CN101793842A - Intelligent on-line visual detection robot for visible foreign matters in bottled liquid - Google Patents
Intelligent on-line visual detection robot for visible foreign matters in bottled liquid Download PDFInfo
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- CN101793842A CN101793842A CN 201010120252 CN201010120252A CN101793842A CN 101793842 A CN101793842 A CN 101793842A CN 201010120252 CN201010120252 CN 201010120252 CN 201010120252 A CN201010120252 A CN 201010120252A CN 101793842 A CN101793842 A CN 101793842A
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Abstract
The invention discloses an intelligent on-line visual detection robot for visible foreign matters in bottled liquid, which is characterized by comprising a bottle twisting mechanism and an intermittent transmission mechanism, wherein the bottle twisting mechanism is used for enabling a bottle body to rotate, and the intermittent transmission mechanism is used for enabling a main wheel disc to intermittently rotate; and the bottle twisting mechanism comprises a bearing seat, an arc-shaped supporting seat, a shaft, belt pulleys and a plurality of bearings. The bearing seat is installed on a rack of the intelligent on-line visual detection robot for the visible foreign matters in the bottled liquid along the upright direction; the arc-shaped supporting seat is installed on the bearing seat; the shaft is inserted into the bearing seat and connected with the bearing seat by the bearings; the number of the belt pulleys is five; a first belt pulley is connected with a bottle twisting motor by a belt; and a belt between a third belt pulley and a fourth belt pulley drives a bottle twisting belt pulley installed on a bottle clamping mechanism. The intelligent on-line visual detection robot for the visible foreign matters in the bottled liquid has the unique bottle twisting mechanism, a unique bottle rejecting mechanism and a unique intermittent rotating mechanism so as to guarantee the detection reliability of the bottle body.
Description
Technical field
The invention belongs to the industrial machine field of visual inspection, relate to on-line visual detection robot for visible foreign matters in a kind of intelligent bottling liquid, be applicable to that the visible foreign matters in transparent or semitransparent bottle (as vial, mould bottle and the soft bottle of moulding) the dress transparency liquid detects.
Background technology
At present; at the widely used liquid type product of China such as infusion solutions, injection, oral liquid, eye drops, potable water, drinks etc.; usually use the glass bottle or mould bottle and carry out can; reason such as collision when, bottle quality not good, plug influence, encapsulation owing to filtering; usually can produce some in the fluid product as insoluble visible granulars such as fiber, chips of glass, rubber bits, crystalline solid; for reaching united states drug production management standard (cGMP) and U.S. food and FAD FDA standard, need carry out visible foreign matters to each bottle product and detect.
In the production run of aforesaid liquid series products, wash, dry by the fire, operations such as filling, envelope, lettering, labeling have realized that substantially mechanization is with full-automatic, visible foreign matters detects link in the liquid only, except that only a few enterprise consumption huge fund import visible foreign matters automatic checkout equipment, domestic manufacturing enterprise more than 95% still rests on the present situation that traditional artificial visual detects, the detection means of this backwardness can't be guaranteed product quality, and its defective is mainly reflected in: (1) manual detection is higher to visual demand; (2) production efficiency is low, and everyone per hour checks about 1000-2000 bottle; (3) detect workman's eyesight difference, according to also different, no unified criterion; (4) detect the easy asthenopia of workman, be subject to the thought mood influence, cause flase drop or omission; (5) human eyesight is limited, and visual maximum visible granular is about 50-80 μ m.As seen, artificial visual detects and can't fundamentally continue to guarantee product quality, also can't adapt with modern large-scale production level.
Semi-automatic and the full-automatic testing equipment of visible foreign matters in the fluid product of domestic and international at present each R﹠D institution's research and development, its detection method is to utilize drive unit to drive bottle to quicken to rotate to setting speed, brake hard then, the sequence image of shooting bottling liquid is also analyzed, if when foreign matter is arranged, provide the rejecting signal.Visible foreign matters pick-up unit in these disclosed fluid products, they all exist following shortcoming: (1) semi-automatic pick-up unit adopts simple mechanical drive and optical amplification system, realize the semi-automation of manual detection, such pick-up unit can alleviate hand labor to a certain extent, but still by detecting workman's analysis and judgement, accuracy of detection and accuracy rate are not improved.(2) the bottle high speed rotating part in the external pick-up unit, the drive motor of bottle and bottom one to one, though the control of the bottle rotating speed of being more convenient for, cost has promoted greatly.(3) mechanical motion stationarity is poor.In the Continuous Tracking mode, owing to the high speed rotating of bottle, suddenly stop, take operation such as consecutive image, system authority is complicated and be prone to the complete machine vibrations, deviation etc., long-time running poor stability appear in tracking.Therefore, liquid type production producer presses for a kind of high-speed, high precision, supermatic on-line intelligence detection machine people to replace manual detection.
