An automatic conveying line correction mechanism for digital twin visualization

Abstract

This invention relates to the field of automated conveyor line technology and discloses a digital twin-visualized automatic conveyor line correction mechanism, including a conveyor frame and a conveyor belt. The conveyor belt is embedded in the inner side of the conveyor frame, and a detection bracket is fixedly connected to the top of the conveyor frame. The detection bracket is equipped with detection equipment, including a 3D industrial camera and an encoder. This invention utilizes the opposing displacement of the correction plate to guide the misaligned or skewed items on its inner side. At the same time, it utilizes the correction baffle and flexible rubber strip at the feeding end to meet the conveying scenario that requires no damage to the items upon contact. This allows the items to be automatically and passively pre-adjusted before correction, and passively repositioned before active correction, reducing the frequency of subsequent correction processing and improving conveying efficiency. Thus, by adopting a dual correction strategy of passive pre-adjustment and active precise correction, the correction efficiency and item safety are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of automated conveyor technology, specifically to a digital twin-visualized automated conveyor correction mechanism. Background Technology

[0002] Digital twin technology is a technology that achieves synchronization between the virtual and real worlds by constructing a digital mapping of physical objects. It integrates multiple cutting-edge technologies such as the Internet of Things and cloud computing, and can perform comprehensive simulation and management of the physical world. It features virtual-real mapping, real-time synchronization, symbiotic evolution, and closed-loop optimization. Currently, in the process of transporting goods on a conveyor line, it is necessary to ensure the transport accuracy of the goods so that they can be accurately recorded, scanned, and coded. The core of correcting the deviation of goods on the conveyor line based on digital twin technology is to use a virtual model to synchronize the state of the physical entity in real time, predict the deviation trend through data analysis, and complete the correction by closed-loop control of the actuator. When items deviate from their designated path on current automated conveyor lines, effective correction is required. Currently, this correction is achieved solely through a single actuator. When the conveyor line is long and the item deviation is significant, the correction mechanism needs to cover a wider area, which can easily damage the items due to the extensive corrective action. Furthermore, long conveyor lines can lead to frequent item deviations, and secondary deviations are also common after correction. In addition, current technologies exhibit independent passive correction and active correction, lacking a collaborative mechanism, and there is a time lag between virtual prediction and physical execution. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a digital twin-based visualized automatic conveyor line correction mechanism. This solves the problem that current automatic conveyor lines require effective correction of items when they deviate. Currently, correction is only performed by a single actuator. When the conveyor line is long and the item deviation is significant, the correction mechanism needs to correct a wider range of items, which can easily damage the items under the large-scale correction action. Furthermore, long conveyor lines lead to frequent item deviations, and secondary deviations are prone to occur after correction. In addition, current technologies exhibit independent passive guidance and active correction, lacking a collaborative mechanism, and there is a time lag between virtual prediction and physical execution.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a digital twin-visualized automatic conveyor line correction mechanism, comprising a conveyor frame, a conveyor belt, and a digital twin platform. The conveyor belt is embedded in the inner side of the conveyor frame, and a detection bracket is fixedly connected to the top of the conveyor frame. A detection device is installed on the detection bracket, which includes a 3D industrial camera and an encoder. The 3D industrial camera and the encoder are connected to the digital twin platform. Crossbars are connected to both sides of the top of the conveyor frame through an adjustable structure, which adjusts the horizontal and vertical positions of the crossbars. The top of the crossbar is connected to a vertical plate. A double-helix threaded rod is rotatably connected at the center between the two vertical plates on both sides of the top of the conveying frame. Guide rods are symmetrically arranged between the two vertical plates on both sides of the double-helix threaded rod. One end of the double-helix threaded rod is connected to the output end of the servo motor. Sliding plates are connected to both sides of the double-helix threaded rod. A correction plate is fixedly connected to the bottom end of the sliding plate. Multiple sets of rotating seats are arranged along the straight direction on the inner side of the correction plate. Movable rotating rollers are rotatably connected to the inner side of the rotating seats. The top of the conveying frame is equipped with a mounting bracket at the feed end of the conveyor belt, and a correction baffle is connected to the top side of the mounting bracket through an adaptive adjustment structure. The correction baffle adjusts its horizontal support position through the adaptive adjustment structure, so that the correction baffle has an adaptive yielding function, and flexible rubber strips are evenly arranged on the inner side of the correction baffle. A single-point laser emitter is installed at the feeding end of one side of the conveyor frame. The single-point laser emitter moves and scans along the width of the conveyor belt. A linear array laser receiving unit is installed at the discharge end of the other side of the conveyor frame, corresponding to the position of the single-point laser emitter. The single-point laser emitter and the linear array laser receiver work together to form a laser scanning detection unit. The digital twin platform predicts the offset trend based on the data from the 3D industrial camera and encoder and controls the servo motor to drive the correction plate to move towards each other to correct the offset. The correction baffle is configured to passively pre-adjust the position of the item before active correction.

