Mechanical arm for defect detection packaging

Abstract

The utility model relates to the technical field of packaging defect detection, in particular to a mechanical arm for defect detection packaging, which comprises a concentric-square-shaped plate, a rotating disc is connected below the concentric-square-shaped plate through a connecting assembly, an air pipe is arranged at the circle center of the rotating disc, and a plurality of groups of clamping mechanisms are arranged at the bottom of the rotating disc. A plurality of distraction assemblies are arranged on the outer wall of the air pipe, each distraction assembly comprises two electric rods, the ends, away from the air pipe, of the two electric rods are fixedly connected with connecting rings correspondingly, an electric rod is rotationally connected between the two connecting rings, and a light shield is arranged below the rotating disc. The device has the advantages that the electric rod is matched with the clamping mechanism and the supporting roller, so that the packaging bag is gradually unfolded downwards, irregular wrinkles or clamping stagnation of the packaging bag during unfolding is avoided, the wrinkles of the packaging bag are leveled, the situation that the surface state of the packaging bag cannot be accurately captured by a sensor or a camera due to the wrinkles is avoided, the detection precision is improved, and the detection efficiency is improved. And the practicability of the equipment is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of packaging defect detection, in particular to a packaging defect detection robot arm. Background Art

[0002] A defect detection packaging robot is a special robot or mechanical device designed to automatically detect defects on products on a packaging or production line. The robot can perform inspection tasks automatically without human intervention.

[0003] Currently, wrinkles or folds are prone to forming on the surface of packaging bags, which can cause uneven light reflection characteristics. Changes in light refraction at the wrinkled part cause changes in the curvature of the reflected light, making it impossible for sensors or cameras to accurately capture the surface state of the packaging bag. This can cause the detection system to be unable to correctly determine whether the packaging bag has defects, such as breakage, deformation, or irregular light reflection, thereby reducing detection accuracy and making the equipment less practical. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcoming of poor practicability of the equipment in the prior art and to propose a defect detection packaging mechanical arm.

[0005] To achieve the above-mentioned object, the present invention adopts the following technical solution: a defect detection packaging robot arm, comprising a return plate, a rotating disk connected to the lower side of the return plate via a connecting assembly, an air pipe provided at the center of the rotating disk, the air pipe passing through the rotating disk, a plurality of clamping mechanisms provided at the bottom of the rotating disk, the plurality of clamping mechanisms being distributed in a circular array on the rotating disk;

[0006] The outer wall of the trachea is provided with multiple groups of expansion components, which are distributed in a circular array on the outer wall of the trachea and correspond to multiple groups of clamping mechanisms respectively. The expansion components include two electric rods, which are distributed up and down and fixedly mounted on the outer wall of the trachea. The ends of the two electric rods away from the trachea are respectively fixedly connected to connecting rings. An electric rod is rotatably connected between the two connecting rings. The outer wall of the electric rod is provided with a threaded structure, and the electric rod is located below the clamping rod.

[0007] A light shield is provided below the rotating disk, and a plurality of detection devices are provided on the inner wall of the light shield, and the plurality of detection devices are distributed in a circular array on the inner wall of the light shield. The inner wall of the light shield is rotatably connected to a plurality of support rollers, and the plurality of support rollers are distributed in a circular array on the inner wall of the light shield, and the plurality of support rollers respectively correspond to a plurality of electric rods.

[0008] Preferably, the connecting assembly includes an electric cylinder fixedly mounted on the top of the circular plate, the bottom of the electric cylinder is fixedly connected to the top of the rotating disk, a feed port is opened through the top of the circular plate, a material tray is provided above the circular plate, and the material tray corresponds to the feed port.

[0009] Preferably, four connecting rods are fixedly mounted on the inner wall of the rotating disk, the four connecting rods are distributed in a circular array on the inner wall of the rotating disk, and the connecting rods are fixedly connected to the outer wall of the trachea.

