Automatic foreign body inspection machine for soft bags

Abstract

An automatic foreign body inspection machine for soft bags, comprising a base (100), a bag arranging mechanism and an inspection mechanism. The base (100) is provided with a bag feeding mechanism used for inputting soft bags to be inspected, a bag placing platform (102) used for temporarily placing said soft bags, and a waste rejection mechanism used for outputting inspected soft bags. The waste rejection mechanism is used for distinguishing the inspected soft bags and outputting qualified soft bags and unqualified soft bags by means of different paths, respectively. The bag arranging mechanism is arranged on the base (100) and is used for grabbing, onto the bag placing platform (102), the soft bags to be inspected that are conveyed on the bag feeding mechanism. The inspection mechanism is arranged on the base (100) and comprises a soft bag transfer assembly and a bag clamping and inspection assembly (500). The soft bag transfer assembly is used for transferring to the bag clamping and inspection assembly (500) the soft bags to be inspected on the bag placing platform (102). The bag clamping and inspection assembly (500) is used for clamping said soft bags and rotating said soft bags for inspection, and conveying the inspected soft bags to the waste rejection mechanism.

Description

Soft bag foreign body automatic inspection machine Technical Field

[0001] The present invention relates to the technical field of pharmaceutical detection, in particular to an automatic inspection machine for foreign matter in soft bags. Background Art

[0002] In the pharmaceutical industry, automatic foreign body inspection machines (commonly known as light inspection machines) are essential quality inspection equipment used to detect the presence of foreign matter in pharmaceuticals. During this process, the drug to be inspected is rotated at high speed while the packaging container is in motion. The liquid medicine continues to rotate due to inertia. High-speed sequential images are then captured. The trajectory of the foreign matter in the images is then compared to determine if there is a foreign object in the liquid medicine.

[0003] Medical infusion bags are used to store liquid medications. However, due to factors such as the production environment and process, microscopic foreign matter, such as aluminum shavings, glass shavings, rubber shavings, fibers, or insoluble drug substances, may enter the finished infusion product. During intravenous infusion, these foreign matter can enter the body along with the liquid, causing blood vessel blockage and seriously endangering the patient's life and health. Therefore, during the production of finished infusion products, each infusion bag must be inspected for foreign matter. Because soft bags are not solid in shape and are easily deformed, their deformation characteristics must be taken into account during the visual inspection process, including bag sorting, bag loading, bag rotation, and the removal of waste bags containing foreign matter.

[0004] Chinese patent application number 201710418969.4 discloses a fully automatic device for inspecting soft-bag infusions for foreign matter. During the bag-loading process, the soft bag must be parallel to the direction of motion of the conveyor belt, and there must be no deviation in the left and right positions. The soft bag is then flipped onto the hook on the synchronous belt by a flipping mechanism and then transported to the bag-spinning mechanism. During the synchronous belt conveying process, when the soft bag is transferred at the synchronous belt pulley, the conveying direction of the conveyor belt and the synchronous belt differ when the bag is fed. This causes a sharp change in speed along the direction of feeding the bag and in the direction of conveying the synchronous belt when entering the synchronous belt. Inertia causes the liquid in the soft bag to sway, making it easy for bubbles to form in the soft bag, affecting the detection results. Application number 202211547240.4 uses two parallel robots to load the bag and then transfer it to a ring-shaped detection mechanism. After inspection, the soft bags fall directly into a mesh bag for collection. Because the parallel robot is mounted in an inverted position, this requires a large, tall frame with a high center of gravity. Furthermore, for stability, the frame must be connected to the ground. However, in pharmaceutical factories, damaging the floor is highly taboo, and equipment must be fixed to the ground. Furthermore, the parallel robot's extremely high speed during bag loading can cause the liquid inside the soft bags to shake violently, creating bubbles. The light inspection machine can easily misinterpret these bubbles as foreign matter, thus rejecting qualified soft bags as waste, affecting the accuracy of the test results.

[0005] Summary of the Invention

[0006] The present invention provides an automatic foreign body inspection machine for soft bags, which aims to solve the technical problem of how to reduce bubbles in soft bags before foreign body inspection and thus improve the accuracy of foreign body detection.

[0007] According to the present invention, an automatic inspection machine for foreign objects in soft bags is provided, which includes a base, a bag sorting mechanism and a detection mechanism. The base is provided with a bag-input mechanism for inputting soft bags to be inspected, a bag-dispensing platform for temporarily placing soft bags to be inspected, and a waste rejection mechanism for outputting inspected soft bags. The waste rejection mechanism is used to distinguish the inspected soft bags and then output qualified soft bags and unqualified soft bags through different paths respectively; the bag-sorting mechanism is provided on the base, which is used to grab the soft bags to be inspected conveyed from the bag-input mechanism to the bag-dispensing platform; the detection mechanism is provided on the base, which includes a soft bag transfer component and a bag clamping detection component, the soft bag transfer component is used to transfer the soft bags to be inspected on the bag-dispensing platform to the bag clamping detection component, the bag clamping detection component is used to clamp the soft bags to be inspected and rotate the soft bags to be inspected for inspection, and transport the inspected soft bags to the waste rejection mechanism.

