A lyophilized mask stacking device

Abstract

The utility model discloses a freeze-dried mask stacking device, including round belt conveying line, visual mechanism, parallel mechanical hand, output conveying line, collection frame, mechanical hand mounting bracket and total controller, and round belt conveying line and output conveying line are sequentially arranged along mask conveying direction, collection frame is set below the gap between round belt conveying line and output conveying line, visual mechanism includes support frame, visual camera, light source, longitudinal guide rail and two cross rails, parallel mechanical hand sets up at the top of mechanical hand mounting bracket, and the output end of parallel mechanical hand is connected with end effector, and the drive motor of round belt conveying line, visual camera, light source, the servo motor of output conveying line and the mechanical hand controller of parallel mechanical hand are communicated with total controller respectively, the utility model discloses a freeze-dried mask stacking device can improve mask stacking precision, reduce the rate of defective products, ensure product quality consistency, improve production efficiency.

Description

Technical Field

[0001] This utility model belongs to the technical field of facial mask manufacturing equipment, and relates to a freeze-dried facial mask stacking device. Background Technology

[0002] After the freeze-dried mask sheet is impregnated or sprayed with active ingredients, it is cut into face shapes by a cutting roller. Before the implementation of this invention, the cut mask sheets were manually stacked into 20-40 layers before being put into a low-pressure freeze dryer for freeze drying. During the manual stacking process, the mask sheets are relatively soft, making it difficult to stack them neatly and prone to folding, resulting in defective products. Furthermore, after freeze drying, it will affect the film removal of the freeze-dried mask filling machine, leading to an increased defect rate in subsequent processes. In addition, the manual stacking of masks makes it difficult to accurately remove masks with abnormal cuts due to differences in personnel or fatigue, thus causing mask quality control problems. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a freeze-dried facial mask stacking device that can improve the stacking accuracy of facial masks, reduce the defect rate, ensure product quality consistency, and improve production efficiency.

[0004] The technical solution to achieve the above objective is: a freeze-dried facial mask stacking device, comprising a circular belt conveyor, a vision mechanism, a parallel robotic arm, an output conveyor, a collection frame, a robotic arm mounting frame, and a main controller, wherein:

[0005] The circular belt conveyor line and the output conveyor line are arranged sequentially along the mask conveying direction;

[0006] The collection frame is positioned below the gap between the circular belt conveyor line and the output conveyor line;

[0007] The vision mechanism includes a support frame, a vision camera, a light source, a longitudinal guide rail, and two transverse guide rails. The support frame spans above the circular belt conveyor line. The two transverse guide rails are correspondingly arranged at the top of the front and rear sides of the support frame. The front and rear ends of the longitudinal guide rail are respectively connected to the two transverse guide rails via sliders. The longitudinal guide rail can move left and right along the two transverse guide rails. The longitudinal guide rail is provided with a longitudinal slider that can slide back and forth along it. The vision camera and the light source are respectively arranged on the longitudinal slider, and the shooting direction of the vision camera and the supplementary lighting direction of the light source are oriented towards the circular belt conveyor line.

[0008] The parallel manipulator is mounted on the top of the manipulator mounting frame. The output end of the parallel manipulator is connected to an end effector, and the end effector is located above the circular belt conveyor and the output conveyor. The end effector consists of a connecting rod, a carbon fiber frame, and multiple Bernoulli suction cups. The upper end of the connecting rod is connected to the output end of the parallel manipulator, and the lower end of the connecting rod is connected to the carbon fiber frame. The multiple Bernoulli suction cups are respectively located at the bottom end of the carbon fiber frame.

[0009] The drive motor, vision camera, light source of the circular belt conveyor, servo motor of the output conveyor, and manipulator controller of the parallel manipulator communicate with the main controller.

[0010] The freeze-dried facial mask stacking device described above includes a circular belt conveyor line comprising a support, a drive motor, a drive shaft, and several driven shafts. The drive shaft and several driven shafts are respectively longitudinally arranged at the top of the support. The drive motor is mounted on the support, and the output end of the drive motor is connected to the drive shaft. Several steering wheels are arranged sequentially from front to back on the drive shaft and the driven shafts. A polyurethane circular belt is tensioned on each row of steering wheels arranged along the facial mask conveying direction.

[0011] In the aforementioned freeze-dried facial mask stacking device, a camera connecting frame is provided on the longitudinal slider, and the visual camera and the light source are respectively disposed on the camera connecting frame.

