Precise quantitative canning intelligent production line

Abstract

The utility model provides an accurate quantitative canning intelligent production line which comprises a first conveying belt, a second conveying belt and a quantitative canning device, the quantitative canning device comprises a pushing mechanism, a weighing detection mechanism and a multi-axis robot, and the pushing mechanism comprises a pushing plate and a pushing control mechanism. The weighing detection mechanism comprises a bearing plate, a weighing sensor, two clamping jaw heads and a clamping jaw control mechanism, the pushing plate and the bearing plate are oppositely arranged in the Y-axis direction, the pushing control mechanism can control the pushing plate to move in the Y-axis direction, the weighing sensor is arranged at the bottom of the bearing plate, and the two clamping jaw heads are located above the bearing plate in the Z-axis direction. The clamping jaw control mechanism can control the two clamping jaw heads to move towards or away from each other. The multi-axis robot comprises a control mechanism, a mounting base, a vacuum suction cup, two clamping heads and a clamping control mechanism. The precise quantitative canning intelligent production line has the advantages of high production precision and good consistency, so that the production quality is improved, and the production efficiency is further improved.

Description

Technical Field

[0001] This utility model relates to the field of intelligent production line equipment technology, and in particular to an intelligent production line for precise quantitative canning of confectionery products. Background Technology

[0002] Candy refers to snacks containing sugar, typically including hard candy, soft candy, chocolate, lollipops, etc. As people's living standards improve, they are paying more and more attention to product packaging; therefore, many candies have changed from being sold in bulk to being packaged in attractive jars or bottles.

[0003] Existing canning production lines achieve quantitative canning by filling a fixed number of candy products into cans, ensuring that each can contains the same amount of candy products.

[0004] However, existing canning production lines can only ensure that the quantity of candy in each bottle or can is consistent. But for candy wrapped in bags, there is a phenomenon where the bags are empty during the previous process of filling the candy into the bags, meaning that the bags are missing candy. As a result, when the existing canning production line cans the same quantity of candy wrapped in bags, there is an inconsistency in the weight of the candy wrapped in bags in the bottles or cans. This affects the consistency and precision of production, and consequently affects the quality and efficiency of production. Utility Model Content

[0005] To achieve the main objective of this utility model, it provides a precise quantitative canning intelligent production line with high production accuracy and good consistency, thereby improving production quality and thus production efficiency.

[0006] To achieve the main objective of this utility model, it provides a precise quantitative canning intelligent production line, including a first conveyor belt, a second conveyor belt, and a quantitative canning device. The first conveyor belt transports bottles and cans along the X-axis, and the second conveyor belt transports food along the X-axis. The first and second conveyor belts are arranged side-by-side along the Y-axis. The quantitative canning device includes a pushing mechanism, a weighing and detection mechanism, and a multi-axis robot. The pushing mechanism and the weighing and detection mechanism are located on opposite sides of the first conveyor belt along the Y-axis. The pushing mechanism includes a pushing plate and a pushing control mechanism. The weighing and detection mechanism includes a support plate, a weighing sensor, two gripper heads, and a gripper control mechanism. The pushing plate and the support plate are arranged opposite each other along the Y-axis. The motion control mechanism can control the pusher plate to move in the Y-axis direction to push the bottles and cans on the first conveyor belt to the support plate. The weighing sensor is set at the bottom of the support plate. The two gripper heads are located above the support plate in the Z-axis direction. The gripper control mechanism can control the two gripper heads to move toward or away from each other. The two gripper heads can clamp the bottles and cans on the support plate. The multi-axis robot includes a control mechanism, a mounting base, a vacuum suction cup, two gripping heads, and a gripping control mechanism. The control mechanism can control the movement of the mounting base. The vacuum suction cup is set on the mounting base and can adsorb food on the second conveyor belt. The gripping control mechanism is set on the mounting base and can control the two gripper heads to move toward or away from each other. The two gripper heads can clamp the bottles and cans on the support plate.

[0007] As can be seen from the above scheme, in the operation of the intelligent production line for precise quantitative filling of this utility model, the first conveyor belt transports bottles and cans in the X-axis direction, and simultaneously, the second conveyor belt transports food in the X-axis direction. When the push control mechanism controls the push plate to move towards the support plate in the Y-axis direction, the push plate can push the bottles and cans on the first conveyor belt onto the support plate. Since a weighing sensor is set at the bottom of the support plate, the weighing sensor can obtain the first weight of the empty bottles and cans. Then, the gripper control mechanism controls the two gripper heads to move towards each other, so that the two gripper heads clamp the empty bottles and cans on the support plate. Then, the empty bottles and cans no longer exert gravity on the support plate, and the weighing sensor no longer weighs the empty bottles and cans. Then, the control mechanism of the multi-axis robot controls the mounting base to move, thereby synchronously driving the vacuum suction cup on the mounting base to move to the second conveyor belt to adsorb the food on the second conveyor belt. The movement of the vacuum suction cup on the mounting base puts the adsorbed food into the bottles and cans clamped by the two gripper heads. After the vacuum suction cup loads the preset quantity of food from the second conveyor belt into the bottles held by the two gripper heads, the gripper control mechanism controls the two gripper heads to move away from each other. This releases the bottles containing the preset quantity of food onto the support plate. At this point, the weighing sensor acquires the second weight of the bottles containing the preset quantity of food. When the weight difference between the second weight of the bottles containing the preset quantity of food and the first weight of the empty bottles meets the predetermined weight of the canned food, the quantitative canning operation is considered complete. Then, the multi-axis robot's control mechanism controls the mounting base to move, simultaneously moving the two gripper heads and the gripping control mechanism on the mounting base to the bottles containing the preset quantity of food on the support plate. The gripping control mechanism on the mounting base controls the two gripper heads to move towards each other, allowing the two gripper heads to automatically unload the bottles containing the preset quantity of food from the support plate.