Summary of the invention
The technical matters that will solve of the present invention provides on-line visual detection robot for visible foreign matters in a kind of intelligent bottling liquid, on-line visual detection robot for visible foreign matters has unique kneading mechanism, picks bottle mechanism and batch (-type) rotating mechanism in this intelligence bottling liquid, to ensure the reliability that bottle is detected.
Technical scheme of the present invention is as follows:
On-line visual detection robot for visible foreign matters in a kind of intelligent bottling liquid, comprise the bottle travelling belt, advance a bottle star-wheel, main rotary table, the bottle-clip mechanism that is used to grasp bottle, the video camera that is used to take the bottle image, bottle-delivery star wheel, be used to reject the rejecting mechanism of substandard products bottle, it is characterized in that, also comprise the kneading mechanism and the intermittent drive mechanism that is used to make the rotation of main rotary table batch (-type) that are used to make the bottle rotation;
Described kneading mechanism comprises bearing seat, rocker bearing, axle, belt wheel and a plurality of bearing; The bearing seat vertical direction is installed on the frame of on-line visual detection robot for visible foreign matters in the intelligent bottling liquid; Rocker bearing is installed on the bearing seat; Axle is inserted in the bearing seat, and axle is connected with bearing seat by described a plurality of bearings; Described belt wheel is 5, is respectively first belt wheel, second belt wheel, the 3rd belt wheel, four-tape wheel and the 5th belt wheel; The coaxial respectively top and bottom that are arranged on axle of described first belt wheel and second belt wheel; The 3rd belt wheel and four-tape wheel are separately positioned on the two ends of rocker bearing; Also be provided with a fork on the rocker bearing; The 5th belt wheel is arranged on the fork; Second belt wheel, the 3rd belt wheel, four-tape wheel and the 5th belt wheel link by belt on same surface level; First belt wheel is connected with a stranding bottle motor by belt; The stranding bottle belt wheel of on the belt drives bottle-clip mechanism between the 3rd belt wheel and the four-tape wheel, installing.
Described intermittent drive mechanism comprises parallel shafts dispenser, spiral gear and spur gear; The inputting shaft of parallel shafts dispenser connects spiral gear, and spiral gear and main rotary table drive motor are in transmission connection; The force-output shaft of parallel shafts dispenser is by the gearing mesh of spur gear and main rotary table.
The described bottle mechanism of picking comprises rotatable cam, swing rod, the long fork of C shape, the short fork of C shape and clutch; The short fork of long fork of described C shape and C shape is installed on the swing rod; The long fork of C shape is embedded in the groove of rotatable cam by a deep groove ball bearing, makes rotatable cam drive the long fork of C shape along with periodic wobble is made in the rotation of rotatable cam; The free end of the short fork of C shape is provided with the short fork push pedal of C shape that is used to reject bottle;
Described clutch comprises the straight pin that is arranged on the long fork of C shape, is arranged on frame-type electromagnet, spacing back-up block, hook and clutch plate on the short fork of C shape; Described spacing back-up block and clutch plate are arranged on a side of close straight pin on the short fork of C shape, and the frame-type electromagnet is arranged on a side relative with clutch plate of the short fork of C shape; Spacing back-up block center is provided with the circular hole corresponding with straight pin; Clutch plate is installed on the spacing back-up block, and clutch plate is connected by torsion spring with the long fork of C shape; The short fork of the centre position of described hook and C shape is hinged; One end of hook is connected with the short fork of C shape by the compression spring that is used for hook and resets, and the other end is provided with one and is used for the projection that when frame-type electromagnet dead electricity hook lock is lived clutch plate, and the short fork push pedal employing of C shape polyvinyl resin is made.
Advantage of the present invention and effect:
Compared with prior art, beneficial effect of the present invention is embodied in:
1, be provided with intermittent drive mechanism in the Intelligent Measurement of the present invention robot, realize " rotate-stop-video camera take " action of rotation main rotary table, its compact conformation, the automaticity height has effectively improved the reliability that detects;
2, accuracy of detection height.The present invention adopts wherein two to detect station respectively by bottle detection visible black color particle foreign matter (as crystalline solid, stain, hair etc.) and white particle foreign matter (as chips of glass, fiber etc.), utilize video camera amplification imaging technology and digital image processing method, can detect the very difficult molecule of differentiating of naked eyes, and the inspection of their none omissions come out the quality of the product that guaranteed to dispatch from the factory;
3, be provided with folder bottle, kneading mechanism in the Intelligent Measurement of the present invention robot, guaranteed each bottle to be detected by reliable clamping and rotation, wherein the rotational speed of kneading mechanism can be regulated, and conveniently detects dissimilar foreign matters;
4, be provided with in the Intelligent Measurement of the present invention robot and pick a bottle mechanism, whether electric only rely on the frame-type electromagnet to get, and promptly separating of may command unacceptable product and certified products is simple and reliable for structure, long service life;
What 5, be provided with in the Intelligent Measurement of the present invention robot advances a bottle star-wheel, main rotation roulette, bottle-clip mechanism, kneading mechanism, intermittent drive mechanism, picks bottle mechanism etc. and all adopt modular design, can change according to the detected object size is different, be convenient to the maintenance and the function change of pick-up unit;
6, safety clean production.This Intelligent Measurement robot can finish product " advancing bottle-detection-unacceptable product separates " automatically, has really realized unmanned operation, effectively satisfies the online detection in the FDA standard.
