Paper diaper production system based on industrial vision

Abstract

The invention provides a paper diaper production system based on industrial vision, and relates to the technical field of industrial vision technologies. A paper diaper production system based on industrial vision comprises a material conveying module, a visual detection module, a grabbing mechanical arm, a packaging module and a material returning module, the material conveying module is used for directionally conveying paper diapers, the visual detection module is installed in the conveying range of the material conveying module, and the grabbing mechanical arm is installed in the material returning module. The grabbing mechanical arm is arranged in the conveying range of the material conveying module, the grabbing mechanical arm is correspondingly arranged in the detection range of the visual detection module, the packaging module is installed in the material returning area of the material returning module, and the material returning module is installed on the material conveying module. The visual inspection module and the grabbing mechanical arm are matched to achieve double inspection of the materials in transportation, the industrial visual technology is combined to ensure the quality of sampling inspection in the material transportation process, and the automation degree of the production system is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial vision, and in particular to a paper diaper production system based on industrial vision. BACKGROUND

[0002] The application of paper diapers is subdivided according to the user group and specific needs, and the processing process is a highly automated multi-layer material compounding process; in the production process of paper diapers, different functional material layers are accurately compounded, formed and packaged into products; before packaging, the formed material needs to be transported and sampled to ensure product quality.

[0003] The existing common packaging process mainly adopts an automatic conveyor unit, manual sampling and an automatic packaging machine unit, the automatic conveyor unit is used for station switching of the formed material, manual sampling is used for sampling and turning detection of the material in the conveying process, and the automatic packaging machine unit is used for automatic packaging of the qualified material in transportation.

[0004] When the existing production system is used for detecting the material, the manual sampling method is used, and when a large number of products are transported, the manual sampling method is easily affected by work fatigue, and when the formed product that may have defects is present, the formed product cannot be identified and automatically sampled in time, so that the sampling quality of the formed product needs to be further improved.

[0005] Therefore, it is necessary to provide a paper diaper production system based on industrial vision to solve the above technical problems. SUMMARY

[0006] The present application provides a paper diaper production system based on industrial vision, which solves the problem of further improving the sampling quality of the formed product in the related art.

[0007] To solve the above technical problems, the paper diaper production system based on industrial vision provided by the present application comprises: A material conveying module, a vision detection module, a grabbing mechanical arm, a packaging module and a material returning module, the material conveying module is used for directional conveying of paper diapers, the vision detection module is installed in the conveying range of the material conveying module, the grabbing mechanical arm is arranged in the conveying range of the material conveying module, and the grabbing mechanical arm is arranged in the detection range of the vision detection module, the packaging module is installed in the material returning area of the material returning module, and the material returning module is installed on the material conveying module. The packaging module comprises: A support table, the support table is respectively provided with a support frame and an auxiliary table; A lifting unit, the lifting unit is installed on the support table; Two boxes, two said box symmetrically installed on the auxiliary table; Telescopic unit, the telescopic unit is provided one by one with the box, the telescopic unit includes telescopic plate and second telescopic piece, both ends of the second telescopic piece are fixedly connected with the box and the telescopic plate, and the telescopic plate is provided with a movable hole; The opening machine set is provided one by one with the telescopic set, and the opening machine set includes a sliding frame, an opening rod, a track slide and a transmission slide shaft, the sliding frame passes through the movable hole and is slidably connected with the telescopic plate, a supporting shaft penetrates through the sliding frame and is fixed on the telescopic plate, a spring is sleeved on the supporting shaft, and both ends of the spring are fixedly connected with the telescopic plate and the sliding frame, the sliding frame is provided with an adjusting hole, the connecting part of the opening rod is inserted into the inside of the box after passing through the adjusting hole, the track slide is fixed in the box, one end of the transmission slide shaft is fixedly connected with the connecting part of the opening rod, and the other end of the transmission slide shaft is inserted into the track slide and is slidably connected; the opening rod is provided with two, the number of the opening rod, the track slide and the transmission slide shaft is equal, and they are provided one by one; Wherein, the lifting height of the lifting unit is equal to the height of the auxiliary table, the conveying gap is reserved between two boxes, and the opening part of the opening rod is close to the conveying gap.

[0008] Preferably, the opening machine set further includes a trapezoidal slide, one end of the trapezoidal slide is fixed on the telescopic plate, and the inclined surface structure of the trapezoidal slide is aligned with the movable range of the connecting part of the opening rod; the number of the trapezoidal slide is equal to that of the opening rod, and two trapezoidal slides on the same telescopic plate are symmetrically distributed; When the opening rod is in the contraction state, the opening rod is separated from the trapezoidal slide; When the opening rod is in the expansion state, the opening rod is completely attached to the trapezoidal slide.

[0009] Preferably, the paper diaper production system based on industrial vision further includes a supporting pad plate, the supporting pad plate is fixed on the telescopic plate, and the supporting pad plate is aligned with the expansion range of the opening part of the opening rod; the number of the supporting pad plate is equal to that of the opening rod, and they are provided one by one.

[0010] Preferably, a guide slide plate is further fixed on the telescopic plate, the guide slide plate is embeddedly installed on the box, the guide slide plate is slidably connected with the box, and the guide slide plate and the telescopic plate are provided one by one.