[0008] Furthermore, the bag-feeding mechanism is an input-end conveyor belt arranged along the length direction of the base, the bag-placing platform is arranged along the length direction of the base, the input-end conveyor belt and the bag-placing platform are arranged at intervals along the width direction of the base, and the bag-sorting mechanism includes a plurality of scara robots arranged at intervals along the length direction of the base, the scara robots are fixedly connected to the base and are located between the input-end conveyor belt and the bag-placing platform, the scara robots are used to transfer the soft bags to be inspected transported on the input-end conveyor belt to the bag-placing platform, and adjust the placement of the soft bags to be inspected so that the head of the soft bags to be inspected faces the bag clamping detection component, thereby facilitating the soft bag transfer component to grab the soft bags to be inspected located on the bag-placing platform.

[0009] Furthermore, the bag sorting mechanism also includes a number of visual detectors, which are arranged at intervals along the length direction of the base and are arranged one-to-one with the scara robot. The visual detectors are used to capture the position data of the soft bags to be inspected moving on the input end conveyor belt and transmit the position data to the scara robot. The scara robot is provided with an encoder for detecting the conveying speed of the input end conveyor belt. The scara robot grabs the soft bags to be inspected on the input end conveyor belt through the position data and places the grabbed soft bags to be inspected on the bag placement platform.

[0010] Furthermore, the soft bag transfer assembly includes a support frame fixedly connected to the base, a moving beam slidably connected to the support frame, and a grabbing assembly arranged on the moving beam for grabbing the head of the soft bag to be inspected and moving along the height direction of the base.

[0011] Furthermore, the support frame includes a translation track arranged along the width direction of the base, the movable beam is mounted on the translation track and driven by a transmission assembly to slide adjustably on the translation track, the transmission assembly includes a translation motor fixed on the support frame, a translation screw fixedly connected to the output shaft of the translation motor and a screw nut fixedly connected to the moving beam, the translation screw is threadedly connected to the screw nut and passes through the connecting beam and is rotatably connected to the support frame, and the movable beam is driven by the translation motor to slide adjustably on the translation track along the width direction of the base.

[0012] Furthermore, the grabbing assembly includes a lifting assembly arranged on the moving beam, a support plate connected to the lifting assembly, a flip motor arranged on the support plate, a flip shaft rotatably connected to the support plate, and a grabbing member fixed on the flip shaft. The lifting assembly is used to drive the support plate to move along the height direction of the base, the flip motor is used to drive the flip shaft to rotate so that the grabbing member flips around the axis of the flip shaft, and the grabbing member is used to grab the head of the soft bag to be inspected.

[0013] Furthermore, the lifting assembly includes a lifting motor fixed on the moving beam and a lifting screw connected to the output shaft of the lifting motor. The lifting screw is fixedly connected to the support plate. The lifting motor drives the lifting screw to drive the support plate to move along the height direction of the base.

[0014] Furthermore, there are multiple gripping members, which are spaced apart along the length direction of the flip shaft, and the gripping members are pneumatic grippers or electric grippers.

[0015] Furthermore, the bag clamping detection assembly includes a fixed clamping plate fixed to the base, a movable clamping plate slidably connected to the base, and a driving assembly arranged on the base and used to push the sliding clamping plate to move along the width direction of the base, wherein the fixed clamping plate is rotatably connected to a plurality of first turntables, the first turntables are arranged at intervals along the length direction of the fixed clamping plate and are driven to rotate by a rotating motor arranged on the fixed clamping plate. The movable clamping plate is rotatably connected to a plurality of second turntables arranged in a one-to-one correspondence with the first turntable, and the driving assembly pushes the movable clamping plate to clamp the soft bag to be detected between the first turntable and the second turntable, and the rotating motor drives the first turntable to rotate so that the soft bag to be detected clamped between the first turntable and the second turntable rotates, thereby detecting the rotating soft bag to be detected.

[0016] Furthermore, the waste rejection mechanism includes a qualified product conveyor belt and several waste conveyor belts. The waste conveyor belt is arranged along the width direction of the base and is located below the first turntable to receive the inspected soft bags. Several of the waste conveyor belts are arranged at intervals along the length direction of the base and are arranged one-to-one corresponding to the first turntable. The qualified product conveyor belt is set on the base and is located below the waste conveyor belt and is used to output and collect qualified soft bags. The waste conveyor belt is conveyed along the first direction to output and collect unqualified soft bags, and the waste conveyor belt is conveyed along the second direction to output qualified soft bags to the qualified product conveyor belt.