[0005] As a preferred technical solution of the digital twin visualization automatic conveyor line correction mechanism of the present invention, the 3D industrial camera continuously collects the real-time position coordinates and angles of the items on the conveyor belt at the detection position, the encoder obtains the conveyor belt speed, and the digital twin platform performs the following steps: receiving the item pose data collected by the 3D industrial camera and the conveyor belt speed data collected by the encoder, reconstructing the item model in virtual space and predicting the offset trend, when the prediction deviation exceeds the threshold, calculating the correction timing and sending an instruction to the PLC controller, and receiving the verification data of the 3D industrial camera after correction to verify the correction effect.

[0006] As a preferred technical solution of the digital twin visualization automatic conveyor line correction mechanism of the present invention, the sliding plates on both sides of the double-rotating threaded rod are respectively located on the threaded rods with opposite rotation directions on both sides of the double-rotating threaded rod. The sliding plates are threadedly connected to the double-rotating threaded rod. The sliding plates are guided and slid along the outside of the guide rod. The servo motor is fixedly installed on the edge of the upright plate.

[0007] As a preferred technical solution of the digital twin visualization automatic conveyor line correction mechanism of the present invention, the adjustable structure includes a sliding rail, a sliding seat and a height-adjustable bracket; The top of both sides of the conveying frame is provided with sliding rails, and sliding seats are slidably connected to the sliding rails. The top two ends of the sliding seats are fixedly connected with height-adjustable brackets, and the top of the height-adjustable brackets is fixedly connected with a crossbar.

[0008] As a preferred technical solution of the digital twin visualization automatic conveyor line correction mechanism of the present invention, the sliding seat drives the height-adjustable bracket and the crossbar to slide linearly, and the side of the sliding seat is provided with a locking bolt. The height-adjustable bracket is composed of a sleeve and a support rod, and the side of the height-adjustable bracket is provided with a fixing bolt to restrict the sliding position of the sleeve and the support rod.

[0009] As a preferred technical solution of the automatic conveyor line correction mechanism for digital twin visualization according to the present invention, the adaptive adjustment structure includes an inner nested tube, a sliding rod and a telescopic spring; An inner nested tube is vertically fixed to one side of the top of the mounting bracket. A sliding rod is slidably connected to the inner side of the inner nested tube. A telescopic spring is fixedly connected to one end of the sliding rod at the inner side of the inner nested tube. A push plate is fixedly connected to one end of the telescopic spring. An adjusting bolt is connected to the middle of one side of the push plate. The adjusting bolt drives the push plate to slide along the inner wall of the inner nested tube.

[0010] As a preferred technical solution of the digital twin visualization automatic conveyor line correction mechanism of the present invention, a first end bracket is symmetrically connected to one side of the conveyor frame in the conveyor belt feeding direction, and a second end bracket is symmetrically connected to the other side of the conveyor frame in the conveyor belt discharging direction. An electric slide rail is fixedly installed on the top of the first end bracket, and a sliding block is slidably connected to the inner side of the electric slide rail. A single-point laser emitter is installed on the top of the sliding block. A mounting box is installed on the top of the second end bracket. A fitting seat is embedded and snapped into the mounting box. Linear array through holes are equidistantly opened on the side of the fitting seat. The linear array laser receiving unit is installed inside the fitting seat at the center of the linear array through holes.

[0011] As a preferred technical solution of the digital twin visualization automatic conveyor line correction mechanism of the present invention, the linear array through holes and the linear array laser receiving unit are arranged in a linear array along the straight line direction, the electric slide rail and the fitting seat are opposite in length, and the center of the single-point laser emitter and the linear array laser receiving unit are located on the same horizontal plane. The sliding block slides linearly along the track groove inside the electric slide rail, and the sliding block drives the single-point laser emitter to slide along the length direction of the electric slide rail. The laser beam emitted by the single-point laser emitter is two centimeters above the top surface of the conveyor belt.

[0012] As a preferred technical solution of the automatic conveyor line correction mechanism for digital twin visualization of the present invention, the discharge end edge of the conveyor frame is rotatably connected to a rotating arc plate through a rotating frame, and the side of the rotating arc plate is supported by a diagonal brace spring. A through groove is provided at the bottom of the conveyor frame corresponding to the end position of the rotating arc plate. A guide frame is connected to the bottom of the conveying frame at the position corresponding to the edge of the through groove. A connecting frame is sleeved on the outside of the guide frame, and the connecting frame and the guide frame are connected by a limiting bolt. A storage box is connected to the bottom of the connecting frame. A negative pressure fan is connected to the middle of the bottom of the storage box, and a barrier membrane is embedded and connected to the bottom of the storage box at the position corresponding to the air inlet of the negative pressure fan.

[0013] As a preferred technical solution of the automatic conveyor line correction mechanism for digital twin visualization of the present invention, the bottom of the conveyor frame is provided with a sloping groove for easy installation of the sloping support spring, the sloping support spring is installed on the inner wall of the sloping groove, the rotating arc plate is a rubber plate, and its side away from the hinge point is in contact with the conveyor belt, and a sealing film is provided at the connection between the connecting frame and the guide frame.