[0008] This utility model's intelligent production line for precise quantitative canning is equipped with a weighing and detection mechanism. Before food is added to empty bottles and cans, the empty bottles and cans are pushed from the first conveyor belt onto a support plate equipped with a weighing sensor. The weighing sensor first obtains the initial weight of the empty bottle or can. Then, the gripper control mechanism controls the two gripper heads to move towards each other to clamp the empty bottle or can on the support plate. At this point, the empty bottle or can no longer exert gravity on the support plate, and the weighing sensor no longer weighs it. Subsequently, the control mechanism of the multi-axis robot controls the mounting base to drive the vacuum suction cup to put a preset quantity of food from the second conveyor belt into the bottles or cans held by the two gripper heads. Since the weighing sensor does not weigh the bottles or cans during the food filling process, even if the food or vacuum is not properly weighed during the food filling process, the weight of the empty bottle or can is not measured. The suction cup touching the bottles and cans will not cause inaccurate weight data from the load cell, nor will it damage the precision load cell, thus extending its service life. After the vacuum suction cup loads the preset quantity of food from the second conveyor belt into the bottles and cans held by the two gripper heads, the gripper control mechanism controls the two gripper heads to move away from each other, thereby releasing the bottles and cans containing the preset quantity of food and placing them on the support plate. At this time, the load cell can obtain the second weight of the bottles and cans containing the preset quantity of food. When the weight difference between the second weight of the bottles and cans containing the preset quantity of food and the first weight of the empty bottles and cans meets the predetermined weight of the canned food, it means that the quantitative canning operation has been completed, greatly improving the accuracy and consistency of quantitative canning.

[0009] Therefore, the intelligent production line for precise quantitative filling of cans of this invention has the advantages of high production accuracy and good consistency, thereby improving production quality and thus improving production efficiency.

[0010] A further embodiment includes a mounting base for the weighing and detection mechanism, with a support plate and a gripper control mechanism respectively mounted on the mounting base. The weighing and detection mechanism also includes two support rods and two sliding bearing structures. Each support rod is adapted to a gripper head and a sliding bearing structure. The top end of the support rod in the Z-axis direction is connected to the gripper head. The sliding bearing structure includes a shaft, a rolling bearing, and balls. The shaft extends in the Z-axis direction, and its upper end is connected to the bottom end of the support rod in the Z-axis direction. The rolling bearing is sleeved on the lower end of the shaft, and the balls are rotatably supported on the lower end of the rolling bearing and rotatably abut against the mounting base. And / or, the weighing and detection mechanism also includes a positioning plate, which is mounted on the mounting base and has two positioning slots. Each positioning slot extends in the moving direction of the gripper head, and the gripper arm of one gripper head passes through one positioning slot.

[0011] A further option is to have a support plate protruding from the bottom of each support rod towards the support plate, and the support plate can be moved to the lower end of the support plate to support the lower end surface of the support plate.

[0012] A further option is that the upper edge of the support plate away from the insertion end of the support rod in its direction of movement is an inclined chamfer or a rounded chamfer; and / or, the outer edge of the lower end face of the support plate in the direction of movement of the support plate is an inclined chamfer or a rounded chamfer.

[0013] A further embodiment is that the quantitative filling device also includes a first limiting mechanism and a second limiting mechanism. The first limiting mechanism and the second limiting mechanism are located at opposite ends of the push plate in the X-axis direction. The first limiting mechanism includes a first limiting plate and a first driving mechanism, and the second limiting mechanism includes a second limiting plate and a second driving mechanism. The first limiting plate and the second limiting plate are both located above the first conveyor belt in the Z-axis direction. The first driving mechanism can control the first limiting plate to move in the Y-axis direction, and the second driving mechanism can control the second limiting plate to move in the Y-axis direction. The first limiting plate and the second limiting plate can form a first limiting gap in the X-axis direction. The first limiting gap is used to accommodate one bottle on the first conveyor belt.

[0014] A further embodiment is that the quantitative filling device also includes a third limiting mechanism. The third limiting mechanism, the second limiting mechanism, and the first limiting mechanism are arranged sequentially in the conveying direction of the first conveyor belt. The third limiting mechanism includes a third limiting plate and a third driving mechanism. The third limiting plate is located above the first conveyor belt in the Z-axis direction. The third driving mechanism can control the third limiting plate to move in the Y-axis direction. The third limiting plate and the second limiting plate can form a second limiting gap in the X-axis direction. The second limiting gap is used to accommodate one bottle on the first conveyor belt.

