Vision-based high-speed sorting and boxing equipment

Abstract

The utility model provides vision-based high-speed sorting and boxing equipment. The vision-based high-speed sorting and boxing equipment comprises an elevator, a discharging mechanical arm, auxiliary material supply equipment, a sorting mechanical arm, a sealing and cutting machine, a boxing mechanical arm, a box sealing machine, a packaging machine and a stacking mechanical arm which are sequentially arranged in the material flowing direction. The elevator is used for receiving manually loaded materials and lifting the materials to a discharging station; the discharging manipulator is used for sorting and arranging the materials conveyed by the elevator and is provided with a first visual detection system, and the first visual detection system is used for identifying the poses of the materials; the auxiliary material supply device comprises a vibration disc and a conveying belt and can supply auxiliary materials to the sorting mechanical arm through the vibration disc and the conveying belt. The sorting manipulator is provided with a second visual inspection system and used for achieving visual registration assembly of the materials and the auxiliary materials, the problem of assembly errors caused by manual operation is remarkably solved, the stability of the packaging quality is guaranteed, and automation and intelligent upgrading of the production process are effectively improved.

Description

Technical Field

[0001] This application relates to the field of hardware manufacturing and processing technology, and in particular to a vision-based high-speed sorting and packing equipment. Background Technology

[0002] In the manufacturing of household hardware, the packaging process, as the final production stage, requires a series of operations, including product posture correction, precise proportioning of auxiliary materials of various specifications, shockproof packaging forming, and standardized palletizing. Currently, the industry generally adopts a semi-automatic packaging production line configuration, whose typical architecture includes an automatic sealing and cutting unit that realizes the plastic sealing of single products into bags, and a box packaging machine that completes the basic operations of cardboard box sealing.

[0003] However, existing technologies have significant drawbacks when dealing with complex packaging requirements, such as multi-workpiece combination packaging, directional arrangement of irregularly shaped parts, and proportional addition of auxiliary materials. For example, multiple operators are still required at key workstations such as main body positioning, auxiliary material addition, and boxing and palletizing, which increases the labor intensity of packaging personnel. Furthermore, manual sorting is prone to problems such as missing auxiliary materials, limiting the improvement of production quality and capacity. Utility Model Content

[0004] In view of this, this application provides a vision-based high-speed sorting and packing equipment that can realize visual registration and assembly of materials and auxiliary materials, ensure the stability of production quality, and effectively improve the automation and intelligence of the production process.

[0005] This application provides a vision-based high-speed sorting and packing equipment, including a hoist, a discharge robot, an auxiliary material feeding device, a sorting robot, a sealing and cutting machine, a packing robot, a sealing machine, a packaging machine, and a palletizing robot, arranged sequentially along the material flow direction. The hoist receives manually loaded materials and lifts them to the discharge station. The discharge robot sorts and arranges the materials conveyed by the hoist, and is equipped with a first vision detection system for identifying the material's position and orientation. The auxiliary material feeding device… The equipment includes a vibratory feeder and a conveyor belt, and can supply auxiliary materials to the sorting robot using the vibratory feeder and conveyor belt; the sorting robot is equipped with a second vision inspection system for visual registration and assembly of materials and auxiliary materials; the sealing and cutting machine is used to plastic seal the assembled materials; the boxing robot is used to load the formed packages into turnover boxes according to a preset stacking pattern; the box sealing machine and the packing machine are connected in series via a conveyor line to complete the box sealing and bundling operations respectively; the palletizing robot is used to stack the finished boxes on the forklift according to a predetermined stacking pattern.

[0006] The second vision detection system of the sorting robot includes:

[0007] An industrial camera is mounted in the working area of ​​the sorting robot to capture images of auxiliary materials and arranged materials.

[0008] An image processing system is provided, which receives and processes images acquired by the industrial camera. The image processing system can detect the appearance integrity of auxiliary materials and arranged materials based on the acquired images, and can also detect the assembly pose of the auxiliary materials and arranged materials based on the acquired images, and obtain matching results.

[0009] The control system is capable of real-time correction of the gripping trajectory and placement angle of the discharge robot and the sorting robot based on the matching results.

[0010] The vision-based high-speed sorting and packing equipment is also equipped with an incoming material conveyor line and a return conveyor line. The incoming material conveyor line and the return conveyor line are stacked and spaced apart. The incoming material conveyor line is used to receive the material conveyed by the elevator and feed it to the sorting station. The return conveyor line is used to transport the material rejected by the sorting robot to the outside of the packaging line.

