A paper bowl straightening and conveying device
By combining visual inspection and posture adjustment mechanisms in an automated manner, the shortcomings of manual alignment in traditional paper bowl conveying systems are solved, enabling automated detection and adjustment of paper bowl posture, thereby improving production efficiency and product quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHENGDU LEMEI PAPER PROD CO LTD
- Filing Date
- 2025-09-23
- Publication Date
- 2026-07-31
AI Technical Summary
Traditional paper bowl conveying systems rely on manual alignment, which results in high labor intensity and cost, and the alignment accuracy is difficult to guarantee, affecting production efficiency and product quality.
An automated combination of a vision inspection mechanism and a posture adjustment mechanism is adopted. An industrial camera is used to detect the posture of the paper bowl in real time, and the position and angle of the paper bowl are automatically adjusted by a pneumatic gripper, so as to achieve unmanned operation of the entire process.
It reduces the labor intensity of operators, reduces labor costs, improves the automation level of the production line and the product qualification rate, and avoids alignment errors caused by human fatigue.
Smart Images
Figure CN224577526U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of paper bowl production technology, specifically a paper bowl alignment and conveying device. Background Technology
[0002] In the food packaging industry, paper bowls are widely used in fast food, takeout, and snack packaging due to their advantages such as low cost, light weight, and biodegradability. Their production process involves multiple steps, including forming, printing, cutting, and assembly, and the seamless connection between these steps relies on conveyor equipment for continuous production. The stability of the paper bowl's posture on the conveyor belt directly affects the accuracy and efficiency of subsequent processing, making it one of the key factors restricting the capacity improvement of automated paper bowl production lines. Traditional paper bowl conveyor systems often employ a single conveyor belt combined with manual alignment. Operators must constantly monitor the paper bowls' deviation on the conveyor belt and manually adjust their position and angle. This method is not only labor-intensive and costly, but also susceptible to operator fatigue and reaction speed, making it difficult to guarantee alignment accuracy. Problems such as paper bowl tilting and misalignment frequently occur, leading to subsequent printing pattern deviations, cutting size discrepancies, and even conveyor belt jamming, causing production line downtime and severely impacting product qualification rates and production continuity. Utility Model Content
[0003] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a paper bowl straightening and conveying device to solve the shortcomings of the prior art.
[0004] The purpose of this utility model is achieved through the following technical solution: a paper bowl straightening and conveying device, including a conveyor belt, an straightening component installed on the conveyor frame of the conveyor belt, the straightening component including a push rod, the push rod having a degree of freedom to move along the width direction of the conveyor belt, a vision inspection mechanism and an attitude adjustment mechanism arranged sequentially along the conveying direction of the conveyor belt, the vision inspection mechanism including an industrial camera, the imaging range of the industrial camera facing the conveying surface of the conveyor belt, the attitude adjustment mechanism including a rotary seat, a pitch seat, a rotating seat and a pneumatic gripper, the rotation axis of the rotary shaft being vertically arranged, the pitch seat being rotatably mounted on the rotary seat, the rotating seat being rotatably mounted on the pitch seat, the pneumatic gripper being mounted on the rotating seat, and the rotation axis of the pitch seat being perpendicular to the rotation axis of the rotating seat in the horizontal plane.
[0005] Furthermore, the visual inspection mechanism also includes a mounting frame and a camera mounting plate, wherein the camera mounting plate is bolted to the mounting frame and the industrial camera is mounted on the camera mounting plate.
[0006] Furthermore, the attitude adjustment mechanism also includes a fixed bracket, on which a lifting cylinder is mounted. The telescopic shaft of the lifting cylinder is connected to a lifting plate. A rotary shaft is fixed to the top of the rotary seat. The rotary shaft is rotatably connected to the lifting plate. A rotary motor is mounted on the lifting plate. The output shaft of the rotary motor is connected to the rotary shaft.
[0007] Furthermore, the bottom of the rotary seat is provided with a first slot, and a pitch shaft is horizontally arranged in the first slot. The pitch shaft is rotatably connected to the rotary seat, and the top of the pitch seat is fixedly fitted onto the pitch shaft. A pitch motor is installed on the rotary seat, and the output shaft of the pitch motor is connected to the pitch shaft.