[0015] A further embodiment is that the control mechanism includes a control motor, a first control arm, and a second control arm. The control motor can control the rotation of the first end of the first control arm, the second end of the first control arm is rotatably hinged to the first end of the second control arm, and the second end of the second control arm is rotatably hinged to the mounting base.

[0016] A further proposed solution is that the precise quantitative canning intelligent production line also includes a visual inspection mechanism. The visual inspection mechanism includes a light-blocking box, a visual camera, a surface light source, and four first strip light sources. The light-blocking box covers the second conveyor belt to form an inspection area on the second conveyor belt. The two ends of the light-blocking box in the conveying direction of the second conveyor belt are provided with through slots for food to pass through. The visual camera is set inside the light-blocking box. The surface light source is set inside the light-blocking box and located below the visual camera in the Z-axis direction. The surface light source is provided with a through hole in the Z-axis direction. The camera of the visual camera is positioned facing the inspection area corresponding to the through hole. The surface light source emits light downward toward the inspection area. The four first strip light sources are set inside the light-blocking box and distributed around the surface light source. The first strip light sources are located below the surface light source in the Z-axis direction and emit light downward toward the inspection area at an angle.

[0017] A further embodiment is that the visual inspection mechanism also includes four second strip light sources. The four second strip light sources are arranged inside the light-blocking box and distributed around the surface light source. The second strip light sources are located below the first strip light source in the Z-axis direction and emit light towards the inspection area at a downward tilt.

[0018] A further solution is that the precision quantitative canning intelligent production line also includes a speed detector located in the detection area. The speed detector includes a baffle and an encoder. The encoder's coding wheel can rotate around the Y-axis and press against the second conveyor belt. The baffle is located outside the encoder in the Y-axis direction and above the second conveyor belt in the Z-axis direction to restrict the food on the second conveyor belt from approaching the coding wheel. Attached Figure Description

[0019] Figure 1 This is a first-view structural diagram of an embodiment of the intelligent production line for precise quantitative filling of this utility model.

[0020] Figure 2 This is a second-view structural diagram of an embodiment of the intelligent production line for precise quantitative filling of this utility model.

[0021] Figure 3 This is a side view of an embodiment of the intelligent production line for precise quantitative filling of this utility model.

[0022] Figure 4 This is a first-view structural diagram showing the cooperation of the first limiting mechanism, the second limiting mechanism, the third limiting mechanism, the pushing mechanism, and the weighing detection mechanism in an embodiment of the precision quantitative canning intelligent production line of this utility model.

[0023] Figure 5 This is a second-view structural diagram showing the cooperation of the first limiting mechanism, the second limiting mechanism, the third limiting mechanism, the pushing mechanism, and the weighing detection mechanism in an embodiment of the precision quantitative canning intelligent production line of this utility model.

[0024] Figure 6 This is a first-view structural diagram of the weighing and detection mechanism in an embodiment of the intelligent production line for precise quantitative filling of this utility model.

[0025] Figure 7 This is a second-view structural diagram of the weighing and detection mechanism in an embodiment of the intelligent production line for precise quantitative filling of this utility model.

[0026] Figure 8 This is a front view of the weighing and detection mechanism in an embodiment of the intelligent production line for precise quantitative filling of this utility model.

[0027] Figure 9 This is a structural diagram showing the cooperation between the support rod and the sliding bearing structure in an embodiment of the precision quantitative canning intelligent production line of this utility model.

[0028] Figure 10This is a partial cross-sectional view of the sliding bearing structure in an embodiment of the intelligent production line for precise quantitative filling of cans according to this utility model.

[0029] Figure 11 This is a first-view structural diagram of the food feeding device, the second conveyor belt, and the visual inspection mechanism in an embodiment of the precision quantitative canning intelligent production line of this utility model.

[0030] Figure 12 This is a second-view structural diagram showing the food feeding device, the second conveyor belt, and the visual inspection mechanism working together in an embodiment of the precision quantitative canning intelligent production line of this utility model.

[0031] Figure 13 This is a structural diagram of the food feeding device in an embodiment of the intelligent production line for precise quantitative canning of this utility model.

[0032] Figure 14 This is a partial structural diagram of the food feeding device in an embodiment of the intelligent production line for precise quantitative canning of this utility model.

[0033] Figure 15 This is a first-view structural diagram of the speed detector in an embodiment of the intelligent production line for precise quantitative filling of cans according to this utility model.

[0034] Figure 16 This is a second-view structural diagram of the speed detector in an embodiment of the intelligent production line for precise quantitative filling of cans according to this utility model.

[0035] Figure 17 This is a structural diagram of the visual inspection mechanism in an embodiment of the intelligent production line for precise quantitative canning of this utility model.

[0036] Figure 18 This is a first-view sectional view of the visual inspection mechanism in an embodiment of the intelligent production line for precise quantitative filling of this utility model.

[0037] Figure 19 This is a second-view sectional view of the visual inspection mechanism in an embodiment of the intelligent production line for precise quantitative filling of this utility model.

[0038] Figure 20 This is an exploded view of the visual inspection mechanism in an embodiment of the intelligent production line for precise quantitative canning of this utility model.