[0011] The sorting robot includes an edge gripping mechanism, which comprises symmetrically arranged grippers, and the grippers have flexible friction pads embedded in their slots.

[0012] The sealing and cutting machine is equipped with a sensor at its end, which is used to detect the number of formed packages.

[0013] The elevator is equipped with a conveyor chain plate, and the surface of the conveyor chain plate is provided with anti-slip parts and side limiting flanges to form an anti-tipping conveying channel.

[0014] In this embodiment, the vision-based high-speed sorting and packing equipment achieves automated process design through the orderly cooperation of elevators, unloading robots, and sorting robots, greatly improving sorting and packing efficiency and effectively solving the problem of packaging line capacity lagging behind front-end production. Furthermore, by setting up vision detection systems on the unloading and sorting robots, the equipment can accurately identify material positions and achieve visual registration and assembly of materials and auxiliary materials, significantly reducing assembly errors caused by manual operation, ensuring the stability of packaging quality, reducing manual intervention, lowering labor intensity and labor costs, and effectively upgrading the automation and intelligence of the household hardware production process. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a top-view structural diagram of the high-speed sorting and packing equipment provided in the embodiments of this application;

[0017] Figure 2 This is a partial structural schematic diagram of the high-speed sorting and packing equipment provided in the embodiments of this application;

[0018] Figure 3 This is a partial structural schematic diagram of a high-speed sorting and packing equipment provided in another embodiment of this application;

[0019] Figure 4 This is a schematic diagram of the structure of the hoist provided in the embodiment of this application.

[0020] Explanation of reference numerals in the attached figures:

[0021] 1- Vision-based high-speed sorting and packing equipment; 10- Elevator; 20- Discharge robot; 30- Auxiliary material feeding equipment; 40- Sorting robot; 50- Sealing and cutting machine; 60- Packing robot; 70- Carton sealing machine; 80- Packing machine; 90- Palletizing robot arm; 91- Forklift; 11- Conveyor chain; 12- Anti-slip parts; 13- Side limiting flange; 21- First vision inspection system; 22- Incoming material conveyor line; 23- Return conveyor line; 31- Vibrating plate; 32- Conveyor belt; 41- Second vision inspection system; 42- Edge clamping mechanism; 211- Industrial camera; 421- Gripper. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] Please see Figure 1 , Figure 2 and Figure 3 This application provides a vision-based high-speed sorting and packing equipment 1, comprising a hoist 10, a discharge robot 20, an auxiliary material feeding device 30, a sorting robot 40, a sealing and cutting machine 50, a packing robot 60, a sealing machine 70, a packaging machine 80, and a palletizing robot 90 arranged sequentially along the material flow direction. The hoist 10 receives manually loaded materials and lifts them to the discharge station. The discharge robot 20 sorts and arranges the materials conveyed by the hoist 10, and is equipped with a first vision detection system 21 for identifying the position and orientation of the materials. The auxiliary material feeding device 30 includes a vibratory feeder 31 and a conveyor belt 32, and can supply auxiliary materials to the sorting robot 40 using the vibratory feeder 31 and the conveyor belt 32. The sorting robot 40 is equipped with a second vision detection system 41 for visual registration and assembly of materials and auxiliary materials. The sealing and cutting machine 50 is used to seal the assembled materials. The packing robot 60 is used to load the shaped packages into turnover boxes according to a preset stacking pattern. The box sealing machine 70 and the packing machine 80 are connected in series via a conveyor line to complete the box sealing and bundling operations, respectively. The palletizing robot arm 90 is used to stack the finished boxes on the forklift 91 according to a predetermined stacking pattern.

[0025] In this embodiment of the application, only one person is needed to place the materials and auxiliary materials into the corresponding feeding equipment and place the carton on the packing machine to complete the product packaging process.