[0008] Furthermore, a second slot is provided at the bottom of the pitch seat, and a deflection shaft is horizontally arranged in the second slot. The deflection shaft is rotatably connected to the pitch seat. The top of the rotary seat is fixedly fitted onto the deflection shaft. A motor is installed on the pitch seat, and the output shaft of the motor is connected to the deflection shaft.
[0009] Furthermore, a push cylinder is installed on the conveyor frame of the conveyor belt, and the telescopic shaft of the push cylinder is connected to a push rod.
[0010] Furthermore, a stop bar is fixed at the end of the push rod near the input of the conveyor belt, and the stop bar moves through the conveyor frame of the conveyor belt in a direction away from the visual inspection mechanism.
[0011] The beneficial effects of this utility model are: By combining a vision inspection mechanism with an attitude adjustment mechanism, the entire process of paper bowl attitude detection and alignment is automated. First, a pusher pushes the paper bowl towards the side of the conveyor belt closest to the vision inspection mechanism, placing it within the field of view of an industrial camera. The industrial camera in the vision inspection mechanism captures the attitude information of the paper bowl on the conveyor belt in real time, eliminating the need for manual observation and judgment. The attitude adjustment mechanism then automatically corrects the position and angle of the paper bowl based on the detection data, completely replacing the tedious manual adjustment process. This not only significantly reduces the labor intensity of operators but also saves on the labor costs of dedicated personnel, while avoiding alignment errors caused by human fatigue and reaction delays, laying the foundation for fully automated operation of the production line. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the structure of a paper bowl straightening and conveying device according to the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a paper bowl straightening and conveying device according to the present invention. Figure 2 ; Figure 3 This is a front view of a paper bowl straightening and conveying device according to the present invention; In the diagram, 1-conveyor belt, 2-push rod, 3-industrial camera, 4-rotary seat, 5-tilt seat, 6-swivel seat, 7-pneumatic gripper, 8-mounting bracket, 9-camera mounting plate, 10-fixed bracket, 11-rotation shaft, 12-rotation motor, 13-first slot, 14-tilt shaft, 15-tilt motor, 16-second slot, 17-yaw shaft, 18-motor, 19-push cylinder, 20-stop bar, 21-lifting cylinder, 22-lifting plate. Detailed Implementation
[0013] Example 1 like Figures 1 to 3As shown, a paper bowl straightening and conveying device includes a conveyor belt 1. A straightening assembly is installed on the conveyor frame of the conveyor belt 1. The straightening assembly includes a push rod 2, which has a degree of freedom to move along the width direction of the conveyor belt 1. A vision inspection mechanism and a posture adjustment mechanism are sequentially arranged along the conveying direction of the conveyor belt 1. The vision inspection mechanism includes an industrial camera 3, the imaging range of which faces the conveying surface of the conveyor belt 1. The posture adjustment mechanism includes a rotary seat 4, a pitch seat 5, a rotating seat 6, and a pneumatic gripper 7. The rotation axis of the rotary seat 4 is vertically arranged. The pitch seat 5 is rotatably mounted on the rotary seat 4, and the rotating seat 6 is rotatably mounted on the pitch seat 5. The pneumatic gripper 7 is mounted on the rotating seat 6. The rotation axis of the pitch seat 5 is perpendicular to the rotation axis of the rotating seat 6 in a horizontal plane. The paper bowls produced in the previous stage fall onto the input end of the conveyor belt 1. First, the push rod 2 pushes the paper bowls towards the vision inspection mechanism, causing the paper bowls to be positioned... Within the detection range of the industrial camera 3, the width between the push rod 2 and one side of the conveyor belt 1 is slightly larger than the diameter of the paper bowl. Thus, the paper bowls are arranged sequentially by the restriction of the push rod 2, allowing them to enter the detection range of the industrial camera 3 in sequence. The industrial camera 3 identifies the posture of the paper bowls, and the posture adjustment mechanism adjusts the paper bowls according to their posture, ensuring that the paper bowls are in a uniform posture and conveyed to the next work station. Specifically, the adjustment process is as follows: the rotary seat 4 can drive the pneumatic gripper 7 to deflect around the Z-axis, the pitch seat 5 can drive the pneumatic gripper 7 to pitch, that is, to deflect along the Z-axis, and the rotary seat 6 can drive the pneumatic gripper 7 to deflect along the Y-axis. This gives the pneumatic gripper 7 three degrees of rotational freedom, allowing it to be adjusted according to the posture of the paper bowl. Thus, through the automated combination of the "vision detection mechanism + posture adjustment mechanism", the entire process of paper bowl posture detection and alignment is achieved without human intervention. In practical implementation, the visual inspection mechanism utilizes existing technology, and the industrial camera 3 is selected from Hikvision's MV-CT120G series. Taking the MV-CT120G-9GM01-BASE model as an example, it possesses many features that meet the device's requirements. This model employs a stacked BSI sensor with a resolution of up to 4096×3000, clearly capturing the subtle contours and posture information of the paper bowl. This provides a high-definition image foundation for accurately identifying the lateral offset, horizontal rotation angle, and longitudinal pitch angle of the paper bowl, ensuring the accuracy of the generated posture deviation data.