Description of drawings
Fig. 1 is a structural front view of the present invention;
Fig. 2 is a structure vertical view of the present invention;
Fig. 3 is a kneading mechanism front view of the present invention;
Fig. 4 is a kneading mechanism vertical view of the present invention;
Fig. 5 is an intermittent drive mechanism front view of the present invention;
Fig. 6 is an intermittent drive mechanism vertical view of the present invention;
Fig. 7 is an electric control system schematic diagram of the present invention.
Fig. 8 is bottle mechanism's vertical view that picks of the present invention;
Fig. 9 is that the clutch plate 6 that rejecting mechanism center posture electromagnet of the present invention gets when electric moves synoptic diagram;
Figure 10 is the long fork front view of C shape in bottle mechanism that picks of the present invention;
Figure 11 is the short fork front view of C shape in bottle mechanism that picks of the present invention.
The number in the figure explanation:
1, touch control flow 2, frame 3, alarm lamp 4, advance bottle conveying belt 5, pick bottle mechanism 6, kneading mechanism 7, intermittent drive mechanism 8, detent mechanism 9, bottle-clip mechanism 10, rub bottle power source 11 with the hands, mechanism of push bottles ahead 12, bottle outlet pallet 13, stage clip 14, still 15, moving plate 16, friction ring 17, axle 18, standard V-belt 19, deep groove ball bearing 20, screw 21, gland 22, the 3rd belt wheel 23, fork 24, little axle 25, piece 26, screw 27, screw 28, bearing seat 29, axle 30, bearing 31, first belt wheel 32, hexagonal nut 33, stage clip 34, second belt wheel 35, fork 36, bearing 37, stage clip 38, screw 39, spur gear 40, flat key 41, parallel shafts dispenser 42, spiral gear 43, length 55844 in the standard V-belt, standard V-belt 45, belt wheel 46, seat 47, straight pin 50, the first station camera 51, the second station camera 52, the 3rd station camera 83, be inverted bolt 84, arc groove 55, standard V-belt 56, four-tape wheel 90-rocker bearing, 91-the 5th belt wheel.101, rotatable cam 102, deep groove ball bearing 103, bearing pin 104, the long fork 105 of C shape, hook 106, clutch plate 107, baffle plate 108, first hexagon socket cap head screw
109, straight pin 110, hexagon socket cap head screw 111, erection support 112, second hexagon socket cap head screw 113, silica gel sheath 114, eccentric pin 115, hexagonal nut 116, fork axle 117, swing rod 118, frame-type electromagnet
119, electromagnetism brandreth 120, compression spring 121, the short fork 122 of C shape, bottle-delivery star wheel 123, bottle 124, the long fork push pedal 125 of C shape, the 3rd hexagon socket cap head screw 126, second compression spring
127, the 4th hexagon socket cap head screw 128, torsion spring 129, the 5th hexagon socket cap head screw
130, push pedal bearing 131, polyoxymethylene cover 132, deep groove ball bearing 133, straight pin 134, folder bottle mechanical arm 135, fixed block 136, main detection wheel disc 137, spacing back-up block 138, torsion spring twisting resistance direction 139, the short fork push pedal of C shape.