[0011] Preferably, the lifting unit comprises a lifting platform, a first telescopic piece, clamping slides and a first transmission rod, the fixed part of the first telescopic piece is fixedly arranged on the support table, the telescopic part of the first telescopic piece is fixedly connected with the bottom of the lifting platform after penetrating through the support table, the lifting platform is slidingly connected with the auxiliary table, the clamping slides are slidingly arranged on the lifting platform, the two ends of the first transmission rod are hingedly connected with the support frame and the clamping slides respectively; the clamping slides are provided in two, the two clamping slides are symmetrically arranged on the lifting platform, and two first transmission rods are correspondingly arranged on one clamping slide.

[0012] Preferably, a track groove is arranged on the lifting platform, the bottom of the clamping slide is fixedly provided with a sliding block, the sliding block is in a convex structure, and the sliding block is inserted into the track groove and is slidingly connected.

[0013] Preferably, two track grooves and two sliding blocks are correspondingly arranged on one clamping slide, the sliding blocks and the track grooves are arranged in one-to-one correspondence, and the two track grooves are arranged in parallel.

[0014] Preferably, a folding support plate is embeddedly arranged on the opening part of the opening rod, the folding support plate is rotatably arranged on the opening rod through a connecting shaft, one end of the connecting shaft penetrates through the opening rod and is connected with a driving shaft of a rotating piece, and the fixed part of the rotating piece is fixedly arranged on the opening rod.

[0015] Preferably, the rotating piece comprises a gear, a rack and a torsional spring, one end of the connecting shaft is fixedly connected with the gear, the torsional spring is sleeved on the connecting shaft, one end of the torsional spring is fixedly connected with the opening rod, and the other end of the torsional spring is fixedly connected with the connecting shaft; the rack is fixedly arranged on the sliding frame, and the rack is arranged in the moving range of the gear; when the gear is separated from the rack, the torsional spring controls the folding support plate to shrink on the opening rod through the connecting shaft; when the gear is completely engaged with the gear, the gear drives the folding support plate to rotate and expand relative to the opening rod through the connecting shaft.

[0016] Preferably, the second telescopic piece is a spring telescopic pipe piece, a synchronous hole is arranged on the auxiliary table, the bottom of the box body is hollow, and the paper diaper production system based on industrial vision further comprises: a connecting rod, one end of the connecting rod is fixedly arranged on the telescopic plate; a second transmission rod, the two ends of the second transmission rod are hingedly connected with the lifting platform and the other end of the connecting rod respectively, and the second transmission rod penetrates through the range of the synchronous hole.

[0017] Compared with the related art, the paper diaper production system based on industrial vision provided by the application has the following beneficial effects: The material conveying module facilitates the transmission of materials in different working areas, and the double inspection of the materials in transit is realized by cooperating with the visual inspection module and the grabbing mechanical arm, the quality of the sampling inspection in the material transportation process is ensured by combining the industrial vision technology, and the automation degree of the production system is higher. Under the control of the second telescopic part, on the one hand, the opening rod is inserted into the bag opening of the packaging bag, and on the other hand, the automatic auxiliary opening of the packaging bag before feeding is realized. The edge of the bag opening of the packaging bag can be opened and straightened, and the stability of the paper diaper loaded into the packaging bag is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0019] Figure 1 The structure diagram of the paper diaper production system based on industrial vision provided by the application is shown in the figure. Figure 2 The three-dimensional view of the first embodiment of the packaging module is shown in the figure. Figure 1 The three-dimensional view of the first embodiment of the packaging module is shown in the figure. Figure 3 The three-dimensional view of the first embodiment of the packaging module is shown in the figure. Figure 2 The three-dimensional distribution diagram of the telescopic unit in the box body is shown in the figure. Figure 4 The three-dimensional view of the first embodiment of the packaging module is shown in the figure. Figure 2 The three-dimensional view of the first embodiment of the packaging module is shown in the figure. Figure 5 The front view of the A-A cross-section part is shown in the figure. Figure 4 The front view of the A-A cross-section part is shown in the figure. Figure 6 The front view of the A-A cross-section part is shown in the figure. Figure 4 The front view of the A-A cross-section part is shown in the figure. Figure 7 The front view of the A-A cross-section part is shown in the figure. Figure 6 The front view of the A-A cross-section part is shown in the figure. Figure 8 The principle diagram of the first embodiment of the packaging module provided by the application is shown in the figure. Figure 8 (a) in the figure is a state diagram when the telescopic plate just starts to expand, Figure 8 (b) in the figure is a state diagram of the opening process of the two opening rods driven by the telescopic plate after expansion, Figure 8 (c) in the figure is a state diagram after the telescopic plate is completely expanded. Figure 9 for Figure 8 The diagram shown illustrates the principle of the outward expansion of the support rod. Figure 9 (a) in the middle is Figure 8 The diagram shows the position of the spreader in state (a). Figure 9 (b) in the middle is Figure 8 The position diagram of the support rod in state (b) is shown. Figure 9 (c) in the middle is Figure 8 The position diagram of the spread rod in state (c); Figure 10 for Figure 2 A schematic diagram of the cross-sectional structure of the lifting platform section shown. Figure 11 for Figure 1 A three-dimensional diagram of the second embodiment of the packaging module shown; Figure 12 for Figure 11 The diagram shows the connection structure of the folding baffle section, where... Figure 12 (a) in the middle is Figure 11 The diagram shows a cross-sectional view of the folding baffle connection structure. Figure 12 (b) in the middle is Figure 12 A magnified view of part (a) in the diagram; Figure 13 This is a schematic diagram of a second embodiment of the industrial vision-based diaper production system provided by the present invention, wherein... Figure 13 (a) in the diagram shows the state of the folded support plate when the support rod is in the retracted state. Figure 13 (b) in the diagram shows the state of the folded support plate with the support rod in the unfolded state; Figure 14 for Figure 1 The diagram shows a structural schematic of the third embodiment of the packaging module.