[0010] Preferably, the clamping mechanism includes a clamping rod, a first half clamp and a second half clamp, the clamping rod is fixedly connected to the rotating disk, the side end face of the clamping rod is fixedly connected to the first half clamp, the second half clamp is fixedly connected to the output end of the clamping rod, and the clamping rod is located on the side of the first half clamp away from the second half clamp.

[0011] Preferably, a three-axis plate is provided below the rotating disk, and the three-axis plate is fixedly connected to the light shield via a fixing ring.

[0012] Preferably, the lower end of the outer wall of the light shield is fixedly connected to a ventilation ring, a baler is provided at the bottom of the light shield, and the three-axis plate is fixedly connected to the top of the baler.

[0013] Compared with the prior art, the advantages of the present invention are:

[0014] 1. This device is equipped with an electric rod and other devices. The rubber thread structure on the surface of the electric rod cooperates with the rotation of the clamping rod to help the packaging bag gradually unfold downward through uniform friction, avoiding irregular wrinkles or jamming of the packaging bag during unfolding, ensuring that wrinkles in the longitudinal part of the packaging bag are flattened, and the support roller is in close contact with the electric rod. As the electric rod rotates, the side of the packaging bag is fully unfolded, avoiding wrinkles in the packaging bag, which makes it impossible for the sensor or camera to accurately capture the surface state of the packaging bag, thereby improving detection accuracy and enhancing the practicality of the equipment.

[0015] 2. The present invention utilizes the ventilation function of the ventilation ring to generate suction during the unfolding process of the packaging bag. This suction flattens the transverse wrinkles of the packaging bag. The packaging bag is "inflated" with the help of the suction, and the wrinkles are flattened, thereby ensuring the smooth surface of the packaging bag and the integrity of the unfolding, which helps to smoothly carry out subsequent inspection work and thus improves the accuracy of the inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of a defect detection packaging robotic arm proposed in the present invention;

[0017] Figure 2This is a schematic structural diagram of the rotating disk and connecting rod part of a defect detection packaging robot arm proposed by the present invention;

[0018] Figure 3 This is a schematic diagram of the structure of the electric rod and clamping rod of a defect detection packaging robot arm proposed by the present invention;

[0019] Figure 4 for Figure 3 Schematic diagram of the enlarged structure at A in the middle;

[0020] Figure 5 This is a schematic diagram of the structure of the three-axis plate part of a defect detection and packaging robotic arm proposed in the present invention;

[0021] Figure 6 A half-section diagram of the light shield and ventilation disk of a defect detection packaging robot arm proposed in the present invention;

[0022] Figure 7 This is a structural schematic diagram of the material tray and connecting rod part of a defect detection packaging robotic arm proposed in the utility model.

[0023] In the figure: 1 electric cylinder, 11 return plate, 2 rotating disk, 21 air pipe, 22 connecting rod, 23 electric rod, 24 connecting ring, 25 electric rod, 26 clamping rod, 261 first half clamp, 262 second half clamp, 3 three-axis plate, 31 fixing ring, 4 light shield, 41 detection device, 42 support roller, 5 ventilation ring, 6 baler, 7 material tray. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0025] Reference Figures 1 to 7A defect detection packaging robot arm includes a return plate 11, an electric cylinder 1 is fixedly installed on the top of the return plate 11, and a rotating disk 2 is fixedly connected to the output end of the electric cylinder 1. The rotating disk 2 is located below the return plate 11, and a feed port is opened through the top of the return plate 11. A material tray 7 is provided above the return plate 11, and the material tray 7 corresponds to the feed port. Four connecting rods 22 are fixedly installed on the inner wall of the rotating disk 2. The four connecting rods 22 are distributed in a circular array on the inner wall of the rotating disk 2. An air pipe 21 is provided at the center of the rotating disk 2. The air pipe 21 passes through the rotating disk 2, and the connecting rod 22 is fixedly connected to the outer wall of the air pipe 21, and multiple groups of clamping mechanisms are provided at the bottom of the rotating disk 2. The multiple groups of clamping mechanisms are distributed in a circular array on the rotating disk 2. When the rotating disk 2 is started, the multiple groups of clamping structures rotate around the center of the rotating disk 2. The clamping mechanism includes a clamping rod 26, a first half clamp 261 and a second half clamp 262. The clamping rod 26 is fixedly connected to the rotating disk 2, and the side end face of the clamping rod 26 is fixedly connected to the first half clamp 261. The second half clamp 262 is fixedly connected to the output end of the clamping rod 26. The clamping rod 26 is located on the side of the first half clamp 261 away from the second half clamp 262.