[0014] Compared with the prior art, the present invention provides a digital twin-visualized automatic conveyor line correction mechanism, which has the following beneficial effects: 1. A servo motor drives a double-helical threaded rod, which, in conjunction with a guide rod, precisely drives two sliding plates and a correction plate to move in opposite directions. The opposing displacement of the correction plates corrects misaligned or skewed items on their inner sides. This active correction method has a fast response and can effectively correct large-scale misalignments. At the same time, the rotating seat and movable roller on the inner side of the correction plate can make non-destructive contact between the movable roller and the item when the correction plate is performing correction, reducing the frictional resistance and surface wear on the item during the correction process and effectively protecting the item. By utilizing a corrective baffle and flexible rubber strips at the feed end, the flexible rubber strips prevent items from being squeezed and damaged during alignment, meeting the requirements for conveying scenarios where items do not suffer damage upon contact. This allows items to be automatically and passively pre-adjusted before alignment, enabling them to be passively repositioned before active alignment, reducing the frequency of subsequent alignment processing, minimizing the travel distance and damage risk of active alignment, and improving conveying efficiency. This dual alignment strategy of passive pre-adjustment and active precise alignment significantly improves alignment efficiency and item safety. By passively pre-adjusting, the load on active alignment is significantly reduced, enabling non-destructive, precise, and adaptive alignment of items on long-distance conveyor lines, and eliminating the shortcomings of a single method.

[0015] 2. The horizontal and vertical positions of the crossbar and the upright plate can be easily adjusted in the horizontal and vertical directions through the sliding rail, sliding seat and height adjustable bracket, so as to adjust the position of the correction plate of the correction actuator. The position of the correction plate can meet the correction and guidance requirements when conveying items of different sizes, and improve the correction and guidance effect of the correction actuator on skewed items. An elastic support mechanism is constructed using mounting brackets, nested tubes, sliding rods, and telescopic springs. The low-deformation-coefficient telescopic springs provide flexible support for the corrective baffle, enabling it to self-adaptively retract. Initial correction is achieved using the inertia of the transported items, avoiding hard compression damage and reducing the load on subsequent active correction, thus improving overall transport efficiency. This also ensures the corrective baffle's adaptability to different items, further providing flexible protection and preventing hard direct contact that could cause compression damage. The tension of the telescopic springs is adjusted using push plates and adjusting bolts, allowing for adaptive adjustments based on the type of transported items.

[0016] 3. By continuously acquiring the real-time position coordinates and angles of items on the conveyor belt at the detection position using a 3D industrial camera, obtaining the conveyor belt speed using an encoder, and recreating the conveyor belt scene one-to-one in the digital twin platform, the deviation between the physical entity and the standard model can be compared in real time. Control commands can be issued in advance through data prediction to achieve closed-loop control. This enables the virtual model to synchronize the physical entity's state in real time, and the closed-loop control actuator can complete the correction by predicting the offset through data. By constructing an intelligent control system that maps the physical entity and the virtual space in real time, the accuracy of the correction action can be ensured. Meanwhile, a single-point laser emitter and a linear array laser receiver unit, combined with an electric slide rail and a sliding block, drive the single-point laser emitter to slide linearly, enabling the single-point laser emitter to move and scan. The signal is received by a linear array receiver composed of a linear array through-hole and a linear array laser receiver unit, which facilitates the determination of the degree of deviation of the item during transportation. Through redundant detection, the degree of deviation of the item is further verified on the basis of visual detection, so as to detect the deviation of the item transportation from multiple aspects and dimensions, eliminating the blind spots of a single detection method, thereby ensuring the accuracy of the item correction execution.

[0017] 4. Utilizing the elastic potential energy of the inclined support spring, the rotating arc plate is forced to remain in constant contact with the conveyor belt surface. This rotating arc plate scrapes away impurities and dust adhering to the conveyor belt surface in real time, keeping the surface clean and preventing impurities and dust from affecting the stability of the actual transport of goods and interfering with the detection and judgment of item deviation. Through channels, guide frames, and connecting frames guide the scraped impurities into the accumulation box. Negative pressure is provided by a negative pressure fan and a barrier membrane, facilitating the rapid collection of impurities into the accumulation box, accelerating sedimentation and collection, and improving the efficiency of subsequent cleaning. The barrier membrane prevents impurities from overflowing, and the quick-release design between the connecting frame and the guide frame facilitates subsequent cleaning and maintenance. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the conveyor belt structure of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of the vertical plate of the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of the correction plate of the present invention.

[0022] Figure 5 This is a schematic diagram of the corrective baffle of the present invention.

[0023] Figure 6 This is a schematic diagram of the structure of the single-point laser emitter of the present invention.

[0024] Figure 7 This is a schematic diagram of the installation box of the present invention.

[0025] Figure 8 This is a schematic diagram of the rotating arc plate of the present invention.