[0039] Figure 21 This is a structural diagram of the multi-axis robot in an embodiment of the intelligent production line for precise quantitative canning of this utility model.

[0040] Figure 22 This is a partial structural diagram of the multi-axis robot in an embodiment of the intelligent production line for precise quantitative canning of this utility model.

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0042] See Figures 1 to 22 This embodiment discloses a precise quantitative canning intelligent production line 10, including a first conveyor belt 11, a second conveyor belt 12, and a quantitative canning device 13. The first conveyor belt 11 transports bottles and cans 20 in the X-axis direction, and the second conveyor belt 12 transports food 30 in the X-axis direction. The first conveyor belt 11 and the second conveyor belt 12 are arranged side by side in the Y-axis direction. Furthermore, the quantitative canning device 13 includes a pushing mechanism, a weighing and detection mechanism 132, and a multi-axis robot 131. The pushing mechanism and the weighing and detection mechanism 132 are located on opposite sides of the first conveyor belt 11 in the Y-axis direction. The pushing mechanism includes a pushing plate 133 and a pushing control mechanism 134. The weighing and detection mechanism 132 includes a support plate 1323, a weighing sensor 1324, two gripper heads 1322, and a gripper control mechanism 1321. The pushing plate 133 and the support plate 1323 are located side by side in the Y-axis direction. The upper and lower parts are arranged opposite each other. The push control mechanism 134 can control the push plate 133 to move in the Y-axis direction to push the bottles 20 on the first conveyor belt 11 onto the support plate 1323. The weighing sensor 1324 is located at the bottom of the support plate 1323. The two gripper heads 1322 are located above the support plate 1323 in the Z-axis direction. The gripper control mechanism 1321 can control the two gripper heads 1322 to move toward or away from each other. The two gripper heads 1322 can clamp the bottles 20 on the support plate 1323. In addition, the multi-axis robot 131 in this embodiment includes a control mechanism, a mounting base 1311, a vacuum suction cup 1314, two gripping heads 1313, and a gripping control mechanism 1312. The control mechanism can control the movement of the mounting base 1311. The vacuum suction cup 1314 is mounted on the mounting base 1311 and can adsorb food 30 on the second conveyor belt 12. The gripping control mechanism 1312 is mounted on the mounting base 1311 and can control the two gripping heads 1313 to move toward or away from each other. The two gripping heads 1313 can grip the bottles and cans 20 on the support plate 1323.

[0043] In this embodiment, during the operation of the precise quantitative canning intelligent production line 10, the first conveyor belt 11 transports bottles and cans 20 in the X-axis direction, and simultaneously, the second conveyor belt 12 transports food 30 in the X-axis direction. When the push control mechanism 134 controls the push plate 133 to move towards the support plate 1323 in the Y-axis direction, the push plate 133 can push the bottles and cans 20 on the first conveyor belt 11 onto the support plate 1323. Since a weighing sensor 1324 is provided at the bottom of the support plate 1323, the weighing sensor 1324 can obtain the first weight of the empty bottles and cans 20. Subsequently, the gripper control mechanism 1321 controls the two gripper heads 1322. The two grippers 1322 move toward each other, thus clamping the empty bottles 20 on the support plate 1323. The empty bottles 20 no longer exert gravity on the support plate 1323, and the weighing sensor 1324 no longer weighs the empty bottles 20. Then, the control mechanism of the multi-axis robot 131 controls the mounting base 1311 to move, thereby synchronously driving the vacuum suction cup 1314 on the mounting base 1311 to move to the second conveyor belt 12 to adsorb the food 30 on the second conveyor belt 12. The vacuum suction cup 1314 on the mounting base 1311 moves to put the adsorbed food 30 into the bottles 20 clamped by the two grippers 1322. When the vacuum suction cup 1314 loads a preset quantity of food 30 from the second conveyor belt 12 into the bottles 20 held by the two gripper heads 1322, the gripper control mechanism 1321 controls the two gripper heads 1322 to move away from each other, thereby releasing the bottles 20 containing the preset quantity of food 30 and placing them on the support plate 1323. At this time, the weighing sensor 1324 can obtain the second weight of the bottles 20 containing the preset quantity of food 30. When it is determined that the weight difference between the second weight of the bottles 20 containing the preset quantity of food 30 and the first weight of the empty bottles 20 meets the predetermined value... When the weight of the canned food 30 is reached, it indicates that the quantitative canning operation has been completed. Then, the control mechanism of the multi-axis robot 131 controls the movement of the mounting base 1311, thereby synchronously driving the two gripping heads 1313 and the gripping control mechanism 1312 on the mounting base 1311 to move to the bottles and cans 20 containing the preset quantity of food 30 on the support plate 1323. The gripping control mechanism 1312 on the mounting base 1311 controls the two gripping heads 1313 to move towards each other, so that the two gripping heads 1313 clamp the bottles and cans 20 containing the preset quantity of food 30 on the support plate 1323 for automated unloading operation.