[0012] In the aforementioned freeze-dried facial mask stacking device, the outer edge of the carbon fiber frame has six suction cup mounting platforms arranged radially, and each suction cup mounting platform has a Bernoulli suction cup at its bottom end.

[0013] In the above-mentioned freeze-dried facial mask stacking device, an encoder is provided on the circular belt conveyor line, and the encoder communicates with the main controller.

[0014] In the above-mentioned freeze-dried facial mask stacking device, a counting sensor is provided in the collection frame, and the counting sensor communicates with the main controller.

[0015] This invention relates to a freeze-dried facial mask stacking device, which improves stacking precision, reduces defect rates, and ensures consistent product quality. The automated process reduces labor costs, increases production efficiency, and optimizes resource allocation. Real-time monitoring and feedback provide accurate data, facilitating quality control and management. Furthermore, the collaborative operation of a vision system and a robotic arm enables precise control over mask stacking quality, avoiding errors and fatigue associated with manual operation and further improving product qualification rates. The application of automated stacking technology not only enhances production line stability but also reduces material waste, aligning with green production principles. Overall, this invention provides strong support for the intelligent upgrading of the facial mask manufacturing industry, promoting technological progress and high-quality development within the sector.

[0016] Explanation of relevant terms:

[0017] Bernoulli suction cup: The working principle of the Bernoulli suction cup is based on Bernoulli's principle, which states that in fluid flow, an increase in fluid velocity will cause a decrease in fluid pressure; when the air inside the suction cup is extracted, the external atmospheric pressure is greater than the internal pressure, thus generating a strong suction force.

[0018] An encoder is a device that encodes and converts signals (such as bitstreams) or data into a signal form that can be used for communication, transmission, and storage. An encoder converts angular displacement or linear displacement into electrical signals; the former is called a code disk, and the latter a code scale. Encoders can be classified into contact and non-contact types according to their readout method; and into incremental and absolute types according to their working principle. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the freeze-dried facial mask stacking device of this utility model;

[0020] Figure 2 This is a front view of the freeze-dried facial mask stacking device of this utility model;

[0021] Figure 3 This is a schematic diagram of a circular belt conveyor line.

[0022] Figure 4 This is a schematic diagram of the visual structure;

[0023] Figure 5 This is a schematic diagram of the output conveyor line.

[0024] Figure 6 This is a schematic diagram of the end effector.

[0025] Figure 7 This is the electrical schematic diagram of the freeze-dried facial mask stacking device of this utility model. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solution of this utility model, its specific embodiments are described in detail below with reference to the accompanying drawings:

[0027] Please see Figures 1 to 7 The most specific embodiment of this utility model is a freeze-dried facial mask stacking device, which includes a circular belt conveyor 1, a vision mechanism 2, a parallel robot arm 3, an output conveyor 4, a collection frame 5, a robot arm mounting frame 6, and a main controller 7.

[0028] The circular belt conveyor 1 and the output conveyor 4 are arranged sequentially along the mask conveying direction; in this embodiment, the circular belt conveyor 1 and the output conveyor 4 are arranged one on the left and one on the right inside the robot arm mounting frame 6, and the mask is conveyed from left to right. The collection frame 5 is located below the gap between the circular belt conveyor 1 and the output conveyor 4.

[0029] Please see again Figure 3 The circular belt conveyor line 1 includes a support 11, a drive motor 12, a drive shaft, and several driven shafts. The drive shaft and several driven shafts are longitudinally arranged at the top of the support 11. The drive motor 12 is mounted on the support 11, and its output end is connected to the drive shaft. Multiple guide wheels 13 are arranged sequentially from front to back on the drive shaft and driven shafts. A polyurethane circular belt 14 is tensioned on each row of guide wheels 13 arranged along the mask conveying direction. The drive motor 12 drives the guide wheels 13 to rotate via the drive shaft and driven shafts, thereby driving the polyurethane circular belt 14 to rotate, thus conveying the mask. An encoder 15 is installed on the circular belt conveyor line 1 to acquire the position information of the mask.