[0026] Figure 9 This is a schematic diagram of the storage box of the present invention.

[0027] In the diagram: 1. Conveyor frame; 2. Conveyor belt; 3. Inspection bracket; 4. Inspection equipment; 5. Sliding rail; 6. Sliding seat; 7. Height-adjustable bracket; 8. Crossbar; 9. Vertical plate; 10. Double-threaded rod; 11. Guide rod; 12. Servo motor; 13. Sliding plate; 14. Correction plate; 15. Rotary seat; 16. Movable roller; 17. Mounting bracket; 18. Inner nested tube; 19. Sliding rod; 20. Correction baffle; 21. Flexible rubber strip; 22. Telescopic spring; 23. Push plate; 24. Adjusting bolt; 25. First end bracket; 26. Second end bracket; 27. Electric slide rail; 28. Sliding block; 29. ​​Single-point laser emitter; 30. Mounting box; 31. Fitting seat; 32. Linear array through hole; 33. Linear array laser receiving unit; 34. Rotating arc plate; 35. Diagonal brace spring; 36. Through slot; 37. Conducting frame; 38. Connecting frame; 39. Accumulation box; 40. Limit bolt; 41. Negative pressure fan; 42. Barrier membrane. Detailed Implementation

[0028] 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. However, it should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0029] In the description of this invention, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0030] In the description of this invention, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0031] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] Example: Please refer to Figure 1-9 The present invention provides the following technical solution: a digital twin visualization automatic conveyor line correction mechanism, including a conveyor frame 1, a conveyor belt 2 and a digital twin platform. The conveyor belt 2 is embedded in the inner side of the conveyor frame 1. A detection bracket 3 is fixedly connected to the top of the conveyor frame 1, and a detection device 4 is installed on the detection bracket 3. The detection device 4 includes a 3D industrial camera and an encoder. The 3D industrial camera and the encoder are connected to the digital twin platform. The top of both sides of the conveyor frame 1 are connected to crossbars 8 through an adjustable structure. The adjustable structure adjusts the horizontal and vertical positions of the crossbars 8 to realize the position adjustment of the correction plate 14. A vertical plate 9 is connected to the top of the crossbar 8. A double-threaded rod 10 is rotatably connected between the center of the two vertical plates 9 located on both sides of the top of the conveying frame 1. Guide rods 11 are symmetrically arranged between the two vertical plates 9 on both sides of the double-threaded rod 10. One end of the double-threaded rod 10 is connected to the output end of the servo motor 12. Sliding plates 13 are connected to both sides of the double-threaded rod 10. A correction plate 14 is fixedly connected to the bottom end of the sliding plate 13. The sliding plates 13 on both sides of the double-threaded rod 10 are respectively located on both sides of the double-threaded rod 10. On the oppositely helical threaded rod, the sliding plate 13 is threadedly connected to the double-helical threaded rod 10. The sliding plate 13 slides along the outer side of the guide rod 11. The servo motor 12 is fixedly installed on the edge of the upright plate 9, which facilitates driving the sliding plate 13 and the correction plate 14 to move in opposite directions along the guide rod 11, which facilitates the correction of items that are offset inside the correction plate 14. Multiple sets of rotating seats 15 are arranged along the straight direction on the inner side of the correction plate 14, and the inner side of the rotating seat 15 is rotatably connected to a movable roller 16. The movable roller 16 rolls and contacts the item to reduce friction damage. A mounting bracket 17 is installed on the top of the conveyor frame 1 at the feed end of the conveyor belt 2. A correction baffle 20 is connected to the top side of the mounting bracket 17 through an adaptive adjustment structure. The correction baffle 20 adjusts its horizontal support position through the adaptive adjustment structure, so that the correction baffle 20 has an adaptive yielding function for flexible support. Flexible rubber strips 21 are evenly arranged on the inner side of the correction baffle 20. A single-point laser emitter 29 is installed at the feeding end of one side of the conveyor frame 1. The single-point laser emitter 29 moves and scans along the width direction of the conveyor belt 2. A linear array laser receiving unit 33 is installed at the discharge end of the other side of the conveyor frame 1, corresponding to the position of the single-point laser emitter 29. The single-point laser emitter 29 and the linear array laser receiver 33 cooperate to form a laser scanning detection unit. Through the laser scanning detection unit composed of the single-point laser emitter 29 and the linear array laser receiver 33, it is convenient to scan and identify the unobstructed, partially obstructed and completely obstructed states during the conveying process of the items, so as to ensure the accuracy of offset prediction through redundant detection. The digital twin platform predicts the offset trend based on data from the 3D industrial camera and encoder, and controls the servo motor 12 to drive the correction plate 14 to move in opposite directions for correction. The correction baffle 20 is configured to passively pre-adjust the position of the item before active correction. Specifically, an LSTM neural network is used to predict the offset trend of the item. The 3D industrial camera continuously collects the real-time position coordinates and angles of the item on the conveyor belt 2 at the detection position, and the encoder obtains the speed of the conveyor belt 2. The digital twin platform performs the following steps: receiving the position and pose data of the item collected by the 3D industrial camera and the speed data of the conveyor belt 2 collected by the encoder; reconstructing the item model in virtual space and predicting the offset trend; when the prediction deviation exceeds the threshold, calculating the correction timing and sending an instruction to the PLC controller; and receiving the verification data of the 3D industrial camera after correction to verify the correction effect. By mapping image coordinates to world coordinates, the digital twin platform establishes a mathematical model of the object's pose based on the point cloud data of the 3D industrial camera and the speed data of the encoder through a coordinate transformation matrix, and renders it in real time in virtual space. At the same time, the image is visualized in real time through a 3D monitoring screen to facilitate the visualization of the virtual model, predicted path and actual deviation of each object, making management more intuitive, and comparing the deviation of the current pose of the object with the standard pose in real time. Meanwhile, the digital twin platform sends action commands to the servo motor 12 through the PLC controller, and the signal terminals of the single-point laser emitter 29 and the linear array laser receiver unit 33 are connected to the controller.