[0017] The present invention has the following beneficial effects:

[0018] In the automatic inspection machine for foreign objects in soft bags disclosed in the present invention, a bag sorting mechanism is provided to grab the soft bags on the bag feeding mechanism, and then move the soft bags to be inspected to the bag placing platform for temporary storage. Then, the soft bags to be inspected that are stationary on the bag placing platform are transferred to the bag clamping inspection component by the soft bag transferring component. The bag clamping inspection component clamps the soft bags to be inspected and then rotates the inspection soft bags for inspection. Finally, the inspected soft bags are conveyed to the waste rejection mechanism, which distinguishes the inspected soft bags and outputs qualified soft bags and unqualified soft bags through different paths. During this process, the soft bags to be tested are temporarily stored on the bag placement platform, so that the soft bags input by the bag feeding mechanism can be temporarily stored and left to stand before testing, thereby avoiding the shaking of the medicine liquid in the soft bags due to the sudden change of the soft bag conveying direction during the conveying of the soft bag transfer component, thereby avoiding the generation of bubbles in the soft bags and improving the accuracy of the test results. At the same time, the bag sorting mechanism has the characteristics of smooth transportation, and can smoothly transport and gently handle the soft bags to be tested during the process of grabbing and placing them, thereby avoiding shaking, turning and collision of the soft bags, thereby avoiding the generation of bubbles during transportation.

[0019] During specific implementation, the bag-entering mechanism transports the soft bag to be inspected into the working range of the bag-sorting mechanism, wherein the bag-sorting mechanism includes a visual detector and a scara robot. The visual detector takes a picture of the soft bag moving on the bag-entering mechanism to obtain the real-time position of the soft bag to be inspected, and the encoder provided on the scara robot can obtain the speed at which the bag-entering mechanism transports the soft bag. The scara robot can track and grasp the soft bag to be inspected according to the position data of the soft bag to be inspected and the conveying speed information of the bag-entering mechanism. After the scara robot grasps the soft bag to be inspected, it adjusts the position of the soft bag to be inspected so that the head of the soft bag to be inspected faces the bag clamping detection component. In the above process, since the scara robot has the characteristic of smooth movement when sorting materials, the material sorting process is gentle, thereby avoiding the generation of bubbles. After the SCARA machine grabs the soft bag to be inspected, it places it on the platform in the required position and direction, with the head of the soft bag exposed on the bag placement platform. The soft bag transfer component then grabs the head, slowly lifts it, and moves it horizontally to place the soft bag to be inspected into the position of the bag clamping detection component. The bag clamping detection component then clamps the soft bag to be inspected. At this time, the soft bag transfer component releases its grip on the soft bag to be inspected and moves back to its initial position to wait for the next round of soft bags to be inspected. After the bag clamping detection component clamps the soft bag to be inspected, it begins to rotate the bag and detect whether there are any foreign objects in the soft bag to be inspected. After the inspection is completed, the bag clamping detection component is released, and the inspected soft bag falls into the waste rejection mechanism. Finally, the waste rejection mechanism distinguishes the inspected soft bags and outputs qualified and unqualified soft bags through different paths.

[0020] In the above process, since a bag placing platform is provided to temporarily store the soft bags to be inspected, the soft bags input by the bag feeding mechanism can be temporarily stored and left to stand before inspection, thereby avoiding the shaking of the liquid medicine in the soft bags due to the sudden change in the conveying direction of the soft bags during the conveying process of the soft bag transfer component, thereby avoiding the generation of bubbles in the soft bags and improving the accuracy of the foreign matter detection results. At the same time, the scara robot arm is used for material sorting in the bag sorting mechanism. Since the scara robot arm has the characteristic of smooth movement, the material sorting process is gentle, thereby avoiding the generation of bubbles in the process of the scara robot arm transferring the soft bags, thereby improving the accuracy of the foreign matter detection results.

[0021] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0023] FIG1 is a schematic structural diagram of an automatic inspection machine for foreign matter in soft bags according to a preferred embodiment of the present invention;

[0024] FIG2 is a schematic structural diagram of a soft bag transfer assembly according to a preferred embodiment of the present invention;

[0025] FIG3 is a schematic structural diagram of a grabbing assembly according to a preferred embodiment of the present invention;

[0026] FIG4 is a schematic structural diagram of a bag clamping detection assembly according to a preferred embodiment of the present invention;

[0027] FIG5 is a top view of the structure of the bag clamping detection assembly according to a preferred embodiment of the present invention.

[0028] Legend: 100, base; 101, input conveyor belt; 102, bag placement platform; 103, reject conveyor belt; 104, qualified product conveyor belt; 200, scara robot; 201, visual detector; 202, light source; 203, camera; 300, support frame; 301, translation track; 302, moving beam; 303, translation motor; 304, translation lead screw; 305, lead screw nut; 400, grabbing assembly; 401, support plate; 402, flip motor; 403, flip axis; 404, grabbing part; 405, slide rail; 406, slide rod; 407, lifting motor; 408, lifting lead screw; 500, bag clamping detection assembly; 501, fixed clamping plate; 502, first turntable; 503, guide rail; 504, drive motor; 505, Movable splint; 506, second turntable; 507, rotating motor; 600, light source board. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0030] As shown in Figure 1, the present embodiment provides an automatic inspection machine for foreign objects in soft bags, including a base 100, a bag sorting mechanism and a detection mechanism. The base 100 is provided with a bag-feeding mechanism for inputting soft bags to be inspected, a bag-dispensing platform 102 for temporarily placing soft bags to be inspected, and a waste rejection mechanism for outputting inspected soft bags. The waste rejection mechanism is used to distinguish the inspected soft bags and output qualified soft bags and unqualified soft bags through different paths respectively; the bag sorting mechanism is provided on the base 100, and is used to grab the soft bags to be inspected conveyed from the bag-feeding mechanism and place them on the bag-dispensing platform 102; the detection mechanism is provided on the base 100, and includes a soft bag transfer component and a bag clamping detection component 500. The soft bag transfer component is used to transfer the soft bags to be inspected on the bag-dispensing platform 102 to the bag clamping detection component 500. The bag clamping detection component 500 is used to clamp the soft bags to be inspected and rotate the soft bags to be inspected for inspection, and transport the inspected soft bags to the waste rejection mechanism.