[0044] In this embodiment, the precise quantitative canning intelligent production line 10 is equipped with a weighing and detection mechanism 132. Before filling empty bottles and cans 20 with food 30, the empty bottles and cans 20 are pushed from the first conveyor belt 11 by the pusher plate 133 to the support plate 1323 equipped with a weighing sensor 1324. The weighing sensor 1324 first obtains the first weight of the empty bottles and cans 20. Then, the gripper control mechanism 1321 controls the two gripper heads 1322 to move towards each other to clamp the empty bottles and cans 20 on the support plate 1323. The empty bottle / can 20 no longer exerts gravity on the support plate 1323. At this time, the weighing sensor 1324 no longer weighs the empty bottle / can 20. Subsequently, the control mechanism of the multi-axis robot 131 controls the mounting base 1311 to drive the vacuum suction cup 1314 to load the preset quantity of food 30 from the second conveyor belt 12 into the bottle / can 20 held by the two gripper heads 1322. Since the weighing sensor 1324 does not weigh the bottle / can 20 during the loading of food 30, the loading of food 30 into the bottle / can 20 is not affected. Even if the food 30 or the vacuum suction cup 1314 touches the bottle 20 at 0, it will not cause the weighing sensor 1324 to obtain inaccurate weight data, nor will it damage the precision weighing sensor 1324, thus extending the service life of the weighing sensor 1324. Afterwards, when the vacuum suction cup 1314 loads the preset quantity of food 30 from the second conveyor belt 12 into the bottle 20 held by the two gripper heads 1322, the gripper control mechanism 1321 controls the two gripper heads 1322 to move away from each other, so that the two gripper heads 1322 release the bottle 20 containing the preset quantity of food 30 and place it on the support plate 1323. At this time, the weighing sensor 1324 can obtain the second weight of the bottle 20 containing the preset quantity of food 30. When the weight difference between the second weight of the bottle 20 containing the preset quantity of food 30 and the first weight of the empty bottle 20 meets the predetermined weight of the canned food 30, it means that the quantitative canning operation has been completed, which greatly improves the quantitative canning accuracy and the consistency of quantitative canning.

[0045] Therefore, the intelligent production line 10 for precise quantitative filling in this embodiment has the advantages of high production accuracy and good consistency, thereby improving production quality and thus improving production efficiency.

[0046] Combination Figures 4 to 10In this embodiment, the weighing and detection mechanism 132 also includes a mounting base 1311, and a support plate 1323 and a gripper control mechanism 1321 are respectively mounted on the mounting base 1311. Specifically, the weighing detection mechanism 132 in this embodiment also includes two support rods 1327 and two sliding bearing structures. One support rod 1327 is adapted to one gripper head 1322 and one sliding bearing structure. The top end of the support rod 1327 in the Z-axis direction is connected to the gripper head 1322. The sliding bearing structure includes a shaft 13210, a rolling bearing 1328 and a ball 13211. The shaft 13210 extends in the Z-axis direction, and the upper end of the shaft 13210 is connected to the bottom end of the support rod 1327 in the Z-axis direction. The rolling bearing 1328 is sleeved on the lower end of the shaft 13210. The ball 13211 is rotatably supported on the lower end of the rolling bearing 1328 and rotatably abuts against the mounting base 1311. Thus, the ball bearing 13211, shaft 13210, and support rod 1327 support the gripper head 1322 in the Z-axis direction, ensuring that the gripper head 1322 smoothly maintains the preset height in the Z-axis direction. When the gripper head 1322 moves, it simultaneously drives the ball bearing 13211 to roll on the mounting base 1311, reducing the friction between the ball bearing 13211 and the mounting base 1311. This allows the gripper head 1322 to move smoothly and stably while maintaining the preset height, improving the working accuracy and reliability of the gripper head 1322.

[0047] To further improve the working accuracy and reliability of the gripper head 1322, the weighing detection mechanism 132 in this embodiment also includes a positioning plate 1326. The positioning plate 1326 is disposed on the mounting base 1311, and the positioning plate 1326 has two positioning grooves 13261. Each positioning groove 13261 extends in the moving direction of the gripper head 1322, and the gripper arm of one gripper head 1322 passes through one positioning groove 13261. Furthermore, in this embodiment, the bottom end of each support rod 1327 protrudes towards the support plate 1323 and is provided with a support plate 1329. The support plate 1329 can be moved to the lower end of the support plate 1323 to receive the lower end surface of the support plate 1323. To ensure that the insertion end of the support plate 1329 moves smoothly to the lower end of the support plate 1323, in this embodiment, the upper edge of the support plate 1329 away from the insertion end of the support rod 1327 in its moving direction is an inclined chamfer 13291 or a rounded chamfer. In addition, in this embodiment, the outer edge of the lower end face of the support plate 1323 in the moving direction of the support plate 1329 is an inclined chamfer or a rounded chamfer.

