Full-automatic box filling machine with visual recognition function

Abstract

The utility model discloses a full-automatic box filling machine with visual identification, which belongs to the technical field of box filling machines and comprises a manipulator support, a material conveying belt and a carton conveying crawler belt are arranged below the manipulator support side by side, a visual lamp box is arranged at the front end of the material conveying belt, and the carton conveying crawler belt is arranged at the rear end of the visual lamp box. A light source device and a visual camera are arranged in the visual lamp box, and two grabbing mechanical arms are arranged on the mechanical arm support. The feeding of the salt bags is recognized through the visual lamp box, the recognition precision is higher, and the grabbing manipulator can grab the salt bags conveniently; the two sets of grabbing manipulators are arranged, on one hand, the grabbing speed can be increased, the grabbing efficiency is guaranteed, on the other hand, the coverage rate can be guaranteed, and grabbing leakage is avoided; the suction cup device of the grabbing manipulator is composed of a plurality of pneumatic suction cups, the heights of the pneumatic suction cups are adjustable, materials with uneven surfaces can be conveniently adsorbed and grabbed, and the grabbing stability is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic packing machines, and particularly relates to a full-automatic packing machine with visual recognition. Background Art

[0002] A packing machine is a device for packing products into boxes. The packing machine replaces workers with automated equipment to pack products into boxes, greatly improving production efficiency. For packing bagged salt, since the salt is in small bags and the salt accumulation in the bags is irregular, and at the same time, when the salt is fed, it is very difficult to make the placement of the salt regular and consistent. This makes the accuracy of grasping and feeding of conventional packing machines average, and there is a problem of material leakage. Since bagged salt is generally fed by a conveyor belt, the faster the transfer speed of the conveyor belt, the higher the efficiency of packing and boxing. However, due to the low recognition accuracy of conventional packing machines, it is very difficult to transport, grasp and pack in a state of rapid transmission. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a full-automatic packing machine with visual recognition to solve the problems in the use of existing packing machines mentioned in the above background art.

[0004] To achieve the above purpose, the utility model provides the following technical solution: a full-automatic packing machine with visual recognition, including a manipulator bracket. Below the manipulator bracket, a material conveyor belt and a carton conveyor track are arranged side by side. At the front end of the material conveyor belt, a visual light box is provided. A light source device and a visual camera are arranged in the visual light box. Two groups of grasping manipulators are arranged on the manipulator bracket.

[0005] Preferably, the two groups of grasping manipulators are arranged front and back. The grasping manipulator includes a suction cup device arranged at the bottom, a lifting air cylinder arranged above the suction cup device for driving the suction cup device, and a transverse moving push rod arranged on the side of the suction cup device.

[0006] Preferably, multiple groups of pneumatic suction cups are arranged on the suction cup device.

[0007] Preferably, the height of the material conveyor belt is higher than that of the carton conveyor track, and the height difference between the material conveyor belt and the carton conveyor track is set based on the height of the carton.

[0008] Preferably, two groups of PLC controllers are arranged at the top of the manipulator bracket, and the two groups of PLC controllers are respectively connected to the two groups of grasping manipulators.

[0009] Compared with the prior art, the beneficial effects of the utility model are:

[0010] The feeding of salt bags is identified through a visual light box, with higher identification accuracy, which is convenient for the grasping manipulator to grasp; two groups of grasping manipulators are set up. On the one hand, it can improve the grasping speed and ensure the grasping efficiency. On the other hand, it can ensure the coverage rate and avoid missing materials during grasping; the suction cup device of the grasping manipulator consists of multiple pneumatic suction cups, and the heights of the multiple pneumatic suction cups are adjustable, which is convenient for adsorbing and grasping materials with uneven surfaces, and has high grasping stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is an exploded structural schematic diagram of the present utility model.

[0012] In the figure: 1, manipulator support; 2, material conveyor belt; 3, carton conveyor track; 4, visual light box; 5, suction cup device; 6, transverse moving push rod; 7, lifting cylinder; 8, PLC controller. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0013] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0014] Refer to Figure 1 , a fully automatic packing machine with visual recognition, including a manipulator support 1. A material conveyor belt 2 and a carton conveyor track 3 are arranged side by side below the manipulator support 1. A visual light box 4 is arranged at the front end of the material conveyor belt 2. A light source device and a visual camera are arranged in the visual light box 4. Two groups of grasping manipulators are arranged on the manipulator support 1.