[0026] The outer wall of the trachea 21 is provided with multiple groups of expansion components, which are distributed in a circular array on the outer wall of the trachea 21 and correspond to the multiple groups of clamping mechanisms respectively, and are located below the clamping mechanisms. The expansion components include two electric rods 23, which are distributed up and down. The two electric rods 23 are fixedly installed on the outer wall of the trachea 21. The ends of the two electric rods 23 away from the trachea 21 are respectively fixedly connected to connecting rings 24, and an electric rod 25 is rotatably connected between the two connecting rings 24. The outer wall of the electric rod 25 is set to a threaded structure, and the electric rod 25 is located below the clamping rod 26.

[0027] A three-axis plate 3 is provided below the rotating disk 2, and the three-axis plate 3 is fixedly connected to the light shield 4 through a fixing ring 31 (the three-axis plate 3 is a prior art, connected to the output end of a conventional robotic arm, and can perform three-axis displacement, and the specific working principle is not repeated here). The light shield 4 is located below the rotating disk 2, and the lower end of the outer wall of the light shield 4 is fixedly connected to a ventilation ring 5. A baler 6 is provided at the bottom of the light shield 4, and the three-axis plate 3 is fixedly connected to the top of the baler 6. The inner wall of the light shield 4 is provided with a plurality of detection devices 41, and the plurality of detection devices 41 are distributed in a circular array on the inner wall of the light shield 4. The inner wall of the light shield 4 is rotatably connected to a plurality of support rollers 42, and the plurality of support rollers 42 are distributed in a circular array on the inner wall of the light shield 4. The plurality of support rollers 42 respectively correspond to the plurality of electric rods 25. The electric cylinder 1 is started to drive the rotating disk 2 upward, so that the electric rod 25 is separated from the light shield 4. The three-axis plate 3 is started to move the light shield 4 away from the bottom of the rotating disk 2. The electric rod 23 is started so that the connecting ring 24 drives the electric rod 25 to approach the air pipe 21, and the packaging bag is put on the outside of the electric rod 25. The clamping rod 26 is manipulated to make the second half clamp 262 move closer to the first half clamp 261, completing the clamping operation of the packaging belt. At this time, the packaging bag wraps the electric rod 23, the connecting ring 24, the electric rod 25 and part of the air pipe 21. Then, the light shield 4 is moved back to its original position corresponding to the rotating disk 2 by the three-axis plate 3. The electric cylinder 1 is used to move the electric rod 25 down into the light shield 4 for packaging inspection. The electric rod 23 is started so that the electric rod 25 approaches the support roller 42 and contacts it.