[0020] Explanation of icon numbers: 10. Material conveying module; 20. Vision inspection module; 30. Gripping robotic arm; 40. Packaging module; 50. Material return module; 1. Support platform; 11. Support frame; 12. Auxiliary platform; 2. Lifting unit; 21. Lifting platform; 211. Track groove; 22. First telescopic component; 23. Clamping slide plate; 231. Sliding block; 24. First transmission rod; 3. Box body; 4. Telescopic unit; 41. Telescopic plate; 410. Movable hole; 411. Support shaft; 412. Spring; 413. Guide slide plate; 42. Second telescopic component; 5. Spreading unit; 51. Sliding frame; 510. Adjustment hole; 52. Spreading rod; 53. Track slide; 54. Transmission slide shaft; 55. Trapezoidal slide table; 6, support pad; 521, folding support plate; 5211, connecting shaft; 56, rotating part; 561, gear; 562, rack; 563, torsional spring; 120, synchronization hole; 7, connecting rod; 8, second transmission rod.

[0021] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the accompanying drawings. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] The present application provides a paper diaper production system based on industrial vision.

[0024] First embodiment: Please refer to Figures 1 to 4 In the present application, the paper diaper production system based on industrial vision comprises: A material conveying module 10, a visual detection module 20, a grabbing mechanical arm 30, a packaging module 40 and a material returning module 50, the material conveying module 10 is used for directional conveying of paper diapers, the visual detection module 20 is installed in the conveying range of the material conveying module 10, the grabbing mechanical arm 30 is arranged in the conveying range of the material conveying module 10, and the grabbing mechanical arm 30 is correspondingly arranged in the detection range of the visual detection module 20, the packaging module 40 is installed in the material returning area of the material returning module 50, and the material returning module 50 is installed on the material conveying module 10. The packaging module 40 comprises: A support table 1, the support table 1 is respectively provided with a support frame 11 and an auxiliary table 12; A lifting unit 2, the lifting unit 2 is installed on the support table 1; Two box bodies 3, the two box bodies 3 are symmetrically installed on the auxiliary table 12; A telescopic unit 4, the telescopic unit 4 is one-to-one correspondingly arranged with the box body 3, the telescopic unit 4 comprises a telescopic plate 41 and a second telescopic part 42, both ends of the second telescopic part 42 are fixedly connected with the box body 3 and the telescopic plate 41, and a movable hole 410 is formed in the telescopic plate 41; The opening machine set 5 is provided in one-to-one correspondence with the telescopic machine set 4, and the opening machine set 5 comprises a sliding frame 51, an opening rod 52, a track sliding frame 53 and a transmission sliding shaft 54. The sliding frame 51 passes through the movable hole 410 and is in sliding connection with the telescopic plate 41. A supporting shaft 411 penetrates through the sliding frame 51 and is fixed on the telescopic plate 41. A spring 412 is sleeved on the supporting shaft 411, and the two ends of the spring 412 are fixedly connected with the telescopic plate 41 and the sliding frame 51. An adjusting hole 510 is formed in the sliding frame 51. The connecting part of the opening rod 52 is inserted into the inside of the box body 3 through the adjusting hole 510. The track sliding frame 53 is fixedly arranged in the box body 3. One end of the transmission sliding shaft 54 is fixedly connected with the connecting part of the opening rod 52, and the other end of the transmission sliding shaft 54 is inserted into the track sliding frame 53 and is in sliding connection. The opening rod 52 is provided in two, and the number of the opening rod 52, the track sliding frame 53 and the transmission sliding shaft 54 is equal, and they are provided in one-to-one correspondence. The lifting height of the lifting machine set 2 is equal to the height of the auxiliary table 12, and a conveying gap is reserved between the two box bodies 3. The opening part of the opening rod 52 is close to the conveying gap.

[0025] In the embodiment, the material conveying module 10 is used for conveying and clamping the material at the same time, so as to adjust the position of the material between different stations.

[0026] The visual detection module 20 adopts an industrial visual camera, and the visual detection range is provided with two detection areas. The continuous detection area is used for first detection, so as to facilitate visual detection in the continuous conveying process of the material conveying module 10. The turnover detection area is used for second detection, so as to facilitate the turnover comprehensive detection of the material by the grabbing mechanical arm 30 when the material is unqualified in the first detection.

[0027] The first detection + second detection "double detection" mode can be realized by using one visual detection module 20, so as to ensure the quality of material production.

[0028] The visual detection module 20 adopts an existing intelligent industrial visual camera. On the one hand, the first detection of the continuously conveyed material is carried out in the material conveying process. On the other hand, when the material is detected to be defective in the first detection, the grabbing mechanical arm 30 grabs and extracts the material from the material conveying module 10, and carries out turnover comprehensive detection in the turnover detection area, so as to carry out surface detection of the material in detail.

[0029] Through the sub-area detection of the visual detection module 20, the continuous detection of the material conveying and the detailed detection of the material overturning are facilitated.

[0030] The material returning module 50 is arranged in the material conveying area of the material conveying module 10, so as to facilitate the pushing of the material to the input port of the packaging module 40 through the material returning module 50.