[0033] The adjustable structure includes a sliding rail 5, a sliding seat 6, and a height-adjustable bracket 7; The top of both sides of the conveying frame 1 is provided with sliding rails 5, and sliding seats 6 are slidably connected to the sliding rails 5. The top two ends of the sliding seats 6 are fixedly connected with height-adjustable brackets 7, and the top of the height-adjustable brackets 7 is fixedly connected with crossbars 8. The sliding seats 6 drive the height-adjustable brackets 7 and crossbars 8 to slide linearly. Locking bolts are provided on the side of the sliding seats 6. The height-adjustable brackets 7 are composed of sleeves and support rods, and fixing bolts are provided on the side of the height-adjustable brackets 7 to restrict the sliding position of the sleeves and support rods. This facilitates the adjustment of the position of the crossbars 8 and the uprights 9 in the horizontal and vertical directions, so as to adjust the position of the correction plate 14 and make the correction plate 14 meet the correction and guidance requirements when conveying items of different sizes. The adjustable structure includes a horizontal adjustment part and a vertical adjustment part. The horizontal adjustment part is the cooperation between the sliding rails 5 and the sliding seats 6, and the vertical adjustment part is the cooperation between the sleeves and the support rods.

[0034] The adaptive adjustment structure includes an inner nested tube 18, a sliding rod 19, and a telescopic spring 22; An inner nested tube 18 is vertically fixed to one side of the top of the mounting bracket 17. A sliding rod 19 is slidably connected to the inner side of the inner nested tube 18. One end of the sliding rod 19 is fixedly connected to a telescopic spring 22 at the inner side of the inner nested tube 18. The spring constant k of the telescopic spring 22 is 10 N / m. A push plate 23 is fixedly connected to one end of the telescopic spring 22. An adjusting bolt 24 is connected to the middle of one side of the push plate 23. The adjusting bolt 24 drives the push plate 23 to slide along the inner wall of the inner nested tube 18.

[0035] One side of the conveyor frame 1 is symmetrically connected to a first end bracket 25 in the feeding direction of the conveyor belt 2, and the other side of the conveyor frame 1 is symmetrically connected to a second end bracket 26 in the discharging direction of the conveyor belt 2. An electric slide rail 27 is fixedly installed on the top of the first end bracket 25. A sliding block 28 is slidably connected to the inner side of the electric slide rail 27. A single-point laser emitter 29 is installed on the top of the sliding block 28. A mounting box 30 is installed on the top of the second end bracket 26. A fitting seat 31 is embedded and engaged within the mounting box 30. Linear array through holes 32 are equidistantly opened on the side of the fitting seat 31. A sliding block 28 slides linearly along the track groove inside the electric slide rail 27, and the sliding block 28 drives the single-point laser emitter 29 to slide along the length of the electric slide rail 27. The laser beam emitted by the single-point laser emitter 29 is two centimeters above the top surface of the conveyor belt 2. The sliding of the single-point laser emitter 29 causes it to emit a laser beam during movement, which, combined with the linear array through holes 32 and the linear array through holes 32, creates a laser beam that is emitting a laser beam. A linear array laser receiving unit 33, consisting of a laser array receiving unit 33, receives laser light to determine the degree of deviation of the item during transportation. The linear array laser receiving unit 33 is installed inside the fitting base 31 at the center of the linear array through hole 32. The linear array through hole 32 and the linear array laser receiving unit 33 are arranged in a linear array along a straight line. The electric slide rail 27 is parallel to the length of the fitting base 31. The center of the single-point laser emitter 29 and the linear array laser receiving unit 33 is located on the same horizontal plane, which facilitates the precise reception of laser light by the linear array receiving unit consisting of the linear array through hole 32 and the linear array laser receiving unit 33.