[0028] The rotating disk 2 is started, and the clamping mechanism clamps the top of the packaging bag and drives the packaging bag to rotate with the air pipe 21 as the center. At the same time, the electric rod 25 is started to rotate. The surface of the electric rod 25 is set to a threaded structure of rubber material. The packaging bag will gradually move downward under the drive of the thread. The threaded structure on the surface of the electric rod 25 is combined with the rotation of the clamping rod 26, so that the packaging bag can be evenly unfolded downward. The threaded structure can provide uniform friction to avoid irregular wrinkles when the packaging bag is unfolded, thereby reducing unevenness or jamming during the unfolding process. The ventilation ring 5 is started to evacuate air. The exhaust function can help form suction during the unfolding process of the packaging bag. This suction effect makes the packaging bag horizontally unfold. The wrinkles in the opposite direction can be flattened, and the packaging bag is "bulged" with the help of suction, and the wrinkles are flattened, thereby ensuring the smooth surface of the packaging bag and the integrity of the unfolding, which is conducive to the smooth progress of subsequent inspection work. At the same time, the clamping rod 26 controls the first half clamp 261 and the second half clamp 262 to release the packaging bag, and the support roller 42 and the electric rod 25 work closely together and rotate synchronously. This not only helps to maintain the flatness of the packaging bag, but also ensures that there is no additional stress or deformation of the packaging bag due to uncoordinated movement during the unfolding process. The fully unfolded packaging bag provides a clearer view for subsequent inspection, allowing the inspection system to accurately monitor and take pictures of the light reflection of the packaging bag, thereby improving the inspection effect.

[0029] The detection device 41 uses light and photography to monitor the reflective state of the packaging bag, and can detect in real time whether the packaging bag is damaged or deformed. The reflective characteristics of the damaged area of ​​the packaging bag are different from those of the normal area. The damaged area does not reflect light, while the reflective curvature of the deformed area will change. Using this principle, the detection device 41 can automatically identify and upload electrical signals, thereby quickly discovering defects in the packaging bag and preventing unqualified bags from entering the production process. When the inspection is qualified, the detection device 41 uploads an electrical signal to control the discharge of the material tray 7 to ensure the quality of the packaging bag, and can also avoid material waste or defective products in the production process due to unqualified packaging bags.

[0030] In the present invention, when packaging inspection is required, the electric rod 23 first controls the multiple electric rods 25 to retract toward the center of the trachea 21 through the connecting ring 24, and the electric cylinder 1 lifts the rotating disk 2 and the components connected thereto and separates them from the light shield 4. At this time, the user needs to put the packaging bag on the outside of the electric rod 25 and operate the clamping rod 26 to clamp the packaging bag. The retraction of the output end of the clamping rod 26 will cause the second half clamp 262 to move closer to the first half clamp 261 to complete the clamping operation, and the entire packaging bag will wrap the electric rod 23, the connecting ring 24, the electric rod 25 and part of the trachea 21. The light shield 4 is moved back to its original position through the three-axis plate 3, and the device begins to detect damage and scratches on the packaging bag.

[0031] The rotating disk 2 starts to drive the clamping rod 26 to rotate along the center of the air pipe 21. At the same time, the electric rod 25 also starts to rotate. Due to the threaded structure of the rubber material on the surface of the electric rod 25, the packaging bag will gradually move downward under the drive of the thread, and the top will be clamped by the first half clamp 261 and the second half clamp 262, so it will be unfolded, and the folds in the longitudinal part will be flattened. The clamping rod 26 rotates to prevent the packaging bag from twisting and producing oblique folds. The ventilation ring 5 starts to evacuate air, and the clamping rod 26 controls the first half clamp 261 and the second half clamp 262 to loosen the packaging bag. The sides of the packaging bag will bulge under the action of suction to flatten the horizontal folds of the packaging bag. The support roller 42 is in close contact with the electric rod 25 and rotates synchronously with the electric rod 25 so that the packaging bag is better affected by the operation of the electric rod 25. At this time, the side of the packaging bag is fully unfolded and moves downward while rotating under the action of the electric rod 25. The detection device 41 is started to illuminate and take pictures. Since the packaging bag is often accidentally damaged or deformed during the production process, the reflective state of the packaging bag will change. That is, the damaged area will not reflect light, and the curvature of the reflection of the stretched and deformed area will change. These problems will be identified by the detection device 41 and an electrical signal will be uploaded. Only when it is found that there is no damage will the electrical signal be used to control the material tray 7 to discharge the material.