[0031] Through the material conveying module 10, the material can be conveyed in different working areas, and the double detection of the conveying material is realized by cooperating with the visual detection module 20 and the grabbing mechanical arm 30. The industrial visual technology is combined to ensure the quality of the sampling inspection in the material conveying process, and the automation degree of the production system is higher.

[0032] In the embodiment, the second telescopic member 42 can be any one of an electric telescopic rod, a telescopic cylinder or a hydraulic telescopic cylinder, so as to directly drive the telescopic plate 41 to adjust the telescoping relative to the box body 3.

[0033] In the embodiment, as shown in Figure 5 The track slide 53 is composed of a horizontal section and an inclined section which are sequentially communicated.

[0034] When the transmission slide shaft 54 is located in the horizontal section, the opening rod 52 is not unfolded; When the transmission slide shaft 54 is located in the inclined section, the opening rod 52 is unfolded; The opening rod 52 is unfolded or retracted by the track slide 53 while the transmission slide shaft 54 is moved by the opening rod 52.

[0035] In the embodiment, the opening rod 52 includes two use states: The retracted state, as shown in Figure 5 The telescopic plate 41 is completely retracted, the transmission slide shaft 54 is located in the horizontal section of the track slide 53, and the two opening rods 52 on the same slide bracket 51 are attached to each other, so as to facilitate the equipment retraction and provide space for the subsequent opening of the bag opening of the packaging bag. The unfolded state, as shown in Figure 8 The telescopic plate 41 is completely unfolded, the transmission slide shaft 54 is located in the inclined section of the track slide 53, and the two opening rods 52 on the same slide bracket 51 are completely separated, so as to facilitate the outward expansion of the packaging bag after the bag opening.

[0036] Operation principle: After the bag opening of the packaging bag at the subsequent station is opened, the material is first lifted to the conveying height of the auxiliary table 12 by the lifting unit 2; When the second telescopic member 42 is started again, the second telescopic member 42 drives the telescopic plate 41 to stretch, the telescopic plate 41 drives the sliding frame 51 to stretch through the support shaft 411, and the sliding frame 51 first drives two abutting spreader rods 52 to be inserted into the bag opening range of the packaging bag; When the telescopic plate 41 continues to stretch, the transmission slide shaft 54 slides along the track slide frame 53 adaptively, and the transmission slide shaft 54 slides while driving the spreader rod 52 to slide relative to the sliding frame 51, so that the two spreader rods 52 on the same sliding frame 51 move away from each other, and the two spreader rods 52 assist in opening the bag opening of the packaging bag; So as to realize, under the control of the second telescopic member 42, on the one hand, the spreader rod 52 is inserted into the bag opening of the packaging bag, and on the other hand, the automatic auxiliary opening of the packaging bag before feeding is realized. The bag opening edge of the packaging bag can be opened and straightened, and the stability of the paper diaper loaded into the packaging bag is improved.

[0037] Please refer to Figure 3 and Figure 7 The spreader set 5 further comprises a trapezoidal slide table 55, one end of the trapezoidal slide table 55 is fixed on the telescopic plate 41, and the inclined surface structure of the trapezoidal slide table 55 is aligned with the movable range of the connecting part of the spreader rod 52; the trapezoidal slide table 55 is equal in number to the spreader rod 52, and two trapezoidal slide tables 55 on the same telescopic plate 41 are symmetrically distributed; When the spreader rod 52 is in a contracted state, the spreader rod 52 is separated from the trapezoidal slide table 55; When the spreader rod 52 is in an expanded state, the spreader rod 52 is completely abutted with the trapezoidal slide table 55.

[0038] As shown in (a) of Figure 9 When the spreader rod 52 is in a contracted state, the connecting part of the spreader rod 52 is separated from the trapezoidal slide table 55, and the transmission slide shaft 54 is completely inserted into the track slide frame 53; As shown in (c) of Figure 9 When the spreader rod 52 is in an expanded state, the connecting part of the spreader rod 52 abuts against the trapezoidal slide table 55, the trapezoidal slide table 55 lifts the spreader rod 52, so that the spreader rod 52 is displaced away from the track slide frame 53, the transmission slide shaft 54 follows the displacement of the spreader rod 52, but the transmission slide shaft 54 still maintains the sliding connection with the track slide frame 53; so as to further expand the opening of the packaging bag through the expansion of the four spreader rods 52 after being inserted into the packaging bag, and further guarantee the stability of the opening of the packaging bag.

[0039] In the process that the second telescopic piece 42 controls the switch of the opening rod 52 from the retracted state to the expanded state, the opening rod 52 also drives the synchronous movement of the transmission slide shaft 54. When the transmission slide shaft 54 slides in the track slide bracket 53, it adaptively controls the expansion and outward expansion of the opening rod 52, further increasing the stability of the opening of the bag opening of the packaging bag.

[0040] Please refer to Figures 2 to 4 , the paper diaper production system based on industrial vision further comprises a support pad plate 6, which is fixed on the telescopic plate 41, and the support pad plate 6 is aligned with the outward expansion range of the opening part of the opening rod 52; the support pad plate 6 is equal in number to the opening rod 52 and is arranged one by one.

[0041] In this embodiment, the mounting direction of the support pad plate 6 is consistent with the direction of the opening part of the opening rod 52.

[0042] When the opening rod 52 is inserted into the packaging bag, the support pad plate 6 is distributed outside the packaging bag and cooperates with the opening rod 52 in the expanded state to have an auxiliary clamping effect on the packaging bag, so as to ensure the stability of the material pushing into the packaging bag and avoid loosening of the packaging bag during bagging.