[0036] A single-point laser emitter 29 and a linear array laser receiver 33 are respectively installed on the first end bracket 25 and the second end bracket 26. The single-point laser emitter 29 is driven to slide linearly by the electric slide rail 27 and the sliding block 28. During the movement, the single-point laser emitter 29 emits a laser beam and receives the laser through the linear array receiving unit composed of the linear array through hole 32 and the linear array laser receiver 33. By acquiring the laser reception status of the linear array laser receiver 33 at different positions, the degree of deviation of the item during the transportation process can be determined. Combined with a 3D industrial camera and encoder, the deviation of the item transportation can be detected from multiple aspects and dimensions to ensure the accuracy of the item correction execution.

[0037] The discharge end of the conveying frame 1 is rotatably connected to a rotating arc plate 34 via a rotating frame, and the side of the rotating arc plate 34 is supported by a diagonal brace spring 35. A through groove 36 is provided at the bottom of the conveying frame 1 corresponding to the end position of the rotating arc plate 34. A guide frame 37 is connected to the bottom of the conveyor frame 1 at the edge of the through groove 36. A connecting frame 38 is fitted on the outside of the guide frame 37. The bottom of the conveyor frame 1 is provided with an inclined groove to facilitate the installation of the inclined support spring 35. The inclined support spring 35 is installed on the inner wall of the inclined groove. The rotating arc plate 34 is a rubber plate, and its side away from the hinge point is in contact with the conveyor belt 2. A sealing film is provided at the connection between the connecting frame 38 and the guide frame 37 to ensure the airtightness of the connection and facilitate the installation of the inclined support spring 35. The rotating arc plate 34 is supported so that one side of the rotating arc plate 34 is in close contact with the surface of the conveyor belt 2 to scrape the impurities and dust on the surface of the conveyor belt 2. The connecting frame 38 and the guide frame 37 are limited and connected by the limiting bolt 40. The bottom of the connecting frame 38 is connected to the accumulation box 39. The bottom middle of the accumulation box 39 is connected to the negative pressure fan 41. The bottom of the accumulation box 39 is embedded and connected to the air inlet of the negative pressure fan 41. The barrier membrane 42 is a microporous isolation cloth.

[0038] The working principle and usage process of this invention are as follows: During the specific process of correcting the deviation of the items conveyed on conveyor belt 2, when the items on conveyor belt 2 shift to the right, the 3D industrial camera continuously collects the real-time position coordinates and angle of the items on conveyor belt 2 at the detection position. The encoder obtains the conveying speed of conveyor belt 2. The actual coordinates of the center of the item collected by the 3D camera and encoder at the detection position are: X=120mm. When Y=10mm and the angle is +3°, based on the detection of 3D industrial cameras and encoders, a laser verification structure composed of a single-point laser emitter 29 and a linear array laser receiving unit 33 is used. The single-point laser emitter 29 is driven to slide linearly by the electric slide rail 27 and the sliding block 28, so that the single-point laser emitter 29 emits a laser beam during the movement. The laser is received by the linear array receiving unit composed of the linear array through hole 32 and the linear array laser receiving unit 33. By acquiring the laser received by the linear array laser receiving unit 33 at different positions, the degree of deviation of the item during the transportation process can be determined. Based on the detection of 3D industrial cameras and encoders, the deviation of the item transportation can be further verified to ensure the accuracy of the item correction execution. The detected data is sent to a digital twin platform, where the conveyor belt 2, item models, and their physical attributes are recreated one-to-one in virtual space. This allows for real-time comparison of the item's current pose with the standard pose. The virtual cardboard box is synchronously offset in real-time. Comparing the standard position (X=100mm, Y=0mm, angle 0°), ΔX=20mm and Δθ=+3° are calculated. Furthermore, the images are visualized in real-time on a 3D monitoring screen, presenting the virtual model, predicted path, and actual deviation of each item, making management more intuitive. When a deviation exceeds 2mm... At the threshold, combined with the conveying speed of conveyor belt 2 (1 m / s), it is calculated that the correction needs to be initiated after 0.3 seconds. The PLC controller sends a command to the servo motor 12 to make the correction actuator correct the conveyed items. After correction, the 3D industrial camera verifies that the carton has returned to the designated position. The position information is: X=100.5mm, angle 0.1°, indicating that the correction is successful. This is to realize the real-time synchronization of the physical entity state using the virtual model, and to predict the offset through data. The closed-loop control actuator completes the correction, achieving high-precision non-destructive correction and adaptive control. When the correction actuator performs correction and straightening of the item, the servo motor 12 drives the double-helical threaded rod 10 to rotate, driving the two sliding plates 13 and the correction plate 14 to move precisely in opposite directions along the guide rod 11. The opposite displacement of the correction plate 14 is used to guide the item that is offset or skewed on its inner side. The movable roller 16 contacts the item to reduce the wear on the item during correction and guide and to protect the item during the correction. Based on the active correction of the correction plate 14, the correction baffle 20 and flexible rubber strip 21 at the feed end of the conveyor belt 2 are used. The flexible rubber strip 21 avoids the item from being squeezed and damaged during the correction, meeting the requirements of no damage to the item during the conveying scenario. This allows the item to be passively adjusted before active correction, reducing the frequency of subsequent correction processing. When actively and passively correcting and guiding items based on the correction plate 14 and the correction baffle 20, the adjustable structure composed of the sliding rail 5, the sliding seat 6 and the height adjustable bracket 7 can adjust the position of the horizontal bar 8 and the vertical plate 9 in the horizontal and vertical directions to adjust the position of the correction plate 14 so that the correction plate 14 can meet the correction requirements of the item conveying under different working conditions. At the same time, the adaptive adjustment structure composed of the mounting bracket 17, the inner nested tube 18, the sliding rod 19 and the telescopic spring 22 can flexibly support the correction baffle 20 through the low deformation coefficient telescopic spring 22, so that the correction baffle 20 can automatically retract during guidance, improve the adaptive guidance effect of the correction baffle 20, achieve flexible protection of the item, and avoid crush damage. The push plate 23 and the adjusting bolt 24 can adjust the tension of the telescopic spring 22 to achieve adaptive adjustment. Furthermore, during the conveyor belt 2's transport of items, the rotating arc plate 34 is supported by the inclined support spring 35, allowing one side of the rotating arc plate 34 to elastically contact the surface of the conveyor belt 2. The rotating arc plate 34 scrapes away impurities and dust adhering to the surface of the conveyor belt 2, preventing impurities and dust from affecting the detection and judgment of item deviation. The through groove 36, guide frame 37, and connecting frame 38 facilitate the introduction of scraped impurities into the accumulation box 39 for collection. Combined with the negative pressure fan 41 and barrier membrane 42, negative pressure is provided so that impurities are quickly introduced into the accumulation box 39 under negative pressure, improving collection efficiency. At the same time, the connecting frame 38 and guide frame 37 are easy to disassemble, facilitating the cleaning of the accumulation box 39.