[0014] Example 2 Based on Example 1, such as Figure 1 As shown, a push cylinder 19 is installed on the conveyor frame of the conveyor belt 1. The telescopic shaft of the push cylinder 19 is connected to the push rod 2. A stop bar 20 is fixed at the end of the push rod 2 near the input of the conveyor belt 1. The stop bar 20 moves away from the vision inspection mechanism and passes through the conveyor frame of the conveyor belt 1. The push cylinder 19 pushes the paper bowl towards the posture detection mechanism. During the pushing process, the stop bar 20 blocks the paper bowls entering the conveyor belt 1 from behind, preventing the paper bowls from entering the area behind the stop bar 20 away from the vision inspection mechanism.
[0015] Example 3 Based on Embodiment 1, the visual inspection mechanism also includes a mounting frame 8 and a camera mounting plate 9. The camera mounting plate 9 is mounted on the mounting frame 8 by bolts, and the industrial camera 3 is mounted on the camera mounting plate 9, which facilitates the adjustment of the mounting position of the camera mounting plate 9 according to the actual situation.
[0016] Example 4 Based on Example 3, such as Figures 1 to 3 As shown, the attitude adjustment mechanism also includes a fixed bracket 10, on which a lifting cylinder 21 is mounted. The telescopic shaft of the lifting cylinder 21 is connected to a lifting plate 22. A rotating shaft 11 is fixed to the top of the rotary seat 4. The rotating shaft 11 is rotatably connected to the lifting plate 22. A rotating motor 12 is mounted on the lifting plate 22. The output shaft of the rotating motor 12 is connected to the rotating shaft 11. The rotating shaft 11 is deflected by the rotating motor 12, which in turn causes the rotary seat 4 to deflect, thus causing the pneumatic gripper 7 to deflect. A first slot 13 is provided at the bottom of the rotary seat 4. A pitch shaft 14 is horizontally arranged in the first slot 13. The pitch shaft 14 is rotatably connected to the rotary seat 4. The top of the pitch seat 5 is fixedly fitted onto the pitch shaft 14. A pitch motor 15 is mounted on the rotary seat 4. The output shaft of the pitch motor 15 is connected to the pitch shaft 14. The pitch motor 15 causes the pitch shaft 14 to deflect, thus causing the pitch to adjust. The tilting shaft 14 drives the tilting seat 5 to deflect. The bottom of the tilting seat 5 has a second slot 16, and a deflection shaft 17 is horizontally arranged in the second slot 16. The deflection shaft 17 is rotatably connected to the tilting seat 5. The top of the rotating seat 6 is fixedly mounted on the deflection shaft 17. A motor 18 is installed on the tilting seat 5. The output shaft of the motor 18 is connected to the deflection shaft 17. The motor 18 drives the deflection shaft 17 to rotate, causing the deflection shaft 17 to drive the rotating seat 6 to deflect. This gives the pneumatic gripper 7 a degree of freedom of deflection in the X, Y, and Z directions. The position of the pneumatic gripper 7 is adjusted according to the state of the paper bowl, so that the paper bowl is within the gripping range of the pneumatic gripper 7. Then, the lifting cylinder 21 drives the pneumatic gripper 7 to move downward, and the pneumatic gripper 7 grips the paper bowl. After the paper bowl is suspended in the air, it is flipped according to the state of the paper bowl, so that the paper bowl is placed in a uniform posture, that is, a uniform posture with the opening facing up or down. In specific implementation, the fixed bracket 10 is installed on the bidirectional adjustment mechanism, which includes a first linear module and a second linear module. The second linear module is installed on the slide of the first linear module. The movement direction of the first linear module is parallel to the conveying direction of the conveyor belt 1, and the movement direction of the second linear module is perpendicular to the conveying direction of the conveyor belt 1. The fixed bracket 10 is installed on the slide of the second linear module. The position of the fixed bracket 10 in the horizontal direction can be adjusted by the first linear module and the second linear module, thereby fine-tuning the position of the pneumatic gripper 7 so that the pneumatic gripper 7 can smoothly clamp the paper bowl and complete the posture adjustment.