[0043] In this embodiment, the auxiliary clamping effect between the support pad plate 6 and the opening rod 52 helps to avoid loosening of the packaging bag during material bagging, preventing the material from being accurately loaded into the packaging bag; but it does not limit the movement and transportation of the packaging bag to the sealing station after the material bagging is completed.

[0044] Please refer to Figure 2 and Figure 3 , the telescopic plate 41 further fixedly has a guide slide plate 413, which is embeddedly installed on the box body 3, the guide slide plate 413 is in sliding connection with the box body 3, and the guide slide plate 413 and the telescopic plate 41 are arranged one by one.

[0045] The arrangement of the guide slide plate 413 facilitates the connection between the telescopic plate 41 and the box body 3 after the extension of the telescopic plate 41, avoiding the influence of the connection gap between the telescopic plate 41 and the box body 3 on the transportation of the material.

[0046] In this embodiment, the guide slide plate 413 is arranged on the telescopic plate 41, and when the telescopic plate 41 moves, the guide slide plate 413 moves with the telescopic plate 41, so as to maintain the stability of the connection between the telescopic plate 41 and the box body 3. During the transportation of the material, the material first passes through the transportation gap between two box bodies 3, then passes through the guide slide plates 413, and then enters the inside of the packaging bag through the opening part of the opening rod 52.

[0047] Please refer to Figure 2 and Figure 10 , the lifting unit 2 comprises a lifting platform 21, a first telescopic piece 22, clamping slides 23 and a first transmission rod 24, the fixed part of the first telescopic piece 22 is fixedly arranged on the support table 1, the telescopic part of the first telescopic piece 22 is fixedly connected with the bottom of the lifting platform 21 after penetrating through the support table 1, the lifting platform 21 is slidingly connected with the auxiliary table 12, the clamping slides 23 are slidingly installed on the lifting platform 21, and the two ends of the first transmission rod 24 are respectively hinged with the support frame 11 and the clamping slides 23; the clamping slides 23 are provided in two, the two clamping slides 23 are symmetrically installed on the lifting platform 21, and two first transmission rods 24 are correspondingly arranged on one clamping slide 23.

[0048] In the embodiment, the first telescopic piece 22 can be any one of an electric telescopic rod, a hydraulic telescopic cylinder or a telescopic air cylinder, which is used for directly driving the lifting platform 21 to adjust the lifting, and when the lifting platform 21 is adjusted to the top height, the lifting platform 21 is on the same plane as the auxiliary table 12, so that the material received on the lifting platform 21 is conveniently conveyed to the auxiliary table 12.

[0049] When the first telescopic piece 22 drives the lifting platform 21 to move upwards, the first transmission rods 24 on the two sides adaptively push the two clamping slides 23 to move close to each other, so as to compress the material conveyed upwards, so that the compression degree of the material can adapt to the conveying gap between the two box bodies 3, and the material can stably enter the conveying gap to continue to be conveyed and fed into the opened packaging bag.

[0050] Similarly, when the first telescopic piece 22 drives the lifting platform 21 to move downwards, the first transmission rods 24 on the two sides adaptively pull the two clamping slides 23 to move away from each other, so as to provide sufficient space for the subsequent input of the material into the inside of the lifting platform 21.

[0051] In the preferred embodiment of the embodiment, a track groove 211 is arranged on the lifting platform 21, and a slide block 231 in a convex structure is fixedly arranged at the bottom of the clamping slide 23, and the slide block 231 is inserted into the track groove 211 and is slidingly connected.

[0052] The track groove 211 arranged on the lifting platform 21 and the slide block 231 in the convex structure guarantee the stability of the movement and adjustment of the clamping slide 23 on the lifting platform 21.

[0053] In the preferred embodiment of the present embodiment, one of the clamping slides 23 is provided with two track grooves 211 and two sliders 231, the sliders 231 are provided one by one with the track grooves 211, and the two track grooves 211 are provided in parallel. Increasing the number of track grooves 211 and sliders 231 further improves the stability of the clamping slide 23 sliding adjustment on the lifting platform 21.