[0039] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A digital twin-visualized automatic conveyor line correction mechanism, comprising a conveyor frame (1), a conveyor belt (2), and a digital twin platform, characterized in that: The inner side of the conveying frame (1) is embedded with a conveyor belt (2), and the top of the conveying frame (1) is fixedly connected with a detection bracket (3), and a detection device (4) is installed on the detection bracket (3). The detection device (4) includes a 3D industrial camera and an encoder. The 3D industrial camera and the encoder are connected to a digital twin platform. The top of both sides of the conveying frame (1) are connected with crossbars (8) through an adjustable structure. The adjustable structure adjusts the horizontal and vertical positions of the crossbars (8). The top of the crossbar (8) is connected to a vertical plate (9). A double-helix threaded rod (10) is rotatably connected between the two vertical plates (9) on both sides of the top of the conveying frame (1). Guide rods (11) are symmetrically arranged between the two vertical plates (9) on both sides of the double-helix threaded rod (10). One end of the double-helix threaded rod (10) is connected to the output end of the servo motor (12). Sliding plates (13) are connected to both sides of the double-helix threaded rod (10). A correction plate (14) is fixedly connected to the bottom end of the sliding plate (13). Multiple sets of rotating seats (15) are arranged along the straight direction on the inner side of the correction plate (14). A movable roller (16) is rotatably connected to the inner side of the rotating seat (15). The top of the conveying frame (1) is equipped with a mounting bracket (17) at the feed end of the conveyor belt (2), and a correction baffle (20) is connected to the top side of the mounting bracket (17) through an adaptive adjustment structure. The correction baffle (20) adjusts its horizontal support position through the adaptive adjustment structure, so that the correction baffle (20) has an adaptive yielding function, and flexible rubber strips (21) are evenly arranged on the inner side of the correction baffle (20). A single-point laser emitter (29) is installed at the feeding end of one side of the conveyor frame (1). The single-point laser emitter (29) moves and scans along the width direction of the conveyor belt (2). A linear array laser receiving unit (33) is installed at the discharge end of the other side of the conveyor frame (1) corresponding to the position of the single-point laser emitter (29). The single-point laser emitter (29) and the linear array laser receiver (33) cooperate to form a laser scanning detection unit. The digital twin platform predicts the offset trend based on the data of the 3D industrial camera and encoder and controls the servo motor (12) to drive the correction plate (14) to move towards each other to correct the offset. The correction baffle (20) is configured to passively pre-adjust the position of the item before active correction.

2. The digital twin-based visualized automatic conveyor line correction mechanism according to claim 1, characterized in that: The 3D industrial camera continuously collects the real-time position coordinates and angles of the items on the conveyor belt (2) at the detection position, and the encoder obtains the speed of the conveyor belt (2). The digital twin platform performs the following steps: receiving the pose data of the items collected by the 3D industrial camera and the speed data of the conveyor belt 2 collected by the encoder, reconstructing the item model in the virtual space and predicting the offset trend, calculating the correction timing when the prediction deviation exceeds the threshold and sending an instruction to the PLC controller, and receiving the verification data of the 3D industrial camera after correction to verify the correction effect.