[0031] In this embodiment, a bag sorting mechanism is provided to grab soft bags from the bag feeding mechanism and move them to the bag placement platform 102 for temporary storage. The soft bags to be inspected, which are then transferred to the bag clamping and inspection component 500 by the bag transfer assembly, are then clamped and rotated for inspection. Finally, the inspected soft bags are conveyed to the rejection mechanism, which separates the inspected soft bags and outputs them through different paths. During this process, the bag placement platform 102 temporarily stores the soft bags to be inspected, allowing the soft bags input by the bag feeding mechanism to be temporarily stored and allowed to rest before inspection. This prevents the liquid from being shaken by the inertia of the soft bags due to a sudden change in the conveying direction of the soft bags during conveyance by the bag transfer assembly, thereby preventing the formation of bubbles within the soft bags and improving the accuracy of the inspection results. At the same time, the bag sorting mechanism has the characteristics of smooth transportation. It can transport the soft bags to be inspected smoothly and gently, thereby avoiding shaking, turning and collision of the soft bags, and thus avoiding the generation of bubbles during transportation.

[0032] During specific implementation, the bag-entering mechanism transports the soft bag to be inspected into the working range of the bag-sorting mechanism, wherein the bag-sorting mechanism includes a visual detector 201 and a scara robot 200. The visual detector 201 takes a picture of the soft bag moving on the bag-entering mechanism to obtain the real-time position of the soft bag to be inspected, and the encoder provided on the scara robot 200 can obtain the speed at which the bag-entering mechanism transports the soft bag. The scara robot 200 can track and grasp the soft bag to be inspected according to the position data of the soft bag to be inspected and the conveying speed information of the bag-entering mechanism. After the scara robot 200 grasps the soft bag to be inspected, it adjusts the position of the soft bag to be inspected so that the head of the soft bag to be inspected faces the bag clamping detection component 500. In the above process, since the scara robot 200 has the characteristic of smooth movement when sorting materials, the material sorting process is gentle, thereby avoiding the generation of bubbles. After the SCARA machine grabs the soft bag to be inspected, it places it on the platform in the required position and direction, with the head of the soft bag to be inspected exposed on the bag placement platform 102. The soft bag transfer assembly then grabs the head, slowly lifts it, and moves it horizontally to place the soft bag to be inspected into the position of the bag clamping detection assembly 500. The bag clamping detection assembly 500 then clamps the soft bag to be inspected. At this time, the soft bag transfer assembly releases its grip on the soft bag to be inspected and moves back to its initial position to wait for the next round of soft bags to be inspected. After the bag clamping detection assembly 500 clamps the soft bag to be inspected, it begins to rotate the bag and detect whether there are any foreign objects in the soft bag to be inspected. After the inspection is completed, the bag clamping detection assembly 500 is released, and the inspected soft bag falls into the waste rejection mechanism. Finally, the waste rejection mechanism distinguishes the inspected soft bags and outputs qualified and unqualified soft bags through different paths.

[0033] The scara robot 200 refers to a special type of cylindrical coordinate industrial robot, known in Chinese as the "Selective Compliance Assembly Robot Arm." The scara robot 200 has three revolute joints whose axes are parallel to each other, allowing for positioning and orientation within a plane. Another joint is a mobile joint, used to achieve movement of the endpiece perpendicular to the plane. The position of its wrist reference point is determined by the angular displacements γ1 and γ2 of the two revolute joints and the displacement Z of the mobile joint, i.e., p = f(γ1, γ2, Z). This type of robot is lightweight and responsive. It is best suited for in-plane positioning and vertical assembly operations.

[0034] In the above process, since the bag placing platform 102 is provided to temporarily store the soft bags to be inspected, the soft bags input by the bag feeding mechanism can be temporarily stored and left to stand before inspection, thereby avoiding the shaking of the liquid medicine in the soft bag due to the sudden change of the soft bag conveying direction during the conveying process of the soft bag transfer component, thereby avoiding the generation of bubbles in the soft bag and improving the accuracy of the foreign matter detection results. At the same time, the scara robot 200 is used in the bag sorting mechanism for material sorting. Since the scara robot 200 has the characteristic of smooth movement, the material sorting process is gentle, thereby avoiding the generation of bubbles in the process of the scara robot 200 transferring the soft bag, thereby improving the accuracy of the foreign matter detection results.

