A support frame is fixedly connected to the output end of the third motor. Second telescopic rods are fixedly connected to both sides of the support frame. A clamping plate is fixedly connected to the output end of the second telescopic rods.

7. The automatic flipping detection device for Ganoderma lucidum spore powder packaging boxes according to claim 6, characterized in that: The outer surface of the third support plate is fixedly connected to the outer surface of the transmission substrate, and the second flipping unit is used to flip the rigid box.

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