Claims
1. A paper bowl straightening and conveying device, characterized in that, The system includes a conveyor belt (1), on which a centering assembly is installed. The centering assembly includes a push rod (2), which has a degree of freedom to move along the width of the conveyor belt (1). A vision inspection mechanism and a posture adjustment mechanism are arranged sequentially along the conveying direction of the conveyor belt (1). The vision inspection mechanism includes an industrial camera (3), the imaging range of which faces the conveying surface of the conveyor belt (1). The posture adjustment mechanism includes a rotary seat (4), a pitch seat (5), a rotating seat (6), and a pneumatic gripper (7). The rotation axis of the rotary seat (4) is vertically arranged. The pitch seat (5) is rotatably mounted on the rotary seat (4). The rotating seat (6) is rotatably mounted on the pitch seat (5). The pneumatic gripper (7) is mounted on the rotating seat (6). The rotation axis of the pitch seat (5) is perpendicular to the rotation axis of the rotating seat (6) on the horizontal plane.
2. The paper bowl straightening and conveying device according to claim 1, characterized in that, The visual inspection mechanism also includes a mounting frame (8) and a camera mounting plate (9), the camera mounting plate (9) being bolted to the mounting frame (8), and the industrial camera (3) being mounted on the camera mounting plate (9).
3. The paper bowl straightening and conveying device according to claim 1, characterized in that, The attitude adjustment mechanism also includes a fixed bracket (10), on which a lifting cylinder (21) is installed. The telescopic shaft of the lifting cylinder (21) is connected to the lifting plate (22). A rotary shaft (11) is fixed on the top of the rotary seat (4). The rotary shaft (11) is rotatably connected to the lifting plate (22). A rotary motor (12) is installed on the lifting plate (22). The output shaft of the rotary motor (12) is connected to the rotary shaft (11).
4. The paper bowl straightening and conveying device according to claim 3, characterized in that, The bottom of the rotary seat (4) is provided with a first slot (13), and a pitch shaft (14) is horizontally arranged in the first slot (13). The pitch shaft (14) is rotatably connected to the rotary seat (4). The top of the pitch seat (5) is fixedly mounted on the pitch shaft (14). A pitch motor (15) is installed on the rotary seat (4), and the output shaft of the pitch motor (15) is connected to the pitch shaft (14).
5. A paper bowl straightening and conveying device according to claim 4, characterized in that, The bottom of the pitch seat (5) is provided with a second slot (16), and a deflection shaft (17) is horizontally arranged in the second slot (16). The deflection shaft (17) is rotatably connected to the pitch seat (5). The top of the rotary seat (6) is fixedly mounted on the deflection shaft (17). A motor (18) is installed on the pitch seat (5), and the output shaft of the motor (18) is connected to the deflection shaft (17).
6. The paper bowl straightening and conveying device according to claim 1, characterized in that, A push cylinder (19) is installed on the conveyor frame of the conveyor belt (1), and the telescopic shaft of the push cylinder (19) is connected to a push rod (2).
7. The paper bowl straightening and conveying device according to claim 1, characterized in that, The push rod (2) has a stop bar (20) fixed at one end near the input of the conveyor belt (1), and the stop bar (20) moves through the conveyor frame of the conveyor belt (1) in a direction away from the visual inspection mechanism.