[0035] Furthermore, the bag feeding mechanism is an input end conveyor belt 101 arranged along the length direction of the base 100, the bag placing platform 102 is arranged along the length direction of the base 100, the input end conveyor belt 101 and the bag placing platform 102 are arranged at intervals along the width direction of the base 100, and the bag sorting mechanism includes a number of scara robots 200 arranged at intervals along the length direction of the base 100, the scara robots 200 are fixedly connected to the base 100 and are located between the input end conveyor belt 101 and the bag placing platform 102, the scara robots 200 are used to transfer the soft bags to be inspected transported on the input end conveyor belt 101 to the bag placing platform 102, and adjust the placement of the soft bags to be inspected so that the head of the soft bags to be inspected faces the bag clamping detection component 500, thereby facilitating the soft bag transfer component to grab the soft bags to be inspected located on the bag placing platform 102.

[0036] In this embodiment, the scara robot 200 has the characteristic of smooth movement, which makes the material handling process gentle, thereby avoiding the generation of bubbles in the process of the scara robot 200 transferring the soft bag, thereby improving the accuracy of the foreign matter detection results, and the scara robot 200 is small in size and easy to install. The base 100 of the scara robot 200 is deliberately installed directly on the base 100, and does not need to be fixed to the ground like a conventional robot. The pharmaceutical factory has very strict requirements on the ground and needs to ensure that the ground is flat. The scara robot 200 does not need to be fixed through the ground, thereby avoiding damage to the ground. The bag feeding mechanism is an input conveyor belt 101 arranged along the length of the base 100. The bag placement platform 102 is also arranged along the length of the base 100, and the input conveyor belt 101 and the bag placement platform 102 are arranged at intervals along the width of the base 100. The scara robot 200 is installed between the input conveyor belt 101 and the bag placement platform 102 to facilitate grabbing the soft bags to be inspected on the input conveyor belt 101 and placing them on the bag placement platform 102. There are multiple scara robots 200 that can simultaneously grab multiple soft bags to be inspected and place them on the bag placement platform 102. During this process, the scara robot 200 grabs the soft bags with a suction cup and adjusts the placement of the soft bags to be inspected so that the head of the soft bags to be inspected rotates to a specified direction. The soft bags to be inspected are then placed on the bag placement platform 102, thereby facilitating the soft bag transfer component to grab the head of the soft bags to be inspected on the bag placement platform 102.

[0037] Furthermore, the bag sorting mechanism also includes a number of visual detectors 201, which are arranged at intervals along the length direction of the base 100 and are arranged one-to-one with the scara robot 200. The visual detectors are used to capture the position data of the soft bags to be inspected moving on the input end conveyor belt 101 and transmit the position data to the scara robot 200. The scara robot 200 is provided with an encoder for detecting the conveying speed of the input end conveyor belt 101. The scara robot 200 grabs the soft bags to be inspected on the input end conveyor belt 101 through the position data and places the grabbed soft bags to be inspected on the bag placement platform 102.

[0038] In this embodiment, a visual detector 201 is fixed to one side of the input conveyor belt 101 of the base 100 via a bracket and positioned opposite the scara robot 200. The visual detector 201 is used to transmit captured position data of the soft bags to be inspected to the scara robot 200 on the corresponding side. The visual detector 201 includes a camera 203 for imaging and a light source 202 for lighting. The light source 202 clearly captures the soft bags to be inspected, confirming the placement of the bags and the orientation of the head. The scara robot 200 is equipped with an encoder for detecting the conveying speed of the input conveyor belt 101. The encoder is connected to the driving shaft of the input conveyor, avoiding the problem of interference between the encoder wheel and the soft bags to be inspected on the input conveyor belt 101, which occurs when conventional encoders use wheels in contact with the input conveyor belt 101 to drive the encoder's movement. In specific implementations, the encoder uses an encoder distributor to split the data from one encoder into multiple copies and transmit them to each robot, reducing the number of encoders.

[0039] 2 to 3 , the soft bag transfer assembly includes a support frame 300 fixedly connected to the base 100 , a movable beam 302 slidably connected to the support frame 300 , and a grabbing assembly 400 disposed on the movable beam 302 for grabbing the head of the soft bag to be inspected and moving along the height direction of the base 100 .

[0040] In this embodiment, the support frame 300 includes a plurality of support columns fixed at intervals to the base 100, a connecting beam connecting the support columns along the length of the base 100, and a translation track 301 connecting the support columns along the width of the base 100. A movable beam 302 is slidably connected to the translation track 301. The movable beam 302 is also provided with a gripping assembly 400. The gripping assembly 400 is used to grasp the head of the soft bag to be inspected and is movable along the height of the base 100. There are two gripping assemblies 400, evenly spaced along the length of the movable beam 302. In other embodiments, the number of gripping assemblies 400 can be adjusted based on the length of the support beam and the number of bag-clamping detection assemblies 500 arranged to facilitate the simultaneous grasping of more soft bags to be inspected, thereby improving inspection efficiency. During specific implementation, the moving beam 302 slides on the translation track 301, so that the grabbing assembly 400 approaches the head of the soft bag to be inspected and grabs the head of the soft bag to be inspected. Then, after the soft bag to be inspected is lifted by the grabbing assembly 400, the moving beam 302 is slid on the translation track 301 again to move the soft bag to be inspected above the bag clamping detection assembly 500. Then, the soft bag to be inspected is lowered into the bag clamping detection assembly 500 by the grabbing assembly 400, and after being clamped by the bag clamping detection assembly 500, the grabbing assembly 400 releases the soft bag to be inspected and returns along the original moving path to clamp the next round of soft bags to be inspected.