[0026] In this embodiment, the vision-based high-speed sorting and packing equipment 1, through the orderly cooperation of the elevator 10, the unloading robot 20, and the sorting robot 40, achieves automated process design, greatly improving sorting and packing efficiency and effectively solving the problem of packaging line capacity lagging behind front-end production. Furthermore, by setting up vision detection systems in the unloading robot 20 and the sorting robot 40, the equipment can accurately identify material positions and achieve visual registration and assembly of materials and auxiliary materials, significantly reducing assembly errors caused by manual operation and ensuring the stability of packaging quality. In addition, the combination of the vibratory feeder 31 and the conveyor belt 32 in the auxiliary material feeding equipment 30 achieves orderly arrangement and stable feeding of auxiliary materials, further improving assembly efficiency. The collaborative operation of the sealing and cutting machine 50, the packing robot 60, the sealing machine 70, the packaging machine 80, and the palletizing robot 90 completes the entire process from plastic sealing to finished product stacking, reducing manual intervention, lowering labor intensity and labor costs, and effectively improving the automation and intelligent upgrading of the household hardware production process.

[0027] Please refer to it again. Figure 1 and Figure 2 The second vision detection system 41 of the sorting robot 40 includes an industrial camera 211, an image processing system (not shown), and a control system (not shown). The industrial camera 211 is mounted in the working area of ​​the sorting robot 40 and is used to acquire images of auxiliary materials and arranged materials. The image processing system receives and processes the images acquired by the industrial camera 211. The image processing system can detect the appearance integrity of the auxiliary materials and arranged materials based on the acquired images, and can also detect the assembly posture of the auxiliary materials and arranged materials based on the acquired images, obtaining matching results. The control system can correct the gripping trajectory and placement angle of the unloading robot 20 and the sorting robot 40 in real time based on the matching results.

[0028] In this embodiment, the industrial camera 211 acquires images of the work area in real time, enabling dual visual inspection of auxiliary materials and raw materials. The image processing system then accurately identifies appearance defects (such as deformation or missing corners), preventing defective products from entering the assembly process and ensuring packaging integrity from the source. Furthermore, by dynamically calculating the assembly posture deviation of materials and auxiliary materials based on image data, the system can solve the assembly misalignment problem caused by orientation recognition errors in traditional manual sorting. The control system corrects the robot's movement trajectory in real time based on visual matching results, achieving dynamic calibration of gripping position accuracy and placement angle. This is particularly effective for the directional assembly of irregularly shaped hardware parts, significantly reducing orientation deviations in traditional manual operations.

[0029] In one embodiment of this application, when the vision-based high-speed sorting and packing equipment 1 experiences an abnormal shutdown such as a power outage, after restarting, the system of the vision-based high-speed sorting and packing equipment 1 will automatically return to the origin and re-inspect the products and auxiliary materials, automatically continuing the working state before the shutdown, without the need to clean the line again.

[0030] In one embodiment of this application, the vision-based high-speed sorting and packing equipment 1 can package different specifications of the same type of product, including different auxiliary materials, on the same packaging line. It only needs to reselect the appearance of the product and auxiliary materials and ensure that the size of the outer box remains unchanged to carry out normal packaging work, thus expanding the versatility of the equipment in the household hardware industry.

[0031] Please refer to it again. Figure 2 and Figure 3 In this embodiment, the vision-based high-speed sorting and packing equipment 1 is further equipped with an incoming material conveyor line 22 and a return conveyor line 23. The incoming material conveyor line 22 and the return conveyor line 23 are stacked and spaced apart to achieve efficient space utilization. The incoming material conveyor line 22 can accurately receive materials conveyed by the elevator and quickly and stably deliver them to the sorting station, ensuring the continuity and efficiency of material sorting. The return conveyor line 23 can promptly transport materials rejected by the sorting robot to the outside of the packaging line, avoiding the accumulation of rejected materials that affects the normal sorting process and ensuring smooth sorting and packing operations.

[0032] Please refer to it again. Figure 2 and Figure 3 The sorting robot 40 includes an edge gripping mechanism 42, which comprises symmetrically arranged grippers 421, and the grippers 421 have flexible friction pads embedded in their slots.

[0033] Optionally, the flexible friction pad can be made of a high-strength rubber substrate and nano-level anti-slip particles, and its surface is designed with an anti-slip fish scale texture.

[0034] In this embodiment, the flexible friction pad can prevent the gripper 421 from causing scratches, indentations or other damage on the surface of the metal part, and can provide friction between the gripper 421 and the material. With the real-time pose correction of the vision inspection system, even under high-speed sorting conditions, the material slippage rate can be significantly reduced, effectively enhancing the production quality and production capacity of the packaging line.

[0035] In one embodiment of this application, a sensor is provided at the end of the sealing and cutting machine 50, which is used to detect the number of formed packages. In this embodiment, after the packaged products arrive at the end of the sealing and cutting machine 50, the packing robot arm places the packaged products into the box and stacks them. After the required number of packages is reached, the products are fed forward, which can effectively reduce the occurrence of missing packages.