Embodiment
Embodiment 1:
As shown in Figure 1, for improving the detection speed of fluid product, this robot configuration the pick-up unit of two groups of equivalences, on-line visual detection robot for visible foreign matters in this intelligence bottling liquid comprises frame, advances a bottle star-wheel, main rotation roulette, bottle-clip mechanism, kneading mechanism, intermittent drive mechanism, picks bottle mechanism and Flame Image Process and control system.Fluid product to be detected places on the conveying belt and connects host power supply in batches, press " main rotary table electric motor starting ", " rubbing the bottle electric motor starting with the hands ", " conveying belt electric motor starting " button of touching on the control flow, product is slowly imported mechanism of push bottles ahead, main rotary table links to each other with intermittent drive mechanism by spiral gear, realizes its geneva motion; The i bottle-clip mechanism that is installed on the main rotary table clamps bottle, and progressively enters the first stranding bottle zone, and kneading mechanism drives bottle and makes high speed rotating; After leaving this zone, locating device is located bottle, intermittent drive mechanism does not have moment of torsion output, make the main rotary table stall, the Dui Ying first station camera (light is given at the bottle back) is taken sequence image with it, whether contain visible black particle foreign matter (as crystalline solid, stain, hair etc.) in the tracer liquid, image processing system is by analytical calculation, whether sends action that control signal control picks bottle mechanism; Continuous rotation along with main rotary table, bottle-clip mechanism enters second and rubs bottle zone and locating area with the hands, the Dui Ying second station camera (bottle body bottom is given light) is taken sequence image with it, whether contain visible white particle foreign matter (as chips of glass, fiber etc.) in the tracer liquid, the 3rd follow-up station camera (light is given at the bottle back) detects bottle outward appearance and can amount, and bottle signal that picks that wherein arbitrary camera sends has determined that all this product is disallowable.
Describedly advance bottle star-wheel, realize that the bottle that will send on the conveying belt imports in the bottle-clip mechanism that is installed on the described main rotation roulette in order, conveying belt then is fixed on the described frame.
Described main rotation roulette is provided with the bottle-clip mechanism that grasps bottle, to be used for bottle clamping and release;
Described bottle-clip mechanism mainly is made up of jig arm axle, pivoted arm, torsion spring, swing arm and quiet arm.
Described kneading mechanism mainly is made up of standard V-belt, bearing, fork, belt wheel etc.The standard V-belt is tensioned between each belt wheel, wherein press in the groove of bottle-clip mechanism block set on one side, after rubbing the bottle electric motor starting with the hands, power reaches kneading mechanism by the V-belt, drive belt wheel and standard V-belt and make high speed rotating, because the big friction force of V-belt and block set groove makes bottle-clip mechanism do high speed rotary motion equally.
Described intermittent drive mechanism mainly is made up of parallel shafts dispenser, spiral gear, spur gear etc.After starting the main rotary table motor, power is passed to the inputting shaft of parallel shafts dispenser by a pair of intermeshing spiral gear, and wherein the driving angle of this dispenser is 220 °, and the force-output shaft of dispenser is connected with main rotary table by spur gear.Because output at intermittence of dispenser has guaranteed the rotation at intermittence of main rotary table, in the intermittence stopped process, camera is taken continuously and is right against current bottle sequence image, makes things convenient for subsequent image processing and control.
The described bottle mechanism of picking mainly is made up of swing rod, the long fork of C shape, the short fork of C shape, frame-type electromagnet, push pedal etc.
The master controller of described Flame Image Process and control system is host computer (being specially an industrial computer) and PLC processor.
Each described pick-up unit is provided with 3 high-speed cameras.
On-line visual detection robot for visible foreign matters in a kind of intelligent bottling liquid, comprise the bottle travelling belt, advance a bottle star-wheel, main rotary table, the bottle-clip mechanism that is used to grasp bottle, the video camera that is used to take the bottle image, bottle-delivery star wheel, be used to reject the rejecting mechanism of substandard products bottle, it is characterized in that, also comprise the kneading mechanism and the intermittent drive mechanism that is used to make the rotation of main rotary table batch (-type) that are used to make the bottle rotation;
Described kneading mechanism comprises bearing seat, rocker bearing, axle, belt wheel and a plurality of bearing; The bearing seat vertical direction is installed on the frame of on-line visual detection robot for visible foreign matters in the intelligent bottling liquid; Rocker bearing is installed on the bearing seat; Axle is inserted in the bearing seat, and axle is connected with bearing seat by described a plurality of bearings; Described belt wheel is 5, is respectively first belt wheel, second belt wheel, the 3rd belt wheel, four-tape wheel and the 5th belt wheel; The coaxial respectively top and bottom that are arranged on axle of described first belt wheel and second belt wheel; The 3rd belt wheel and four-tape wheel are separately positioned on the two ends of rocker bearing; Also be provided with a fork on the rocker bearing; The 5th belt wheel is arranged on the fork; Second belt wheel, the 3rd belt wheel, four-tape wheel and the 5th belt wheel link by belt on same surface level; First belt wheel is connected with a stranding bottle motor by belt; The stranding bottle belt wheel of on the belt drives bottle-clip mechanism between the 3rd belt wheel and the four-tape wheel, installing.
Described intermittent drive mechanism comprises parallel shafts dispenser, spiral gear and spur gear; The inputting shaft of parallel shafts dispenser connects spiral gear, and spiral gear and main rotary table drive motor are in transmission connection; The force-output shaft of parallel shafts dispenser is by the gearing mesh of spur gear and main rotary table.