[0041] Furthermore, the support frame 300 includes a translation track 301 arranged along the width direction of the base 100, the moving beam 302 is mounted on the translation track 301 and is driven by a transmission component to slide adjustably on the translation track 301, the transmission component includes a translation motor 303 fixed on the support frame 300, a translation screw 304 fixedly connected to the output shaft of the translation motor 303 and a screw nut 305 fixedly connected to the moving beam 302, the translation screw 304 is threadedly connected to the screw nut 305 and passes through the connecting beam and the support frame 300 for rotation, and the moving beam 302 is driven by the translation motor 303 to slide adjustably on the translation track 301 along the width direction of the base 100.

[0042] In this embodiment, the movable beam 302 is driven by a screw, and the translation motor 303 is a stepper motor capable of both forward and reverse rotation. When the translation motor 303 rotates forward, the screw drives the movable beam 302 toward the bag clamping detection assembly 500. When the translation motor 303 rotates reversely, the screw drives the movable beam 302 toward the bag placement platform 102. To ensure stable movement of the movable beam 302 on the translation rail 301, transmission assemblies are provided at both ends of the movable beam 302 to propel the movable beam 302 along the width of the base 100.

[0043] Furthermore, the grabbing assembly 400 includes a lifting assembly arranged on the moving beam 302, a support plate 401 connected to the lifting assembly, a flipping motor 402 arranged on the support plate 401, a flipping shaft 403 rotatably connected to the support plate 401, and a grabbing member 404 fixed on the flipping shaft 403. The lifting assembly is used to drive the support plate 401 to move along the height direction of the base 100, the flipping motor 402 is used to drive the flipping shaft 403 to rotate so that the grabbing member 404 flips around the axis of the flipping shaft 403, and the grabbing member 404 is used to grab the head of the soft bag to be inspected.

[0044] In this embodiment, in order to ensure that the support plate 401 can be lifted and lowered smoothly, auxiliary moving components are also provided on both sides of the lifting component. The auxiliary moving component includes a slide rail 405 fixedly connected to the moving beam 302, and a slide rod 406 slidably connected to the slide rail 405, and the slide rod 406 is fixedly connected to the support plate 401. The flip motor 402 is fixed on the support plate 401, and its output end is fixedly connected to a driving gear, and the flip shaft 403 is connected to a driven gear meshing with the driving gear, so that the flip motor 402 can drive the flip shaft 403 to rotate. During implementation, the flip motor 402 drives the flip shaft 403 to rotate, so that the grabbing member 404 is flipped to a horizontal state, thereby facilitating the grabbing member 404 to align with the head of the soft bag to be inspected for grabbing. After the grabbing member 404 grabs the soft bag to be inspected, the soft bag to be inspected is lifted under the action of the lifting assembly. At the same time, the soft motor drives the flip shaft 403 to rotate, so that the grabbing member 404 is flipped to a vertical state, thereby allowing the soft bag to be inspected to be vertically lifted, thereby facilitating the soft bag to be inspected to be placed in the bag clamping detection assembly 500.

[0045] Furthermore, the lifting assembly includes a lifting motor 407 fixed to the moving beam 302 and a lifting screw 408 connected to the output shaft of the lifting motor 407. The lifting screw 408 is fixedly connected to the support plate 401. The lifting motor 407 drives the lifting screw 408, thereby driving the support plate to move along the height direction of the base 100. In this embodiment, the lifting assembly includes the lifting motor 407 and the lifting screw 408. The lifting motor 407 drives the screw to move along the height direction of the base 100, thereby achieving the lifting and lowering of the support plate 401.

[0046] Furthermore, there are multiple gripping members 404 , which are spaced apart along the length direction of the flip shaft 403 . The gripping members 404 are pneumatic grippers or electric grippers.

[0047] In this embodiment, a support plate 401 is rotatably connected to a flip shaft 403 , and five gripping members 404 are spaced apart on the flip shaft 403 . The gripping members 404 use pneumatic grippers or electric grippers to grab the head of the soft bag to be inspected.

[0048] 4 to 5 , the bag clamping detection assembly 500 includes a fixed splint 501 fixed to the base 100, a movable splint 505 slidably connected to the base 100, and a driving assembly provided on the base 100 and used to push the sliding splint to move along the width direction of the base 100. The fixed splint 501 is rotatably connected to a plurality of first turntables 502, which are arranged at intervals along the length direction of the fixed splint 501 and driven to rotate by a rotating motor 507 provided on the fixed splint 501. The movable splint 505 is rotatably connected to a plurality of second turntables 506 which are arranged in a one-to-one correspondence with the first turntables 502. The movable splint 505 is pushed by the driving assembly so that the soft bag to be detected is clamped between the first turntable 502 and the second turntable 506. The first turntable 502 is driven to rotate by the rotating motor 507 so that the soft bag to be detected clamped between the first turntable 502 and the second turntable 506 is rotated, thereby detecting the rotating soft bag to be detected.