[0015] In view of the problem that the existing automatic boxing machine has general grasping accuracy and affects the boxing and packaging effect when packaging salt in bags into cartons because the salt bags are placed irregularly and the recognition is not accurate enough, this solution proposes a fully automatic boxing machine with visual recognition, including a parallel material conveyor belt 2 and a carton conveyor track 3. The grasping manipulator is installed above the material conveyor belt 2 and the carton conveyor track 3 through a manipulator bracket 1. During processing and production, the bagged salt bags are output backward through the material conveyor belt 2. First, they pass through a vision light box 4. A vision camera is set inside the vision light box 4. The vision camera can take pictures of the salt bags sent by the conveyor belt, and judge the feeding direction of the salt bag materials according to the taken pictures of the vision camera. The main control system adjusts the angle of the grasping manipulator based on the photographed information to correct the irregularly fed salt bags. For example, when the salt bag materials are fed at an angle of 15 degrees, correspondingly, the grasping manipulator is adjusted to the corresponding 15-degree angle to grasp the salt bags. After the grasping manipulator grasps the salt bag materials, it returns to the correct angle and moves the grasped salt bags into the cartons on the carton conveyor track 3, thus completing the boxing and packing. In this technical solution, there are two groups of grasping manipulators, and the two groups of grasping manipulators can adapt to the high-speed conveying material conveyor belt 2, with high grasping efficiency and greatly improving the boxing and packaging efficiency.

[0016] Furthermore, the two groups of grasping manipulators are arranged front and back. The grasping manipulator includes a suction cup device 5 arranged at the bottom, a lifting cylinder 7 arranged above the suction cup device 5 for driving the suction cup device 5 to lift, and a transverse movement push rod 6 arranged on the side of the suction cup device 5.

[0017] Through this technical solution, the bottom suction cup device 5 of the grasping manipulator is driven to lift by the lifting cylinder 7, and the transverse movement push rod 6 can push the bottom suction cup to move left and right. The lifting cylinder 7 drives the suction cup device 5 to press down. After adsorbing the salt bag, the transverse movement push rod 6 drives the suction cup device 5 to move horizontally into the carton on the carton conveyor track 3. The suction cup device 5 deflates and puts the adsorbed and grasped salt bag into the carton, thus completing the boxing; after completing the boxing, the transverse movement push rod 6 drives the suction cup device 5 to move to directly above the next group of salt bags and wait for the next grasping and boxing.

[0018] Furthermore, multiple groups of pneumatic suction cups are arranged on the suction cup device 5.

[0019] Through this technical solution, multiple groups of pneumatic suction cups are arranged on the suction cup device 5. Specifically, 6 groups of pneumatic suction cups are arranged, and the heights of the 6 groups of pneumatic suction cups can be adjusted to adapt to the grasping of materials with uneven surfaces, meet the adsorption and grasping of the irregular surfaces of salt bags, make the grasping of salt bags more stable, and avoid dropping materials after grasping.

[0020] Furthermore, the height of the material conveyor belt 2 is higher than that of the carton conveyor track 3, and the height difference between the material conveyor belt 2 and the carton conveyor track 3 is set based on the height of the carton.

[0021] There is a height difference between the material conveyor belt 2 and the carton conveyor track 3. After the material is grabbed by the grabbing manipulator, it only needs to be simply translated to send the salt bag into the packing box, which is convenient for packing and reduces the lifting process, thus improving the speed of grabbing and packing.

[0022] Furthermore, two sets of PLC controllers 8 are arranged at the top of the manipulator bracket 1, and the two sets of PLC controllers 8 are respectively docked with the two sets of grabbing manipulators.

[0023] Both sets of grabbing manipulators adsorb and grab the salt bags based on the detection information of the vision light box 4. The cooperation of the two sets of grabbing manipulators can ensure the grabbing efficiency and avoid material leakage.

[0024] Working principle: The bagged salt packages are output backward through the material conveyor belt 2. First, they pass through the vision light box 4. A vision camera is arranged in the vision light box 4. The vision camera can identify the salt bags according to the color difference between the salt bags and the conveyor belt after lighting, and mark information such as the feeding form of the salt packages and the positions of the salt bags in the main control system. Subsequently, the grabbing manipulator grabs the salt packages according to the recognition information of the vision light box 4 and moves them into the cartons on the carton conveyor track 3, thus completing the packing and packaging.

[0025] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0026] In the description of the present invention, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine the different embodiments or examples described in the present invention and the features of different embodiments or examples.

[0027] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A visual recognition fully automatic case packing machine, characterized by: It includes a robot bracket, below which a material conveyor belt and a carton conveyor belt are arranged side by side, a visual light box is arranged at the front end of the material conveyor belt, a light source device and a visual camera are arranged in the visual light box, and two groups of grasping robots are arranged on the robot bracket.

2. The fully automatic case packing machine with visual recognition according to claim 1, characterized in that: The two groups of grasping manipulators are arranged front and back, and the grasping manipulators include a suction cup device arranged at the bottom, a lifting cylinder arranged above the suction cup device for driving the suction cup device, and a transverse push rod arranged on the side of the suction cup device.

3. The fully automatic case packing machine with visual recognition according to claim 2, characterized in that: The suction cup device is provided with a plurality of groups of pneumatic suction cups.

4. The fully automatic case packing machine with visual recognition according to claim 1, characterized in that: The height of the material conveyor belt is higher than that of the carton conveyor belt, and the height difference between the material conveyor belt and the carton conveyor belt is set based on the height of the carton.

5. The fully automatic case packing machine with visual recognition according to claim 1, characterized in that: Two groups of PLC controllers are arranged on the top of the manipulator support, and the two groups of PLC controllers are respectively connected to the two groups of grabbing manipulators.

Images