The described bottle mechanism of picking comprises rotatable cam, swing rod, the long fork of C shape, the short fork of C shape and clutch; The short fork of long fork of described C shape and C shape is installed on the swing rod; The long fork of C shape is embedded in the groove of rotatable cam by a deep groove ball bearing, makes rotatable cam drive the long fork of C shape along with periodic wobble is made in the rotation of rotatable cam; The free end of the short fork of C shape is provided with the short fork push pedal of C shape that is used to reject bottle;
Described clutch comprises the straight pin that is arranged on the long fork of C shape, is arranged on frame-type electromagnet, spacing back-up block, hook and clutch plate on the short fork of C shape; Described spacing back-up block and clutch plate are arranged on a side of close straight pin on the short fork of C shape, and the frame-type electromagnet is arranged on a side relative with clutch plate of the short fork of C shape; Spacing back-up block center is provided with the circular hole corresponding with straight pin; Clutch plate is installed on the spacing back-up block, and clutch plate is connected by torsion spring with the long fork of C shape; The short fork of the centre position of described hook and C shape is hinged; One end of hook is connected with the short fork of C shape by the compression spring that is used for hook and resets, and the other end is provided with one and is used for the projection that when frame-type electromagnet dead electricity hook lock is lived clutch plate, and the short fork push pedal employing of C shape polyvinyl resin is made.
As depicted in figs. 1 and 2, on-line visual detection robot for visible foreign matters in the intelligent bottling liquid of the present invention, main part place a sealing in ray machine frame 2.It mainly by touch control flow 1, every ray machine frame 2, alarm lamp 3, advance bottle conveying belt 4, pick bottle mechanism 5, kneading mechanism 6, intermittent drive mechanism 7, detent mechanism 8, bottle-clip mechanism 9, rub a bottle power source 10, mechanism of push bottles ahead 11, bottle outlet pallet 12 etc. with the hands and form.In addition, for whether having black foreign matter, white foreign matter and bottle outward appearance and can amount in the tracer liquid, this visual detection robot is provided with the first station camera 50, the second station camera 51 and the 3rd station camera 52 respectively.Be to improve the detection speed of fluid product, this robot configuration the pick-up unit of two groups of equivalences, as two parts up and down of horizontal center line among Fig. 2.
In batches fluid product to be detected is vertically placed on on bottle conveying belt 4, and connects host power supply.Press " main rotary table electric motor starting ", " rubbing the bottle electric motor starting with the hands ", " advancing a bottle conveying belt electric motor starting " button of touching on the control flow 1 successively, fluid product is slowly imported bottle star-wheel 11, main rotary table links to each other with intermittent drive mechanism 7 by spiral gear, realizes its geneva motion; The i bottle-clip mechanism 9 that is installed on the main rotary table clamps bottle, and along with the rotation of main rotary table progressively enters the first stranding bottle zone, kneading mechanism 6 is made high speed rotating with the bottle drive under the driving of rubbing bottle power source 10 with the hands; After leaving this zone, detent mechanism 8 is located bottle, intermittent drive mechanism 7 no moment of torsion outputs, make the main rotary table stall, the Dui Ying first station camera 50 (light is given at the bottle back) is taken sequence image with it, whether contain visible black particle foreign matter (as crystalline solid, stain, hair etc.) in the tracer liquid, image processing system is by analytical calculation, whether sends action that control signal control picks bottle mechanism 5; Continuous rotation along with main rotary table, bottle-clip mechanism 9 enters second and rubs bottle zone and locating area with the hands, the Dui Ying second station camera 51 (bottle body bottom is given light) is taken sequence image with it, whether contain visible white particle foreign matter (as chips of glass, fiber etc.) in the tracer liquid, the 3rd follow-up station camera 52 (light is given at the bottle back) detects bottle outward appearance and can amount, and bottle signal that picks that wherein arbitrary camera sends has all determined this product with disallowable.