3. The digital twin-based visualized automatic conveyor line correction mechanism according to claim 1, characterized in that: The sliding plates (13) on both sides of the double-helix threaded rod (10) are respectively located on the threaded rods with opposite helix directions on both sides of the double-helix threaded rod (10). The sliding plates (13) are threadedly connected to the double-helix threaded rod (10). The sliding plates (13) slide along the outside of the guide rod (11). The servo motor (12) is fixedly installed on the edge of the upright plate (9).

4. The digital twin-based visualized automatic conveyor line correction mechanism according to claim 1, characterized in that: The adjustable structure includes a sliding rail (5), a sliding seat (6), and a height-adjustable bracket (7); The top of both sides of the conveying frame (1) is provided with sliding rails (5), and sliding seats (6) are slidably connected on the sliding rails (5). The top two ends of the sliding seats (6) are fixedly connected with height-adjustable brackets (7), and the top of the height-adjustable brackets (7) is fixedly connected with a crossbar (8).

5. The digital twin-visualized automatic conveyor line correction mechanism according to claim 4, characterized in that: The sliding seat (6) drives the height-adjustable bracket (7) and the crossbar (8) to slide in a straight line. The side of the sliding seat (6) is provided with a locking bolt. The height-adjustable bracket (7) is composed of a sleeve and a support rod. The side of the height-adjustable bracket (7) is provided with a fixing bolt to restrict the sliding position of the sleeve and the support rod.

6. The digital twin-based visualized automatic conveyor line correction mechanism according to claim 1, characterized in that: The adaptive adjustment structure includes an inner nested tube (18), a sliding rod (19), and a telescopic spring (22). An inner nested tube (18) is fixedly connected vertically to one side of the top of the mounting bracket (17). A sliding rod (19) is slidably connected to the inner side of the inner nested tube (18). A telescopic spring (22) is fixedly connected to one end of the sliding rod (19) at the inner side of the inner nested tube (18). A push plate (23) is fixedly connected to one end of the telescopic spring (22). An adjusting bolt (24) is connected to the middle of one side of the push plate (23). The adjusting bolt (24) drives the push plate (23) to slide along the inner wall of the inner nested tube (18).

7. The digital twin-based visualized automatic conveyor line correction mechanism according to claim 1, characterized in that: The conveying frame (1) has a first end bracket (25) symmetrically connected to one side end of the conveyor belt (2) in the feeding direction, and a second end bracket (26) symmetrically connected to the other side end of the conveying frame (1) in the discharging direction of the conveyor belt (2). An electric slide rail (27) is fixedly installed on the top of the first end bracket (25), and a sliding block (28) is slidably connected to the inner side of the electric slide rail (27). A single-point laser emitter (29) is installed on the top of the sliding block (28). The second end bracket (26) is equipped with a mounting box (30) on its top. A fitting seat (31) is embedded in the mounting box (30). Linear array through holes (32) are equidistantly opened on the side of the fitting seat (31). The linear array laser receiving unit (33) is installed inside the fitting seat (31) at the center of the linear array through hole (32).

8. The digital twin-visualized automatic conveyor line correction mechanism according to claim 7, characterized in that: The linear array through-hole (32) and the linear array laser receiving unit (33) are arranged in a linear array along a straight line. The electric slide rail (27) is opposite in length to the fitting seat (31). The center of the single-point laser emitter (29) and the linear array laser receiving unit (33) is located on the same horizontal plane. The sliding block (28) slides linearly along the track groove inside the electric slide rail (27), and the sliding block (28) drives the single-point laser emitter (29) to slide along the length direction of the electric slide rail (27). The laser beam emitted by the single-point laser emitter (29) is two centimeters above the top surface of the conveyor belt (2).

9. The digital twin-visualized automatic conveyor line correction mechanism according to claim 1, characterized in that: The discharge end of the conveying frame (1) is rotatably connected to a rotating arc plate (34) via a rotating frame, and the side of the rotating arc plate (34) is supported by a diagonal brace spring (35). A through groove (36) is provided at the bottom of the conveying frame (1) corresponding to the end position of the rotating arc plate (34). The bottom of the conveying frame (1) is connected to the side of the through groove (36) with a guide frame (37). The outer side of the guide frame (37) is fitted with a connecting frame (38), and the connecting frame (38) and the guide frame (37) are connected by a limiting bolt (40). The bottom of the connecting frame (38) is connected to a storage box (39), and the bottom middle of the storage box (39) is connected to a negative pressure fan (41). The bottom of the storage box (39) is embedded with a barrier membrane (42) at the air inlet of the negative pressure fan (41).

10. The digital twin-visualized automatic conveyor line correction mechanism according to claim 9, characterized in that: The bottom of the conveying frame (1) is provided with a sloping groove for easy installation of the sloping support spring (35). The sloping support spring (35) is installed on the inner wall of the sloping groove. The rotating arc plate (34) is a rubber plate, and its side away from the hinge point is in contact with the conveyor belt (2). A sealing film is provided at the connection between the connecting frame (38) and the guide frame (37).

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