[0049] In this embodiment, the fixed splint 501 is fixed to the base 100 by a fixed support installation, and a plurality of first turntables 502 are rotatably connected to the fixed splint 501. The movable splint 505 is slidably connected to the base 100 through a driving component. The base 100 is provided with a guide rail 503 arranged along the width direction of the base 100. The movable splint 505 is slidably connected to the guide rail 503. Specifically, the driving component includes a driving motor 504. The driving motor 504 is a linear motor. The output end of the driving motor 504 is connected to the movable splint 505. The movable clamping plate 505 is fixedly connected to drive the movable clamping plate 505 to slide on the guide rail 503, so that the movable clamping plate 505 moves away from or approaches the fixed clamping plate 501. The movable clamping plate 505 is rotatably connected to a plurality of second turntables 506 arranged in a one-to-one correspondence with the first turntable 502. When the movable clamping plate 505 approaches the fixed clamping plate 501, the first turntable 502 and the second turntable 506 clamp the soft bag to be inspected. Then, the first turntable 502 is rotated by the rotating motor 507, thereby rotating the soft bag to be inspected for inspection. In another embodiment, to ensure that the visual detector 201 can better photograph the soft bag to be inspected on the input conveyor belt 101 to obtain position data, a light source board 600 can be provided on the first turntable 502, and the light source board 600 emits light toward one side of the visual detector 201.

[0050] Furthermore, the waste rejection mechanism includes a qualified product conveyor belt 104 and several waste conveyor belts 103. The waste conveyor belt 103 is arranged along the width direction of the base 100 and is located below the first turntable 502 to receive the inspected soft bags. The several waste conveyor belts 103 are arranged at intervals along the length direction of the base 100 and are arranged one-to-one corresponding to the first turntable 502. The qualified product conveyor belt 104 is set on the base 100 and is located below the waste conveyor belt 103 and is used to output and collect qualified soft bags. The waste conveyor belt 103 is conveyed along the first direction to output and collect unqualified soft bags. The waste conveyor belt 103 is conveyed along the second direction to output qualified soft bags to the qualified product conveyor belt 104.

[0051] In this embodiment, there are multiple scrap conveyor belts 103, which are arranged corresponding to the number of first turntables 502 to receive the inspected soft bags and output them after distinguishing the soft bags. Specifically, the scrap conveyor belt 103 can change the conveying direction according to the detection structure. The scrap conveyor belt 103 is arranged along the width direction of the base 100, and multiple scrap conveyor belts 103 are arranged at intervals along the length direction of the base 100. The qualified product conveyor belt 104 is located below the scrap conveyor belt 103. When the scrap conveyor belt 103 obtains unqualified collected soft bags, the scrap conveyor belt 103 is conveyed along the first direction to output and collect the unqualified soft bags. When the scrap conveyor belt 103 obtains qualified collected soft bags, the scrap conveyor belt 103 is conveyed along the second direction, so that the qualified soft bags fall onto the qualified product conveyor belt 104 and are transported by the qualified product conveyor belt 104, thereby collecting the qualified soft bags.

[0052] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An automatic inspection machine for foreign matter in soft bags, characterized in that: include: A base (100) is provided on the base (100) with a bag-inputting mechanism for inputting soft bags to be inspected, a bag-dispensing platform (102) for temporarily placing the soft bags to be inspected, and a waste-rejecting mechanism for outputting inspected soft bags. The waste-rejecting mechanism is also used to distinguish the inspected soft bags and output qualified soft bags and unqualified soft bags through different paths respectively. A bag sorting mechanism is arranged on the base (100), and is used to gently grab the soft bags to be inspected conveyed by the bag feeding mechanism and place them on the bag placing platform (102); The detection mechanism is arranged on the base (100), and comprises a soft bag transfer component and a bag clamping detection component (500). The soft bag transfer component is used to transfer the soft bag to be detected on the bag placing platform (102) to the bag clamping detection component (500), and the bag clamping detection component (500) is used to clamp the soft bag to be detected and rotate the soft bag to be detected for detection, and transport the detected soft bag to the waste rejection mechanism.

2. The automatic inspection machine for foreign matter in soft bags according to claim 1, characterized in that: The bag feeding mechanism is an input end conveyor belt (101) arranged along the length direction of the base (100), the bag placing platform (102) is arranged along the length direction of the base (100), the input end conveyor belt (101) and the bag placing platform (102) are arranged at intervals along the width direction of the base (100), and the bag sorting mechanism includes a plurality of scara robot arms (200) arranged at intervals along the length direction of the base (100), the scara robot arms (200) are fixedly connected to the base (100) and are located between the input end conveyor belt (101) and the bag placing platform (102), the scara robot arms (200) are used to transfer the soft bag to be detected transported on the input end conveyor belt (101) to the bag placing platform (102), and adjust the placement of the soft bag to be detected so that the head of the soft bag to be detected faces the bag clamping detection component (500), thereby facilitating the soft bag transfer component to grab the soft bag to be detected located on the bag placing platform (102).