[0054] The working principle of the paper diaper production system based on industrial vision provided by the present embodiment is as follows: First, the material conveying module 10 transmits the material towards the continuous detection area of the vision detection module 20, and the vision detection module 20 detects the material for the first time; When the first detection considers that the material has defects, the material is taken out by the grabbing mechanical arm 30 and moved from the continuous detection area to the turnover detection area, and then the material is rotated and adjusted in the turnover detection area by the grabbing mechanical arm 30, and the vision detection module 20 detects the material for the second time; After the second detection determines that the material has no problem, the material is reinstalled on the material conveying module 10 by the grabbing mechanical arm 30, so that the material is conveyed to the position of the material returning module 50; Then the material is pushed to the lifting platform 21 by the material returning module 50; The extension direction of the opening rod 52 opens the bag opening of the packaging bag to be used by the external bag opening device; A1, the material is lifted, the first telescopic part 22 is started, the first telescopic part 22 drives the lifting platform 21 to move upwards, and the lifting platform 21 transmits the material upwards to the conveying height of the auxiliary table 12; During the upward movement of the lifting platform 21, the first transmission rods 24 on both sides rotate adaptively, and when the first transmission rods 24 on both sides rotate, they adaptively push the two clamping slides 23 to move closer to each other, and at the same time, the two clamping slides 23 clamp the material, until the clamping range of the two clamping slides 23 is aligned with the conveying gap of the two box bodies 3, the lifting platform 21 stops moving upwards; A2, the packaging bag is assisted to open, combined with Figure 8 (a) to Figure 8 (b) to Figure 8 (c) in Figure 8 , the second telescopic part 42 is started, and the second telescopic part 42 drives the telescopic plate 41 to move left (as shown in the direction of In one aspect, the telescopic plate 41 drives the sliding frame 51, the opening rod 52, the transmission slide shaft 54 and the trapezoidal slide table 55 to move left as a whole through the support shaft 411. During the left movement of the transmission slide shaft 54, the opening rod 52 is first moved left along the horizontal section of the track slide frame 53, and during the movement, the opening rod 52 is maintained in the retracted state, facilitating the insertion of the opening rod 52 into the bag opening of the packaging bag. When the transmission slide shaft 54 enters the inclined section from the horizontal section of the track slide frame 53, the two transmission slide shafts 54 drive the two opening rods 52 to move away from each other, so that the opening rods 52 are expanded after being inserted into the bag opening of the packaging bag. In combination with Figure 9 (a) to Figure 9 (b) to Figure 9 (c) in the drawings, during the movement of the two opening rods 52 away from each other, the opening rods 52 gradually come into contact with the inclined surface of the trapezoidal slide table 55, and the opening rods 52 are lifted by the trapezoidal slide table 55, so that the opening rods 52 drive the transmission slide shaft 54 to move right (as shown by the direction of Figure 9 When the transmission slide shaft 54 moves right completely, the end of the transmission slide shaft 54 is still located inside the track slide frame 53, ensuring the stability of the equipment operation; facilitating the self-adaptive expansion of the opening rods 52 while switching from the retracted state to the expanded state, increasing the degree of flaring of the bag opening of the packaging bag, and ensuring that the material can be stably input from the conveying gap into the inside of the packaging bag. On the other hand, the telescopic plate 41 also drives the guide slide plate 413 to extend synchronously, maintaining the stability of the connection between the telescopic plate 41 and the box body 3, so as to facilitate the stable conveying of the material. A3, the material on the lifting platform 21 is pushed towards the packaging bag by an external pushing equipment, so that the material passes through between the two box bodies 3, between the two guide slide plates 413 and between the two opening rods 52 in turn, and finally enters the packaging bag after auxiliary expansion; A4, the packaging bag after being filled is sealed by an external sealing equipment, and finally is transported to a storage workshop.

[0055] Second embodiment: Please refer to Figure 11 and Figure 12 , based on the first embodiment of the present application, the second embodiment of the present application provides another paper diaper production system based on industrial vision. The second embodiment is only a preferred way of the first embodiment, and the implementation of the second embodiment does not affect the separate implementation of the first embodiment.

[0056] Specifically, the second embodiment of the application provides an industrial vision-based paper diaper production system, which is different from the first embodiment in that the opening part of the opening rod 52 is embedded with a folding support plate 521, the folding support plate 521 is rotatably installed on the opening rod 52 through a connecting shaft 5211, one end of the connecting shaft 5211 penetrates the opening rod 52 and is connected with the driving shaft of the rotating part 56, and the fixed part of the rotating part 56 is fixedly arranged on the opening rod 52.

[0057] In this embodiment, the folding support plate 521 is arranged in one-to-one correspondence with the opening rod 52, and the number of the folding support plate 521 is equal to and arranged in one-to-one correspondence with the number of the rotating part 56.

[0058] By additionally arranging the folding support plate 521 on the opening rod 52, after the opening rod 52 is inserted into the bag opening of the packaging bag, the rotating part 56 can be started, the rotating part 56 drives the connecting shaft 5211 to rotate, the connecting shaft 5211 drives the folding support plate 521 to rotate and expand relative to the opening rod 52, so that the four opening rods 52 and the four folding support plates 521 can support the four corners of the packaging bag in an “L” shape, thereby effectively avoiding the phenomenon that the top of the bag opening of the packaging bag collapses downward when being supported.

[0059] In an optional embodiment of this embodiment, the rotating part 56 can be a motor structure, which facilitates direct driving of the opening rod 52 to rotate and adjust. Each folding support plate 521 is controlled individually.

[0060] In another optional embodiment of this embodiment, in combination with the description of Figure 11 and Figure 12 , the rotating part 56 can further include a gear 561, a rack 562, and a torsion spring 563, one end of the connecting shaft 5211 is fixedly connected with the gear 561, the torsion spring 563 is sleeved on the connecting shaft 5211, one end of the torsion spring 563 is fixedly connected with the opening rod 52, and the other end of the torsion spring 563 is fixedly connected with the connecting shaft 5211; the rack 562 is fixedly arranged on the sliding frame 51, and the rack 562 is aligned in the movement range of the gear 561. When the gear 561 is separated from the rack 562, the torsion spring 563 controls the folding support plate 521 to shrink on the opening rod 52 through the connecting shaft 5211. When the gear 561 is completely engaged with the gear 561, the gear 561 drives the folding support plate 521 to rotate and expand relative to the opening rod 52 through the connecting shaft 5211.

[0061] In the embodiment, when the telescopic plate 41 is in the contracted state, the gear 561 is separated from the rack 562, and the torsional spring 563 drives the folding support plate 521 to fold and be stored on the opening rod 52 through the connecting shaft 5211. When the telescopic plate 41 is in the expanded state, the gear 561 is fully engaged with the rack 562, and in the process of engagement, the gear 561 rolls on the rack 562, and the gear 561 drives the folding support plate 521 to rotate and expand relative to the opening rod 52 through the connecting shaft 5211, and the rotation angle is 90°.