[0032] The product enters the packaging bag through the feed port in the middle of the return plate 11. The product decelerates when it falls and collides with the connecting rod 22 and the electric rod 23 to prevent the product from breaking the packaging bag. When the product enters the package and the amount is sufficient, the feed tray 7 stops feeding, and the baler 6 starts working to close the bag opening. The remaining part will continue to move downward under the action of the electric rod 25, and finally fall out of the device and fall into the collection box below to complete the packaging of the product.

[0033] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robotic arm for defect detection packaging, characterized in that: The invention comprises a return plate (11), wherein a rotating disk (2) is connected to the lower portion of the return plate (11) via a connecting assembly, an air pipe (21) is provided at the center of the rotating disk (2), and the air pipe (21) passes through the rotating disk (2), and a plurality of clamping mechanisms are provided at the bottom of the rotating disk (2), and the plurality of clamping mechanisms are distributed in a circumferential array on the rotating disk (2); The outer wall of the trachea (21) is provided with a plurality of groups of expansion components, and the plurality of groups of expansion components are distributed in a circumferential array on the outer wall of the trachea (21) and respectively correspond to the plurality of groups of clamping mechanisms. The expansion components include two electric rods (23), the two electric rods (23) are distributed up and down, the two electric rods (23) are fixedly installed on the outer wall of the trachea (21), and the ends of the two electric rods (23) away from the trachea (21) are respectively fixedly connected with connecting rings (24), and an electric rod (25) is rotatably connected between the two connecting rings (24), the outer wall of the electric rod (25) is provided with a threaded structure, and the electric rod (25) is located below the clamping rod (26); A light shield (4) is provided below the rotating disk (2); a plurality of detection devices (41) are provided on the inner wall of the light shield (4); the plurality of detection devices (41) are distributed in a circumferential array on the inner wall of the light shield (4); the inner wall of the light shield (4) is rotatably connected to a plurality of support rollers (42); the plurality of support rollers (42) are distributed in a circumferential array on the inner wall of the light shield (4); the plurality of support rollers (42) respectively correspond to a plurality of electric rods (25).

2. A defect detection packaging robot according to claim 1, characterized in that: The connecting assembly comprises an electric cylinder (1) fixedly mounted on the top of a return plate (11); the bottom of the electric cylinder (1) is fixedly connected to the top of a rotating disk (2); a feed port is provided through the top of the return plate (11); a material tray (7) is provided above the return plate (11); and the material tray (7) corresponds to the feed port.

3. The defect detection packaging robot arm according to claim 1, characterized in that: Four connecting rods (22) are fixedly mounted on the inner wall of the rotating disk (2). The four connecting rods (22) are distributed in a circumferential array on the inner wall of the rotating disk (2), and the connecting rods (22) are fixedly connected to the outer wall of the air pipe (21).

4. The defect detection packaging robot arm according to claim 1, characterized in that: The clamping mechanism comprises a clamping rod (26), a first half clamp (261) and a second half clamp (262); the clamping rod (26) is fixedly connected to the rotating disk (2); the side end surface of the clamping rod (26) is fixedly connected to the first half clamp (261); the second half clamp (262) is fixedly connected to the output end of the clamping rod (26); and the clamping rod (26) is located on a side of the first half clamp (261) away from the second half clamp (262).

5. The defect detection packaging robot arm according to claim 1, characterized in that: A three-axis plate (3) is provided below the rotating disk (2), and the three-axis plate (3) is fixedly connected to the light shield (4) via a fixing ring (31).

6. The defect detection packaging robot arm according to claim 5, characterized in that: The lower end of the outer wall of the light shield (4) is fixedly connected to a ventilation ring (5), a baler (6) is provided at the bottom of the light shield (4), and the three-axis plate (3) is fixedly connected to the top of the baler (6).

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