Fig. 3 and Fig. 4 are respectively the front view and the vertical view of kneading mechanism.Mainly form by standard V-belt 18, bearing 36, fork 23, fork 35, belt wheel 22,31,34 etc.The output of rubbing bottle power source 10 with the hands is connected to belt wheel 31 by 55 tensionings of standard V-belt, and by flat key transfer a torque to the axle 29, this axle is supported and the location by three deep groove ball bearings 30 of upper, middle and lower and bearing seat 28, be fixed on the frame 2 with hexagon socket cap head screw 27 simultaneously, and bearing 36 is bolted on the frame 2 by two inversion bolts 53, and piece 25 is fixed on the bearing 36 by screw 26.Axle 17 connects one with stage clip 13, still 14, moving plate 15 and friction ring 16 and is installed on the fork 23.The countersunk head Screw is fixed in gland 21 on the 3rd belt wheel 22, and deep groove ball bearings 19 are installed in the 3rd belt wheel 22 inside, and are installed on the bearing 36 by screw 20.Standard V-belt 18 is wound on the 3rd belt wheel 22, second belt wheel 34, the belt wheel that is installed on bearing 36 right sides and the fork 35 between the 5th belt wheel of installing 91, wherein the elastic force that the unidirectional pulling force of the 18 pairs of forks 35 in V-belt can be by stage clip 33 balance in addition.The output torque of rubbing bottle power source 10 with the hands is passed to belt wheel 34 by standard V-belt 55, first belt wheel 31, flat key and axle 29, make V-belt 18 rotate at the 3rd belt wheel 22, second belt wheel 34,56 on four-tape wheel, and V-belt 18 is embedded in the groove at folder bottle mechanical arm 9 tops simultaneously, i.e. rubbing folder bottle mechanical arm and medicine bottle to be detected.As shown in Figure 4,3 folder bottle mechanical arms are all rotated by V-belt 18 rubbings.When folder bottle mechanical arm along with the rotation main rotary table rotates, and when breaking away from the rubbing of standard V-belt 18, promptly enter a folder bottle mechanical arm braking link.Stage clip 37 1 ends are fixed in piece 25, and the other end is installed on fork 23, and the elastic force of stage clip 37 can make fork 23 along little axle 24 rotations, and friction ring 16 presses the directed piece on folder bottle mechanical arm.
Fig. 5 and Fig. 6 are respectively the front view and the vertical view of intermittent drive mechanism.Mainly form by parallel shafts dispenser 41, spiral gear 42, spur gear 39 and standard V-belt 43,44 etc.The inputting shaft of parallel shafts dispenser 41 is whenever finished 360 ° of rotations, and force-output shaft is just finished a dividing movement (static and transposition) simultaneously.After starting the main rotary table motor, power is passed to spiral gear 42 by represent spiral gear partly as dotted line among Fig. 5, and is passed to the inputting shaft of parallel shafts dispenser 41 by flat key, and wherein the driving angle of this dispenser is 220 °.Belt wheel 45 fixes with spiral gear 42 by bolt, straight pin 47, seat 46 simultaneously.Standard V-belt 43,44 is connected on the detent mechanism belt wheel.The force-output shaft of parallel shafts dispenser 41 is connected with spur gear 39 by flat key 40, and spur gear is meshing with each other and is passed to main rotary table.Because output at intermittence of parallel shafts dispenser has guaranteed the rotation at intermittence of main rotary table, in the intermittence stopped process, camera is taken continuously and is right against current bottle sequence image, makes things convenient for subsequent image processing and control.
Fig. 7 is system electrical control principle figure.The high-speed camera of three stations is sent to the sequential image data of obtaining in the PC buffer memory by image pick-up card, and handles in real time, judges in the image that obtains whether contain visible foreign matter.PLC is responsible for the control action of each motor, controller in the system among the figure.
Concrete testing process of the present invention is as follows:
The present invention utilizes bottle-clip mechanism 9 to clamp bottle, be accompanied by the rotation main rotary table and enter the first stranding bottle zone, be that bottle is made high speed rotary motion by rubbing along the axis, after leaving this zone, detent mechanism 9 is located bottle, intermittent drive mechanism 7 no moment of torsion outputs simultaneously, make the main rotary table stall, the Dui Ying first station camera 50 (light is given at the bottle back) is taken sequence image with it, whether contain visible black particle foreign matter in the tracer liquid (as crystalline solid, stain, hair etc.), image processing system is by analytical calculation, whether sends action that control signal control picks bottle mechanism 5; Continuous rotation along with main rotary table, bottle-clip mechanism 9 enters second and rubs bottle zone and locating area with the hands, the Dui Ying second station camera 51 (bottle body bottom is given light) is taken sequence image with it, whether contain visible white particle foreign matter (as chips of glass, fiber etc.) in the tracer liquid, the 3rd follow-up station camera 52 (light is given at the bottle back) detects bottle outward appearance and can amount, and bottle signal that picks that wherein arbitrary camera sends has determined that all this product is disallowable.