[0048] Specifically, the quantitative filling device 13 in this embodiment further includes a first limiting mechanism and a second limiting mechanism. The first limiting mechanism and the second limiting mechanism are located at both ends of the push plate 133 in the X-axis direction. The first limiting mechanism includes a first limiting plate 135 and a first driving mechanism 136, and the second limiting mechanism includes a second limiting plate 137 and a second driving mechanism 138. The first limiting plate 135 and the second limiting plate 137 are both located above the first conveyor belt 11 in the Z-axis direction. The first driving mechanism 136 can control the first limiting plate 135 to move in the Y-axis direction, and the second driving mechanism 138 can control the second limiting plate 137 to move in the Y-axis direction. The first limiting plate 135 and the second limiting plate 137 can form a first limiting gap (not shown) in the X-axis direction. The first limiting gap is used to accommodate one bottle 20 on the first conveyor belt 11. Therefore, the first drive mechanism 136 controls the first limiting plate 135 to move above the first conveyor belt 11 in the Y-axis direction, while the second drive mechanism 138 controls the second limiting plate 137 to move above the first conveyor belt 11 in the Y-axis direction. Thus, the first limiting plate 135 and the second limiting plate 137 form a first limiting gap in the X-axis direction. This first limiting gap accommodates a bottle 20 on the first conveyor belt 11, thereby ensuring that the push plate 133 located between the first limiting plate 135 and the second limiting plate 137 accurately pushes the bottle 20 accommodated in the first limiting gap on the first conveyor belt 11 onto the support plate 1323 of the weighing and detection mechanism 132, thereby improving the working accuracy and reliability of the push plate 133.

[0049] To further improve the working accuracy and reliability of the push plate 133 and the working accuracy and reliability of the first conveyor belt 11 conveying bottles and cans 20, the quantitative filling device 13 in this embodiment also includes a third limiting mechanism. The third limiting mechanism, the second limiting mechanism and the first limiting mechanism are arranged sequentially in the conveying direction of the first conveyor belt 11. The third limiting mechanism includes a third limiting plate 139 and a third driving mechanism 1310. The third limiting plate 139 is located above the first conveyor belt 11 in the Z-axis direction. The third driving mechanism 1310 can control the third limiting plate 139 to move in the Y-axis direction. The third limiting plate 139 and the second limiting plate 137 can form a second limiting distance in the X-axis direction. The second limiting distance is used to accommodate one bottle or can 20 on the first conveyor belt 11.

[0050] Combination Figures 11 to 20The precise quantitative canning intelligent production line 10 in this embodiment also includes a vision inspection mechanism 14. The vision inspection mechanism 14 includes a light-blocking box 141, a vision camera 144, a surface light source 145, and four first strip light sources 146. The light-blocking box 141 covers the second conveyor belt 12 to form a detection area (not shown) on the second conveyor belt 12. The light-blocking box 141 has through slots 1411 for food 30 to pass through on both ends of the light-blocking box 141 in the conveying direction of the second conveyor belt 12. The vision camera 144 is installed inside the light-blocking box 141, and the surface light source 145 is installed inside the light-blocking box 141. The light source 145 is placed inside the light-blocking box 141 and located below the vision camera 144 in the Z-axis direction. The surface light source 145 has a through hole 1451 in the Z-axis direction. The camera of the vision camera 144 is positioned facing the detection area corresponding to the through hole 1451. The surface light source 145 emits light downward toward the detection area. Four first strip light sources 146 are arranged inside the light-blocking box 141 and distributed around the surface light source 145. The first strip light sources 146 are located below the surface light source 145 in the Z-axis direction and emit light downward toward the detection area at an angle. Therefore, when the food 30 conveyed by the second conveyor belt 12 passes through the through slot 1411 of the light-blocking box 141 and enters the detection area on the second conveyor belt 12, the camera of the vision camera 144 and the through hole 1451 of the surface light source 145 are aligned with the detection area to perform quality and position detection on the food 30 in the detection area. The surface light source 145 emits light downwards towards the detection area, and four first strip light sources 146 are distributed around the surface light source 145 and emit light downwards towards the detection area, which can supplement the light source in the detection area on the second conveyor belt 12 and improve the detection accuracy of the vision camera 144. After the food 30 is detected by the vision camera 144 in the detection area on the second conveyor belt 12, it is conveyed out of the detection area. Then, the control mechanism of the multi-axis robot 131 controls the mounting base 1311 to drive the vacuum suction cup 1314 to move, so as to quantitatively fill the detected food 30 into cans, thereby improving the quantitative filling accuracy and consistency.

[0051] To further improve detection accuracy, the visual inspection mechanism 14 in this embodiment also includes four second strip light sources 147. The four second strip light sources 147 are disposed in the light-blocking box 141 and distributed around the surface light source 145. The second strip light sources 147 are located below the first strip light source 146 in the Z-axis direction and emit light towards the detection area at a downward tilt.

[0052] In this embodiment, the intelligent production line 10 for precise quantitative canning also includes a speed detector located within the detection area. The speed detector includes a baffle plate 143 and an encoder 142. The encoder wheel 1421 of the encoder 142 can rotate around the Y-axis and press against the second conveyor belt 12 to detect the moving speed of the second conveyor belt 12 and obtain the moving speed of the food 30 on the second conveyor belt 12. This enables corresponding control of the coordination of quantitative canning operations, thereby improving production efficiency. In this embodiment, the baffle plate 143 is located outside the encoder 142 in the Y-axis direction and above the second conveyor belt 12 in the Z-axis direction to restrict the food 30 on the second conveyor belt 12 from approaching the encoder wheel 1421 and avoid affecting the operation of the encoder wheel 1421.