3. The automatic inspection machine for foreign matter in soft bags according to claim 2, characterized in that: The bag sorting mechanism further comprises a plurality of visual detectors (201), which are arranged at intervals along the length direction of the base (100) and are arranged one-to-one with the scara robot (200). The visual detectors are used to capture the position data of the soft bag to be inspected moving on the input end conveyor belt (101) and transmit the position data to the scara robot (200). The scara robot (200) is provided with an encoder for detecting the conveying speed of the input end conveyor belt (101). The scara robot (200) grasps the soft bag to be inspected on the input end conveyor belt (101) according to the position data and places the grasped soft bag to be inspected on the bag placing platform (102).

4. The automatic inspection machine for foreign matter in soft bags according to claim 2, characterized in that: The soft bag transfer assembly comprises a support frame (300) fixedly connected to a base (100), a moving beam (302) slidably connected to the support frame (300), and a grabbing assembly (400) arranged on the moving beam (302) for grabbing the head of the soft bag to be inspected and moving along the height direction of the base (100).

5. The automatic inspection machine for foreign matter in soft bags according to claim 4, characterized in that: The support frame (300) comprises a translation track (301) arranged along the width direction of the base (100); a moving beam (302) is mounted on the translation track (301) and is driven by a transmission assembly to slide adjustably on the translation track (301); the transmission assembly comprises a translation motor (303) fixed on the support frame (300), a translation screw (304) fixedly connected to an output shaft of the translation motor (303), and a screw nut (305) fixedly connected to the moving beam (302); the translation screw (304) is threadedly connected to the screw nut (305) and the translation screw (304) passes through the moving beam (302) and is rotatably connected to the support frame (300); the moving beam (302) is driven by the translation motor (303) to slide adjustably on the translation track (301) along the width direction of the base (100).

6. The automatic inspection machine for foreign matter in soft bags according to claim 4, characterized in that: The grabbing assembly (400) comprises a lifting assembly arranged on a moving beam (302), a support plate (401) connected to the lifting assembly, a flipping motor (402) arranged on the support plate (401), a flipping shaft (403) rotatably connected to the support plate (401), and a grabbing member (404) fixed on the flipping shaft (403); the lifting assembly is used to drive the support plate (401) to move along the height direction of the base (100); the flipping motor (402) is used to drive the flipping shaft (403) to rotate so that the grabbing member (404) flips around the axis of the flipping shaft (403); and the grabbing member (404) is used to grab the head of the soft bag to be detected.

7. The automatic inspection machine for foreign matter in soft bags according to claim 6, characterized in that: The lifting assembly comprises a lifting motor (407) fixed on the moving beam (302) and a lifting screw (408) connected to the output shaft of the lifting motor (407); the lifting screw (408) is fixedly connected to the support plate (401); the lifting motor (407) drives the lifting screw (408) to drive the support plate (401) to move along the height direction of the base (100).

8. The automatic inspection machine for foreign matter in soft bags according to claim 6, characterized in that: There are multiple gripping members (404), which are arranged at intervals along the length direction of the flip shaft (403). The gripping members (404) are pneumatic grippers or electric grippers.

9. The automatic inspection machine for foreign matter in soft bags according to claim 1, characterized in that: The bag clamping detection assembly (500) comprises a fixed clamping plate (501) fixed on the base (100), a movable clamping plate (505) slidably connected to the base (100), and a driving assembly arranged on the base (100) and used for pushing the sliding clamping plate to move along the width direction of the base (100), wherein the fixed clamping plate (501) is rotatably connected to a plurality of first rotating disks (502), the first rotating disks (502) are arranged at intervals along the length direction of the fixed clamping plate (501) and are driven by a rotating motor arranged on the fixed clamping plate (501). The machine (507) is driven to rotate, and the movable clamping plate (505) is rotatably connected to the second rotating disk (506) arranged in a one-to-one correspondence with the first rotating disk (502). The movable clamping plate (505) is pushed by the driving component to clamp the soft bag to be detected between the first rotating disk (502) and the second rotating disk (506). The first rotating disk (502) is driven to rotate by the rotating motor (507) to rotate the soft bag to be detected clamped between the first rotating disk (502) and the second rotating disk (506), thereby detecting the rotating soft bag to be detected.

10. The automatic inspection machine for foreign matter in soft bags according to claim 9, characterized in that: The reject mechanism comprises a qualified product conveyor belt (104) and a reject conveyor belt (103); the reject conveyor belt (103) is arranged along the width direction of the base (100) and is located below the first turntable (502) to receive the detected soft bags; a plurality of reject conveyor belts (103) are arranged at intervals along the length direction of the base (100) and are arranged one-to-one corresponding to the first turntable (502); the qualified product conveyor belt (104) is arranged on the base (100) and is located below the reject conveyor belt (103) and is used to output and collect qualified soft bags; the reject conveyor belt (103) is conveyed along a first direction to output and collect unqualified soft bags; and the reject conveyor belt (103) is conveyed along a second direction to output qualified soft bags to the qualified product conveyor belt (104).

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