As Fig. 8-11, pick bottle mechanism mainly by the short fork of swing rod, the long fork of C shape, C shape, frame-type electromagnet, the long fork push pedal of C shape, etc. form.As shown in Figure 8, the left-hand end of the long fork of C shape is provided with bearing pin, one deep groove ball bearing is sleeved on the bearing pin, and be embedded in the groove of rotatable cam, the right-hand end of the long fork of C shape is pinned on the swing rod by axle and hexagonal socket nut simultaneously, and the long fork push pedal 24 of C shape is installed on the long fork of C shape lower end by the push pedal bearing, because the long fork of C shape is always along with rotatable cam is swung, so the main wheel disc that detects is whenever walked one bottle, the long fork of C shape is just played once.[illustrate: need to be provided with push pedal on the long fork, it is the long fork push pedal of C shape, because what the long fork push pedal of C shape hit is certified products, the long fork push pedal of C shape is after the short fork push pedal of C shape, after short fork is with bad part eject, long fork is played once empty again, and therefore 2 push pedals can not cause and interfere with each other] by screw straight pin is installed on the long fork of C shape, the frame-type electromagnet is installed on the short fork of C shape of an other side corresponding with straight pin by erection support.When system powers on, the frame-type electromagnet not electric, hook is under the elastic force of compression spring and overcome the twisting resistance of torsion spring, with the straight pin that the clutch plate hook is installed on the long fork of C shape, makes the short fork of C shape can not follow the long fork of C shape and does to reject and move.When the graphics processing unit of online visual detection robot detects corresponding bottle when being unacceptable product, system control unit sends the rejecting signal, the frame-type electromagnet gets, hook from nearest the latter half of electromagnet [adopt steel matter] under the electromagnetic force effect, overcome the elastic force of compression spring, be rotated counterclockwise, discharge clutch plate, and clutch plate is under the twisting resistance of torsion spring, dialled from the short fork of C shape, the circular hole that the spacing back-up block center on the clutch plate is provided with cooperates with the straight pin on the long fork of C shape, makes straight pin be inserted in the circular hole, make the short fork of C shape do to reject action with the long fork of C shape, the bottle that the short fork of C shape this moment is rejected is unacceptable product.After substandard products were disallowable, the frame-type electromagnet is dead electricity at once, and the straight pin of installing on clutch plate and the long fork of C shape is removed matching relationship, and waited for the arrival of next time rejecting signal.Go further one bottle when the main wheel disc that detects, the bottle of the long fork of corresponding C shape this moment is picked out, but the long fork of C shape is still done and picked out action.Swing rod is installed an eccentric pin, and it is provided with silica gel sheath, and the short fork of C shape is played the position limitation protection effect, and amplitude of fluctuation is excessive in order to avoid it makes progress.Second compression spring is installed between swing rod and the long fork of C shape, helps the active homing after the long fork of C shape is done the rejecting action.
When electric, clutch plate moves synoptic diagram to Fig. 9 for the frame-type electromagnet gets.Torsion spring one end is wound on the hexagon socket cap head screw, and is tightened against on the long fork of C shape, and an other end is pressed on the hexagon socket cap head screw that is screwed on the clutch plate, and the twisting resistance direction of torsion spring is.The frame-type electromagnet get electric after, hook is rotated counterclockwise because the electromagnetic force effect, discharge clutch plate, it is under the twisting resistance of torsion spring, and the circular hole that spacing back-up block center is provided with cooperates with the straight pin on the long fork of C shape, makes it do to reject action with the long fork of C shape.
Claims (3)
1. on-line visual detection robot for visible foreign matters in the intelligent bottling liquid, comprise the bottle travelling belt, advance a bottle star-wheel, main rotary table, the bottle-clip mechanism that is used to grasp bottle, the video camera that is used to take the bottle image, bottle-delivery star wheel, be used to reject the rejecting mechanism of substandard products bottle, it is characterized in that, also comprise the kneading mechanism and the intermittent drive mechanism that is used to make the rotation of main rotary table batch (-type) that are used to make the bottle rotation;
Described kneading mechanism comprises bearing seat, rocker bearing, axle, belt wheel and a plurality of bearing; The bearing seat vertical direction is installed on the frame of on-line visual detection robot for visible foreign matters in the intelligent bottling liquid; Rocker bearing is installed on the bearing seat; Axle is inserted in the bearing seat, and axle is connected with bearing seat by described a plurality of bearings; Described belt wheel is 5, is respectively first belt wheel, second belt wheel, the 3rd belt wheel, four-tape wheel and the 5th belt wheel; The coaxial respectively top and bottom that are arranged on axle of described first belt wheel and second belt wheel; The 3rd belt wheel and four-tape wheel are separately positioned on the two ends of rocker bearing; Also be provided with a fork on the rocker bearing; The 5th belt wheel is arranged on the fork; Second belt wheel, the 3rd belt wheel, four-tape wheel and the 5th belt wheel link by belt on same surface level; First belt wheel is connected with a stranding bottle motor by belt; The stranding bottle belt wheel of on the belt drives bottle-clip mechanism between the 3rd belt wheel and the four-tape wheel, installing.