[0036] Please see Figure 4 The elevator 10 is equipped with a conveyor chain plate 11, and the surface of the conveyor chain plate 11 is provided with anti-slip parts 12 and side limiting flanges 13 to form an anti-tipping conveying channel.

[0037] Optionally, there are multiple anti-slip components 12, which are fixedly disposed on the surface of the conveyor chain plate 11, and can effectively prevent the material from sliding during inclined conveying.

[0038] Optionally, the limiting flange surface is provided with an elastic buffer layer, which is composed of polyurethane foam and silicone coating, to ensure stable conveying of hardware parts of different specifications along the channel without damaging the materials.

[0039] In this embodiment, the anti-slip component 12 is configured in conjunction with the limiting flange to improve the stability of material conveying and prevent jamming and machine stoppages caused by sliding or tipping. The anti-tipping channel provided in this embodiment can achieve stable conveying at an inclined angle, which can save workshop space compared to the traditional horizontal conveying mode, thereby optimizing the layout of the production line.

[0040] In this application, the terms "embodiment" and "implementation" mean that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of these phrases in various locations throughout the specification does not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this application can be combined with other embodiments. Furthermore, it should be understood that the features, structures, or characteristics described in the various embodiments of this application can be arbitrarily combined to form another embodiment that does not depart from the spirit and scope of the technical solution of this application, provided there is no contradiction between them.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this application should not depart from the spirit and scope of the technical solutions of this application.

Claims

1. A vision-based high-speed sorting and packing device, characterized in that, The system includes a hoist, a discharge robot, an auxiliary material feeding device, a sorting robot, a sealing and cutting machine, a boxing robot, a carton sealing machine, a packing machine, and a palletizing robot, arranged sequentially along the material flow direction. The hoist receives manually loaded materials and lifts them to the discharge station. The discharge robot sorts and arranges the materials conveyed by the hoist and is equipped with a first vision detection system for identifying the material's position and orientation. The auxiliary material feeding device includes a vibratory feeder and a conveyor belt, and can supply auxiliary materials to the sorting robot using these components. The sorting robot is equipped with a second vision detection system for visually aligning and assembling the materials with the auxiliary materials. The sealing and cutting machine seals the assembled materials. The cartoning robot loads the formed packages into turnover boxes according to a preset stacking pattern. The carton sealing machine and the packing machine are connected in series via a conveyor line to respectively seal and bundle the boxes. The palletizing robot stacks finished boxes onto a forklift according to a predetermined stacking pattern.

2. The vision-based high-speed sorting and packing equipment as described in claim 1, characterized in that, The second vision detection system of the sorting robot includes: An industrial camera is mounted in the working area of ​​the sorting robot to capture images of auxiliary materials and arranged materials. An image processing system is provided for receiving and processing images captured by the industrial camera. The image processing system can detect the appearance integrity of auxiliary materials and arranged materials based on the captured images, and can also detect the assembly pose of auxiliary materials and arranged materials based on the captured images and obtain matching results. and The control system is capable of real-time correction of the gripping trajectory and placement angle of the discharge robot and the sorting robot based on the matching results.

3. The vision-based high-speed sorting and packing equipment as described in claim 1, characterized in that, The vision-based high-speed sorting and packing equipment is also equipped with an incoming material conveyor line and a return conveyor line. The incoming material conveyor line and the return conveyor line are stacked and spaced apart. The incoming material conveyor line is used to receive the material conveyed by the elevator and feed it to the sorting station. The return conveyor line is used to transport the material rejected by the sorting robot to the outside of the packaging line.

4. The vision-based high-speed sorting and packing equipment as described in claim 1, characterized in that, The sorting robot includes an edge gripping mechanism, which comprises symmetrically arranged grippers, and the grippers have flexible friction pads embedded in their slots.

5. The vision-based high-speed sorting and packing equipment as described in claim 1, characterized in that, The sealing and cutting machine is equipped with a sensor at its end, which is used to detect the number of formed packages.

6. The vision-based high-speed sorting and packing equipment as described in claim 1, characterized in that, The elevator is equipped with a conveyor chain plate, and the surface of the conveyor chain plate is provided with anti-slip parts and side limiting flanges to form an anti-tipping conveying channel.

Images