[0053] Furthermore, the precise quantitative canning intelligent production line 10 of this embodiment also includes a food feeding device 15, which is located at the feeding end of the second conveyor belt 12 in the X-axis direction. The food feeding device 15 of this embodiment includes a hopper 151, a sliding plate 157, a first conveying tray 152, a first vibration mechanism 155, a second conveying tray 153, a second vibration mechanism 156, and a third conveyor belt 154. The sliding plate 157 can be slidably inserted into the bottom end of the hopper 151 in the X-axis direction to form a discharge port 158 ​​between itself and the peripheral wall of the hopper 151, so as to adjust the size of the discharge port 158 ​​for different sizes of food 30, so that only one food 30 can pass through the discharge port 158 ​​in the X-axis direction. The first feeding tray 152 is located below the discharge port 158 ​​in the Z-axis direction, and the upper surface of the first feeding tray 152 near the discharge port 158 ​​in the Z-axis direction is provided with a plurality of V-shaped first distributing grooves 1521. The plurality of first distributing grooves 1521 are arranged side by side in the Y-axis direction to receive the food 30 supplied by the discharge port 158, and the first distributing grooves 1521 extend and penetrate the first feeding tray 152 in the X-axis direction. The first vibration mechanism 155 can control the vibration of the first feeding tray 152 to transport the food 30 in the first distributing grooves 1521 to the second feeding tray 153. Since the second feeding end of the second feeding tray 153 is located directly below the first discharging end of the first distributing groove 1521 in the Z-axis direction, the distance between adjacent food 30s in the X-axis direction on the second feeding tray 153 is greater than the distance between adjacent food 30s in the X-axis direction in the first receiving groove, thereby achieving the purpose of precisely adjusting the distance between adjacent food 30s, and thus ensuring production quality and production precision. The upper surface of the second feeding tray 153 is provided with a plurality of V-shaped second distributing troughs 1531. The plurality of second distributing troughs 1531 are arranged side by side in the Y-axis direction to receive the food 30 supplied by the first distributing trough 1521. The second distributing troughs 1531 extend in the X-axis direction and penetrate the second feeding tray 153. The second vibration mechanism 156 can control the vibration of the second feeding tray 153 to transport the food 30 in the second distributing troughs 1531 to the third conveyor belt 154. Since the second discharge end of the second feeding tray 153 is located directly above the input end of the third conveyor belt 154 in the Z-axis direction, the distance between adjacent food 30s in the X-axis direction on the third conveyor belt 154 is greater than the distance between adjacent food 30s in the X-axis direction in the second receiving trough. This achieves the purpose of secondary precise adjustment of the distance between adjacent food 30s, thereby ensuring production quality and production precision.The third conveyor belt 154 transports food 30 in the X-axis direction, thereby transporting the food 30 on the third conveyor belt 154 to the second conveyor belt 12. Since the output end of the third conveyor belt 154 is located directly above the loading end of the second conveyor belt 12 in the Z-axis direction, the distance between adjacent food 30s on the second conveyor belt 12 in the X-axis direction is greater than the distance between adjacent food 30s on the third conveyor belt 154 in the X-axis direction. This achieves the purpose of precisely adjusting the distance between adjacent food 30s three times, thereby ensuring production quality and production precision.

[0054] Combination Figure 21 and Figure 22 In this embodiment, the control mechanism includes a control motor 1315, a first control arm 1316, and a second control arm 1317. The control motor 1315 can control the first end of the first control arm 1316 to rotate. The second end of the first control arm 1316 is rotatably hinged to the first end of the second control arm 1317. The second end of the second control arm 1317 is rotatably hinged to the mounting base 1311, thereby enabling the mounting base 1311 to move and rotate in multiple degrees of freedom, thereby improving working accuracy and reliability.

[0055] The above embodiments are merely preferred examples of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles of this utility model patent application should be included within the scope of this utility model patent application.

Claims

1. A precision quantitative canning intelligent production line, comprising a first conveyor belt and a second conveyor belt, wherein the first conveyor belt transports bottles and cans in the X-axis direction, the second conveyor belt transports food in the X-axis direction, and the first conveyor belt and the second conveyor belt are arranged side by side in the Y-axis direction, characterized in that: The precise quantitative filling intelligent production line also includes a quantitative filling device, which includes a pushing mechanism, a weighing and detection mechanism, and a multi-axis robot. The pushing mechanism and the weighing and detection mechanism are located on opposite sides of the first conveyor belt in the Y-axis direction. The pushing mechanism includes a pushing plate and a pushing control mechanism. The weighing and detection mechanism includes a support plate, a weighing sensor, two gripper heads, and a gripper control mechanism. The pushing plate and the support plate are arranged opposite each other in the Y-axis direction. The pushing control mechanism can control the pushing plate to move in the Y-axis direction to push the bottles and cans on the first conveyor belt onto the support plate. The weighing sensor is located at the bottom of the support plate. The two gripper heads are located above the support plate in the Z-axis direction. The gripper control mechanism can control the two gripper heads to move toward or away from each other. The two gripper heads can clamp the bottles and cans on the support plate. The multi-axis robot includes a control mechanism, a mounting base, a vacuum suction cup, two gripping heads, and a gripping control mechanism. The control mechanism can control the movement of the mounting base. The vacuum suction cup is mounted on the mounting base and can adsorb the food on the second conveyor belt. The gripping control mechanism is mounted on the mounting base and can control the two gripping heads to move toward or away from each other. The two gripping heads can grip the bottles and cans on the support plate.