2. on-line visual detection robot for visible foreign matters in the intelligent bottling liquid according to claim 1 is characterized in that described intermittent drive mechanism comprises parallel shafts dispenser, spiral gear and spur gear; The inputting shaft of parallel shafts dispenser connects spiral gear, and spiral gear and main rotary table drive motor are in transmission connection; The force-output shaft of parallel shafts dispenser is by the gearing mesh of spur gear and main rotary table.
3. on-line visual detection robot for visible foreign matters in the intelligent bottling liquid according to claim 2 is characterized in that, the described bottle mechanism of picking comprises rotatable cam, swing rod, the long fork of C shape, the short fork of C shape and clutch; The short fork of long fork of described C shape and C shape is installed on the swing rod; The long fork of C shape is embedded in the groove of rotatable cam by a deep groove ball bearing, makes rotatable cam drive the long fork of C shape along with periodic wobble is made in the rotation of rotatable cam; The free end of the short fork of C shape is provided with the short fork push pedal of C shape that is used to reject bottle;
Described clutch comprises the straight pin that is arranged on the long fork of C shape, is arranged on frame-type electromagnet, spacing back-up block, hook and clutch plate on the short fork of C shape; Described spacing back-up block and clutch plate are arranged on a side of close straight pin on the short fork of C shape, and the frame-type electromagnet is arranged on a side relative with clutch plate of the short fork of C shape; Spacing back-up block center is provided with the circular hole corresponding with straight pin; Clutch plate is installed on the spacing back-up block, and clutch plate is connected by torsion spring with the long fork of C shape; The short fork of the centre position of described hook and C shape is hinged; One end of hook is connected with the short fork of C shape by the compression spring that is used for hook and resets, and the other end is provided with one and is used for the projection that when frame-type electromagnet dead electricity hook lock is lived clutch plate.
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| CN201010120252XA CN101793842B (en) | 2010-03-09 | 2010-03-09 | Intelligent on-line visual detection robot for visible foreign matters in bottled liquid |
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| CN201010120252XA CN101793842B (en) | 2010-03-09 | 2010-03-09 | Intelligent on-line visual detection robot for visible foreign matters in bottled liquid |
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| CN101852743A (en) * | 2010-06-07 | 2010-10-06 | 湖南大学 | Bottle-rubbing device used for visual inspection of visible foreign substances in bottled liquid |
| CN103115925A (en) * | 2011-11-17 | 2013-05-22 | 中国科学院深圳先进技术研究院 | Coaxial adjusting method |
| CN103879753A (en) * | 2014-02-20 | 2014-06-25 | 江苏通达动力科技股份有限公司 | Automatic turning device and using method thereof |
| CN104698006A (en) * | 2015-02-11 | 2015-06-10 | 湖南正中制药机械有限公司 | Machine for automatically checking foreign bodies in soft bag preparation drugs |
| CN105424725A (en) * | 2015-12-31 | 2016-03-23 | 苏州日和科技有限公司 | Full-automatic optical detection robot for display screen |
| CN105527295A (en) * | 2015-12-31 | 2016-04-27 | 苏州日和科技有限公司 | Display full-automatic optical inspection robot |
| CN106442559A (en) * | 2016-10-29 | 2017-02-22 | 孙丽君 | Liquid medicine foreign matter detection device |
| CN108562592A (en) * | 2018-04-26 | 2018-09-21 | 浙江鹤群智能装备股份有限公司 | A kind of bottled medicinal liquor Impurity Detection System |
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| CN101852743A (en) * | 2010-06-07 | 2010-10-06 | 湖南大学 | Bottle-rubbing device used for visual inspection of visible foreign substances in bottled liquid |
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| CN105424725B (en) * | 2015-12-31 | 2018-11-30 | 苏州日和科技有限公司 | A kind of display screen automatic optical detector device people |
| CN106442559A (en) * | 2016-10-29 | 2017-02-22 | 孙丽君 | Liquid medicine foreign matter detection device |
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| CN108562592A (en) * | 2018-04-26 | 2018-09-21 | 浙江鹤群智能装备股份有限公司 | A kind of bottled medicinal liquor Impurity Detection System |
| CN108656090A (en) * | 2018-07-11 | 2018-10-16 | 南通理工学院 | A kind of mechanical arm assembly and the control unit for controlling the mechanical arm assembly |
| CN109967383A (en) * | 2019-03-27 | 2019-07-05 | 德玛克（长兴）注塑系统有限公司 | A kind of bottle embryo defect online detection instrument |
| CN109967383B (en) * | 2019-03-27 | 2021-04-27 | 德玛克（长兴）注塑系统有限公司 | Bottle embryo defect on-line measuring equipment |
| CN111307826A (en) * | 2020-03-03 | 2020-06-19 | 桂林电子科技大学 | Online visual detection device and method for foreign matters in powder in bottle |
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