[0062] When the opening rod 52 switches from the contracted state to the expanded state, the opening rod 52 synchronously drives the connecting shaft 5211, the folding support plate 521 and the gear 561 to move towards the direction close to the rack 562, so that the opening rod 52 expands and expands, and the folding support plate 521 is automatically expanded at the same time. When the opening rod 52 switches from the expanded state to the contracted state, the opening rod 52 synchronously drives the connecting shaft 5211, the folding support plate 521 and the gear 561 to move away from the rack 562, so that the opening rod 52 contracts and resets, and the folding support plate 521 is automatically stored at the same time.

[0063] The working principle of the paper diaper production system based on industrial vision provided by the embodiment is as follows: Please refer to Figure 12 and Figure 13 When the two opening rods 52 on the same sliding frame 51 move away from each other, the opening rod 52 drives the connecting shaft 5211, the folding support plate 521 and the gear 561 to move synchronously, so that the gear 561 moves towards the corresponding rack 562; When the gear 561 is aligned and engaged with the rack 562, the gear 561 moves upwards and rolls on the rack 562, the gear 561 drives the connecting shaft 5211 to rotate, the connecting shaft 5211 drives the folding support plate 521 to rotate on the opening rod 52, so that after the opening rod 52 is inserted into the bag opening of the packaging bag, the folding support plate 521 is automatically switched from folding and storage to rotating and opening, providing an “L” shaped right angle support structure for the four corners of the bag opening of the packaging bag; So as to realize the expansion of the opening rod 52 and the adaptive rotating opening of the folding support plate 521 at the same time when the opening rod 52 switches from the contracted state to the expanded state.

[0064] Third embodiment: Please refer to Figure 14, the second embodiment of the present application provides an industrial vision-based paper diaper production system, and the third embodiment of the present application provides another industrial vision-based paper diaper production system. The third embodiment is only a preferred mode of the first embodiment, and the implementation of the third embodiment does not affect the separate implementation of the first embodiment.

[0065] Specifically, the third embodiment of the present application provides an industrial vision-based paper diaper production system, and the third embodiment of the present application provides another industrial vision-based paper diaper production system. The third embodiment is only a preferred mode of the first embodiment, and the implementation of the third embodiment does not affect the separate implementation of the first embodiment. The connecting rod 7 is fixed at one end of the telescopic plate 41. The second transmission rod 8 is hinged at both ends of the lifting table 21 and the other end of the connecting rod 7, and the second transmission rod 8 passes through the range of the synchronization hole 120.

[0066] In this embodiment, the number of the connecting rod 7, the second transmission rod 8 and the telescopic plate 41 is equal, and they are arranged one by one, so as to conveniently drive the telescopic plate 41 on both sides to move and adjust synchronously during the lifting and adjusting process of the lifting table 21.

[0067] The second telescopic member 42 elastically connects the box body 3 and the telescopic plate 41, and provides a sliding support function for the telescopic adjustment of the telescopic plate 41, so as to ensure the stability of the telescopic adjustment of the telescopic plate 41 relative to the box body 3.

[0068] In this embodiment, the two ends of the second transmission rod 8 are hinged to the lifting table 21 and the connecting rod 7, and during the movement of the lifting table 21, the lifting table 21 also synchronously pushes the connecting rod 7 to move right through the second transmission rod 8, and the connecting rod 7 moves right to drive the telescopic plate 41 to expand; Finally, during the movement of the lifting table 21, on the one hand, the self-adaptive clamping of the clamping slide plate 23 is realized, and on the other hand, the self-adaptive insertion of the opening rod 52 into the inside of the bag opening of the packaging bag is realized, and the folding support plate 521 is automatically rotated to open, so as to ensure the stability of the opening of the bag opening of the packaging bag before material conveying.

[0069] The working principle of the industrial vision-based paper diaper production system provided in this embodiment is as follows: When the material on the lifting table 21 needs to move up, the first telescopic member 22 is started, and the first telescopic member 22 drives the lifting table 21 to move up; In one aspect, the first transmission rod 24 drives the clamping slide plate 23 to slide on the lifting platform 21 while the lifting platform 21 is moving up, so as to clamp the material on the lifting platform 21; In another aspect, the lifting platform 21 drives the connecting rod 7 to move right through the second transmission rod 8 while the lifting platform 21 is moving up, and the telescopic plate 41 is extended by the connecting rod 7, so as to realize the expansion of the opening rod 52, the expansion of the opening rod 52 and the rotation opening of the folding support plate 521. So as to realize the clamping of the material and the stable expansion of the bag opening of the packaging bag simultaneously during the lifting of the material.

[0070] Similarly, after the material is completely input into the packaging bag, the lifting platform 21 is lowered, so as to realize the avoidance reset of the clamping slide plate 23, the telescopic plate 41, the opening rod 52 and the folding support plate 521, and the adaptive folding of the folding support plate 521, so as to realize the subsequent material feeding and the opening of the bag opening of the packaging bag.

[0071] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation, direct / indirect application in other related technical fields within the concept of the present application and the content of the present application are included in the patent protection scope of the present application.