[0030] Please see again Figure 4 The vision mechanism 2 includes a support frame 21, a vision camera 22, a light source 23, a longitudinal guide rail 24, and two transverse guide rails 25. The support frame 21 is connected across the bracket 11 of the circular belt conveyor line 1. The two transverse guide rails 25 are correspondingly arranged at the top of the front and rear sides of the support frame 21. The front and rear ends of the longitudinal guide rail 24 are respectively connected to the two transverse guide rails 25 by sliders, and the longitudinal guide rail 24 can move left and right along the two transverse guide rails 25. A longitudinal slider 26 that can slide back and forth is provided on the longitudinal guide rail 24. A camera connecting frame 27 is provided on the longitudinal slider 26. The vision camera 22 and the light source 23 are respectively arranged on the camera connecting frame 27, and the shooting direction of the vision camera 22 and the supplementary lighting direction of the light source 23 are set towards the circular belt conveyor line 1. The vision camera 22 is used to capture the mask image on the circular belt conveyor line 1, and the light source 23 is used to provide uniform illumination.

[0031] Tightening handles 28 can be respectively installed on the slider of the transverse guide rail 25 and the longitudinal slider 26 of the longitudinal guide rail 24. The transverse and longitudinal positions of the vision camera 22 can be adjusted through the transverse guide rail 25 and the longitudinal guide rail 24. After the position of the vision camera 22 is determined, the camera position is locked by tightening the handles 28 to ensure accurate image capture by the vision camera 22. The position of the light source 23 is adjusted synchronously to ensure that all details of the mask are clearly visible. The vision mechanism 2 works efficiently with the encoder 15 of the circular belt conveyor line 1. The encoder 15 provides real-time feedback on the position status of the mask to ensure accurate grasping by the subsequent parallel robot arm.

[0032] The parallel robot arm 3 is mounted on the top of the robot arm mounting frame 6. The output end of the parallel robot arm 3 is connected to the end effector 8, and the end effector 8 is located above the circular belt conveyor line 1 and the output conveyor line 4.

[0033] Please see again Figure 6 The end effector consists of a connecting rod 81, a carbon fiber frame 82, and multiple Bernoulli suction cups 83. In this embodiment, there are six Bernoulli suction cups 83. The upper end of the connecting rod 81 is connected to the output end of the parallel manipulator 3, and the lower end of the connecting rod 81 is connected to the carbon fiber frame 82. The outer edge of the carbon fiber frame 82 has six suction cup mounting platforms 84 arranged radially, and each suction cup mounting platform 84 has a Bernoulli suction cup 83 at its bottom. The end effector 8 can grasp breathable mesh and materials with high cleanliness requirements, thereby ensuring that no pollution is generated during the stacking process and improving product quality.

[0034] The output conveyor line 4 adopts step-by-step transmission. The output conveyor line 4 works with the parallel robot arm 3 to stack the masks. After the stacking is completed, the output conveyor line 4 starts step-by-step transmission and enters the next placement station to start the next stacking cycle.

[0035] The drive motor 12, encoder 15, vision camera 22, light source 23 of the circular belt conveyor 1, the servo motor 41 of the output conveyor 4, and the robot controller 31 of the parallel robot 3 communicate with the main controller 7.

[0036] The freeze-dried facial mask stacking device of this invention, during installation, ensures that the gaps formed between every two adjacent polyurethane circular belts 14 of the circular belt conveyor line 1 are embedded into the vacuum circular belt roller of the cutting machine in the previous cutting process, thus ensuring continuous and stable conveying of the cut facial masks. The cutting machine precisely controls the size of the film and seamlessly connects with the circular belt conveyor line 1, reducing transmission errors.

[0037] This invention relates to a freeze-dried facial mask stacking device. During processing, the facial mask is sprayed with an active ingredient and then cut into a fixed-size face shape by the cutting rollers of a cutting machine. The cut facial mask is then held and conveyed by the vacuum circular belt rollers of the cutting machine to a circular belt conveyor line 1. The circular belt conveyor line 1 is a continuous conveyor line. When the circular belt conveyor line 1 carries the facial mask to below the vision camera 22 of the vision mechanism 2, the vision camera 22 and the encoder 15 on the circular belt conveyor line 1 acquire the position information of the facial mask and send it to the main controller 7. The main controller 7 controls the vision camera 22 and the light source 23 to work and capture facial mask images. The vision camera 22 judges the quality information of the facial mask based on the captured facial mask images, mainly judging whether the facial mask is intact and whether the mask fabric is folded. The system checks for stains or foreign objects on the mask surface, and ensures that the eye, nose, mouth, and contour areas are properly cut and any excess material has been removed. This quality information is then fed back to the main controller 7. When the mask meets quality standards, it is conveyed via the circular belt conveyor 1 to the parallel robot arm 3. The main controller then controls the parallel robot arm 3 to operate, driving the end effector 8 to grasp the qualified mask and neatly stack it onto the output conveyor 4. The stacking layer is 20-40 layers. After stacking, the controller 31 of the parallel robot arm 3 feeds back information to the main controller 7. The main controller 7 then controls the servo motor 41 of the output conveyor 4, and the stacked masks are conveyed out step-by-step via the output conveyor 4, ensuring each mask layer is flat and wrinkle-free. During the stacking process, the vision mechanism 2 and the encoder 15 on the circular belt conveyor 1 work efficiently to provide real-time feedback on the mask's position, ensuring accurate grasping and precise movements of the parallel robot arm 3, preventing mask displacement or damage. Finally, the stacked, qualified masks are sent to the freeze-drying area by the output conveyor line 4, ready for the next step of vacuum freeze-drying. Unqualified masks will fall into the collection box 5 through the gap between the circular belt conveyor line 1 and the output conveyor line 4. The collection box 5 is equipped with a counting sensor to monitor the number of unqualified products in real time and feed it back to the main controller 7.