2. The intelligent production line for precise quantitative filling according to claim 1, characterized in that: The weighing and detection mechanism also includes a mounting base, and the support plate and the gripper control mechanism are respectively disposed on the mounting base; The weighing and testing mechanism further includes two support rods and two sliding bearing structures. One support rod is adapted to one gripper head and one sliding bearing structure. The top end of the support rod in the Z-axis direction is connected to the gripper head. The sliding bearing structure includes a shaft, a rolling bearing, and balls. The shaft extends in the Z-axis direction, and the upper end of the shaft is connected to the bottom end of the support rod in the Z-axis direction. The rolling bearing is sleeved on the lower end of the shaft, and the balls are rotatably supported on the lower end of the rolling bearing and rotatably abut against the mounting base. And / or, the weighing detection mechanism further includes a positioning plate, which is disposed on the mounting base and has two positioning slots, each of which extends in the moving direction of the gripper head, and a gripper arm of one of the gripper heads passes through one of the positioning slots.

3. The intelligent production line for precise quantitative filling according to claim 2, characterized in that: Each of the support rods has a support plate protruding from its bottom end toward the support plate. The support plate is movable to the lower end of the support plate to rest on the lower end surface of the support plate.

4. The intelligent production line for precise quantitative filling according to claim 3, characterized in that: The upper edge of the support plate away from the insertion end of the support rod in its direction of movement is an inclined chamfer or a rounded chamfer; And / or, the outer edge of the lower end face of the support plate in the direction of movement of the support plate is an inclined chamfer or a rounded chamfer.

5. The intelligent production line for precise quantitative filling according to claim 1, characterized in that: The quantitative filling device further includes a first limiting mechanism and a second limiting mechanism. The first limiting mechanism and the second limiting mechanism are located at both ends of the push plate in the X-axis direction. The first limiting mechanism includes a first limiting plate and a first driving mechanism, and the second limiting mechanism includes a second limiting plate and a second driving mechanism. The first limiting plate and the second limiting plate are both located above the first conveyor belt in the Z-axis direction. The first driving mechanism can control the first limiting plate to move in the Y-axis direction, and the second driving mechanism can control the second limiting plate to move in the Y-axis direction. The first limiting plate and the second limiting plate can form a first limiting distance in the X-axis direction. The first limiting distance is used to accommodate one of the bottles on the first conveyor belt.

6. The intelligent production line for precise quantitative filling according to claim 5, characterized in that: The quantitative filling device further includes a third limiting mechanism. The third limiting mechanism, the second limiting mechanism, and the first limiting mechanism are arranged sequentially in the conveying direction of the first conveyor belt. The third limiting mechanism includes a third limiting plate and a third driving mechanism. The third limiting plate is located above the first conveyor belt in the Z-axis direction. The third driving mechanism can control the third limiting plate to move in the Y-axis direction. The third limiting plate and the second limiting plate can form a second limiting distance in the X-axis direction. The second limiting distance is used to accommodate one of the bottles on the first conveyor belt.

7. The intelligent production line for precise quantitative filling according to claim 1, characterized in that: The control mechanism includes a control motor, a first control arm, and a second control arm. The control motor can control the first end of the first control arm to rotate. The second end of the first control arm is rotatably hinged to the first end of the second control arm, and the second end of the second control arm is rotatably hinged to the mounting base.

8. The intelligent production line for precise quantitative filling according to any one of claims 1 to 7, characterized in that: The precise quantitative canning intelligent production line also includes a visual inspection mechanism, which includes a light-blocking box, a visual camera, a surface light source, and four first strip light sources. The light-blocking box covers the second conveyor belt to form an inspection area on the second conveyor belt, and the two ends of the light-blocking box in the conveying direction of the second conveyor belt are provided with through slots for the food to pass through. The vision camera is disposed inside the light-blocking box, and the surface light source is disposed inside the light-blocking box and located below the vision camera in the Z-axis direction. The surface light source has a through hole in the Z-axis direction. The camera of the vision camera is positioned facing the detection area corresponding to the through hole, and the surface light source emits light downward toward the detection area. Four of the first strip light sources are disposed inside the light-blocking box and distributed around the surface light source. The first strip light sources are located below the surface light source in the Z-axis direction and emit light towards the detection area at a downward angle.

9. The intelligent production line for precise quantitative filling according to claim 8, characterized in that: The visual inspection mechanism also includes four second strip light sources. The four second strip light sources are arranged inside the light-blocking box and distributed around the surface light source. The second strip light sources are located below the first strip light source in the Z-axis direction and emit light towards the inspection area at a downward angle.

10. The intelligent production line for precise quantitative filling according to claim 8, characterized in that: The precision quantitative canning intelligent production line also includes a speed detector located within the detection area. The speed detector includes a baffle and an encoder. The encoder wheel is rotatably pressed against the second conveyor belt about the Y-axis. The baffle is located outside the encoder in the Y-axis direction and above the second conveyor belt in the Z-axis direction to restrict the food on the second conveyor belt from approaching the encoder wheel.

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