Claims

1. A diaper production system based on industrial vision, characterized in that, include: The system includes a material conveying module, a vision inspection module, a gripping robotic arm, a packaging module, and a return module. The material conveying module is used for directional conveying of diapers. The vision inspection module is installed within the conveying range of the material conveying module. The gripping robotic arm is located within the conveying range of the material conveying module and is correspondingly positioned within the inspection range of the vision inspection module. The packaging module is installed in the return area of ​​the return module, which is mounted on the material conveying module. The packaging module includes: A support platform, on which a support frame and an auxiliary platform are respectively installed; A lifting unit, which is installed on the support platform; Two boxes are symmetrically mounted on the auxiliary platform; A telescopic unit is provided, which is arranged in a one-to-one correspondence with the box body. The telescopic unit includes a telescopic plate and a second telescopic component. The two ends of the second telescopic component are fixedly connected to the box body and the telescopic plate. The telescopic plate is provided with movable holes. The expansion unit is configured in a one-to-one correspondence with the telescopic unit. Each expansion unit includes a sliding frame, expansion rods, a track slide, and a transmission shaft. The sliding frame passes through the movable hole and is slidably connected to the telescopic plate. The support shaft passes through the sliding frame and is fixed to the telescopic plate. A spring is sleeved on the support shaft, and both ends of the spring are fixedly connected to the telescopic plate and the sliding frame. An adjustment hole is provided on the sliding frame. The connecting part of the expansion rod passes through the adjustment hole and is inserted into the interior of the housing. The track slide is fixed within the housing. One end of the transmission shaft is fixedly connected to the connecting part of the expansion rod, and the other end of the transmission shaft is inserted into the track slide and slidably connected. Two expansion rods are provided, and the number of expansion rods, track slides, and transmission shafts are equal and configured in a one-to-one correspondence. The lifting height of the lifting unit is equal to the height of the auxiliary platform, a conveying gap is reserved between the two boxes, and the opening part of the spreading rod is close to the conveying gap.

2. The industrial vision-based diaper production system according to claim 1, characterized in that, The spreading unit also includes a trapezoidal slide, one end of which is fixed to the telescopic plate. The inclined structure of the trapezoidal slide is aligned with the range of motion of the spreading rod connection. The number of trapezoidal slides is equal to the number of spreading rods, and two trapezoidal slides on the same telescopic plate are symmetrically distributed. When the expansion rods are in a retracted state, the expansion rods are separated from the trapezoidal slide. When the expansion rods are in the extended state, the expansion rods are completely in contact with the trapezoidal slide.

3. The industrial vision-based diaper production system according to claim 2, characterized in that, The industrial vision-based diaper production system also includes a support pad, which is fixed to the telescopic plate and aligned with the outer expansion range of the opening portion of the expansion rod; the number of support pads is equal to the number of the expansion rods, and they are arranged in a one-to-one correspondence.

4. The industrial vision-based diaper production system according to claim 3, characterized in that, The telescopic plate is also fixedly provided with a guide slide plate, which is embedded in the box body and slidably connected to the box body. The guide slide plate and the telescopic plate are arranged in a one-to-one correspondence.

5. The industrial vision-based diaper production system according to claim 4, characterized in that, The lifting unit includes a lifting platform, a first telescopic component, a clamping slide plate, and a first transmission rod. The fixed part of the first telescopic component is fixedly mounted on the support platform, and the telescopic part of the first telescopic component passes through the support platform and is fixedly connected to the bottom of the lifting platform. The lifting platform is slidably connected to the auxiliary platform. The clamping slide plate is slidably mounted on the lifting platform. The two ends of the first transmission rod are respectively hinged to the support frame and the clamping slide plate. There are two clamping slide plates, which are symmetrically mounted on the lifting platform. Two first transmission rods are correspondingly mounted on each clamping slide plate.

6. The industrial vision-based diaper production system according to claim 5, characterized in that, The lifting platform has a track groove, and the bottom of the clamping slide is fixed with a slider. The slider has a "convex" structure and is inserted into the track groove and slidably connected.

7. The industrial vision-based diaper production system according to claim 6, characterized in that, Each clamping slide is provided with two track grooves and two sliders, the sliders and the track grooves are arranged in a one-to-one correspondence, and the two track grooves are arranged in parallel.

8. The industrial vision-based diaper production system according to claim 7, characterized in that, The opening part of the opening rod is fitted with a folding support plate. The folding support plate is rotatably mounted on the opening rod via a connecting shaft. One end of the connecting shaft passes through the opening rod and is connected to the drive shaft of the rotating component. The fixing part of the rotating component is fixed on the opening rod.

9. The industrial vision-based diaper production system according to claim 8, characterized in that, The rotating component includes a gear, a rack, and a torsion spring. One end of the connecting shaft is fixedly connected to the gear, the torsion spring is sleeved on the connecting shaft, one end of the torsion spring is fixedly connected to the spreading rod, and the other end of the torsion spring is fixedly connected to the connecting shaft. The rack is fixed on the sliding frame, and the rack is aligned with the range of motion of the gear; When the gear separates from the rack, the torsion spring controls the folding support plate to retract onto the spreading rod via the connecting shaft; When the gears are fully engaged, the gears drive the folding support plate to rotate and unfold relative to the spreading rod via the connecting shaft.

10. The industrial vision-based diaper production system according to claim 9, characterized in that, The second telescopic component is a spring-loaded retractable tube; the auxiliary platform has a synchronization hole; the bottom of the box is hollowed out; and the industrial vision-based diaper production system further includes: A connecting rod, one end of which is fixed to the telescopic plate; The second transmission rod has its two ends hinged to the lifting platform and the other end of the connecting rod, respectively, and passes through the range of the synchronization hole.

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