[0038] In summary, the freeze-dried facial mask stacking device of this invention can improve the stacking accuracy of facial masks, reduce the defect rate, ensure product quality consistency, and improve production efficiency.

[0039] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present utility model and are not intended to limit the present utility model. Any changes or modifications to the above embodiments within the scope of the essential spirit of the present utility model will fall within the scope of the claims of the present utility model.

Claims

1. A freeze-dried facial mask stacking device, characterized in that, It includes a circular belt conveyor, a vision system, a parallel robot, an output conveyor, a collection box, a robot mounting frame, and a main controller, wherein: The circular belt conveyor line and the output conveyor line are arranged sequentially along the mask conveying direction; The collection frame is positioned below the gap between the circular belt conveyor line and the output conveyor line; The vision mechanism includes a support frame, a vision camera, a light source, a longitudinal guide rail, and two transverse guide rails. The support frame spans above the circular belt conveyor line. The two transverse guide rails are correspondingly arranged at the top of the front and rear sides of the support frame. The front and rear ends of the longitudinal guide rail are respectively connected to the two transverse guide rails via sliders. The longitudinal guide rail can move left and right along the two transverse guide rails. The longitudinal guide rail is provided with a longitudinal slider that can slide back and forth along it. The vision camera and the light source are respectively arranged on the longitudinal slider, and the shooting direction of the vision camera and the supplementary lighting direction of the light source are oriented towards the circular belt conveyor line. The parallel manipulator is mounted on the top of the manipulator mounting frame. The output end of the parallel manipulator is connected to an end effector, and the end effector is located above the circular belt conveyor and the output conveyor. The end effector consists of a connecting rod, a carbon fiber frame, and multiple Bernoulli suction cups. The upper end of the connecting rod is connected to the output end of the parallel manipulator, and the lower end of the connecting rod is connected to the carbon fiber frame. The multiple Bernoulli suction cups are respectively located at the bottom end of the carbon fiber frame. The drive motor, vision camera, light source of the circular belt conveyor, servo motor of the output conveyor, and manipulator controller of the parallel manipulator communicate with the main controller.

2. The freeze-dried facial mask stacking device according to claim 1, characterized in that, The circular belt conveyor line includes a support frame, a drive motor, a drive shaft, and several driven shafts. The drive shaft and several driven shafts are respectively longitudinally arranged at the top of the support frame. The drive motor is mounted on the support frame, and the output end of the drive motor is connected to the drive shaft. Multiple steering wheels are arranged sequentially from front to back on the drive shaft and the driven shafts. A polyurethane circular belt is tensioned on each row of steering wheels arranged along the mask conveying direction.

3. The freeze-dried facial mask stacking device according to claim 1, characterized in that, A camera mounting bracket is provided on the vertical slider, and the vision camera and the light source are respectively mounted on the camera mounting bracket.

4. The freeze-dried facial mask stacking device according to claim 1, characterized in that, The outer edge of the carbon fiber frame has six suction cup mounting platforms arranged radially, and each suction cup mounting platform has a Bernoulli suction cup at its bottom.

5. The freeze-dried facial mask stacking device according to claim 1, characterized in that, An encoder is installed on the circular belt conveyor, and the encoder communicates with the main controller.

6. The freeze-dried facial mask stacking device according to claim 1, characterized in that, The collection frame is equipped with a counting sensor, which communicates with the main controller.

Images