CN103738902A - Vision positioning type filling robot system and vision positioning type filling method - Google Patents
Vision positioning type filling robot system and vision positioning type filling method Download PDFInfo
- Publication number
- CN103738902A CN103738902A CN201410010064.XA CN201410010064A CN103738902A CN 103738902 A CN103738902 A CN 103738902A CN 201410010064 A CN201410010064 A CN 201410010064A CN 103738902 A CN103738902 A CN 103738902A
- Authority
- CN
- China
- Prior art keywords
- robot
- vision
- material barrel
- freedom
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000004438 eyesight Effects 0.000 title claims abstract description 104
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000000463 material Substances 0.000 claims abstract description 81
- 238000002372 labelling Methods 0.000 claims abstract description 21
- 238000005507 spraying Methods 0.000 claims abstract description 12
- 210000004907 gland Anatomy 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 31
- 238000001514 detection method Methods 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 2
- 239000007788 liquid Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005429 filling process Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000009924 canning Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000000975 dye Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Abstract
The invention discloses a vision positioning type filling robot system and a vision positioning type filling method. The vision positioning type filling robot system comprises a conveying roller bed, a main machine body, a material barrel, a capping machine, an automatic code spraying type labeling machine, a 2D (two-dimensional) load-transferring type stacker crane and a control system, wherein the conveying roller bed is connected with the main machine body, the capping machine, the automatic code spraying type labeling machine, the 2D load-transferring type stacker crane and the control system in sequence; the material barrel is placed on the conveying roller bed; a camera is arranged at the top end of the main machine body, and a barrel rotation machine and a re-inspection scale are arranged at the bottom end of the main machine body; a vision positioning four-degree-of-freedom uncapping robot and a vision positioning four-degree-of-freedom capping robot are correspondingly arranged at the input end and the output end of the main machine body, and a vision positioning three-degree-of-freedom filling robot is mounted at the middle part of the main machine body; the control system is respectively connected with the main machine body and the capping machine. The vision positioning type filling robot system provided by the invention has the advantages of simple structure, security and reliability, and can be used for performing fully-automatic transportation, so that materials are prevented from moving, emitting, dripping and leaking. Therefore, the product can be smoothly filled, and the economical efficiency of companies can be improved.
Description
Technical field
The present invention relates to the filling field of chemical industry, relate in particular to a kind of vision level filling robot system and vision level filling method.
Background technology
At present in the fields such as petrochemical complex, medicine, dyestuff, paint, the formula of putting that filling most employing S. A. canning means of liquid towards product is artificial addressing.Although the automatic filling line that has minority enterprise to use, can realize the auto-filling of liquid towards product, but uncapping, close lid, pressing device manually carries out mostly, labeling after artificial gland completes, there are some enterprises to adopt artificial labeling, cannot realize whole automations filling.Especially in existing bulking system, due to the bung of the round charging basket of 200L Shi Tong center not, therefore material barrel is when arriving filling position by roller transport, he with respect to switch cover, fill stub bar position uncertain, filling apparatus for bung change in location material barrel cannot be realized auto-filling mostly, even bung is at the Square barrel of the 1000L at center, long-term use due to bucket, can produce distortion, cause the relative position of bung that variation has occurred, also can cause filling failure.
Development along with technology, liquid filling device is also applied and is given birth to, but there is following defect in existing installation: 1, container is had relatively high expectations, can only use standard, brand-new special container, the old container of providing for oneself for user or shape produce the container of variation cannot realize automatic location.2, to various containers, can not realize compatibility, a set of equipment can only be for a kind of container.3, container enters after metering station, the time that mechanical system need be longer to bung location, non-cutting time the long work efficiency that affects.4, due to the long-term work of equipment, equipment produces wearing and tearing and aging unavoidably, can shine into bung location inaccurate, and equipment can bump against bung or bucket face in the process declining, and the damage of such collision meeting acceleration equipment, causes damage.
Therefore, prior art needs further improve and develop.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art, the object of the present invention is to provide a kind of vision level filling robot system and vision level filling method, to realize the full-automation of filling process, improve filling accuracy rate.
Technical scheme of the present invention is as follows:
A vision level filling robot system, wherein, described vision level filling robot system comprises transmission roller channel, main body, material barrel, capping machine, automatic code-spraying labelling machine, 2D transfer formula stacker and control system; Described transmission roller channel successively same main body, capping machine, automatic code-spraying labelling machine, 2D transfer formula stacker is connected with control system; Described material barrel is placed on transmission roller channel; Described main body top is provided with pick up camera, and bottom is provided with turning barrel machine and rechecks and claims; Described main body machine input end and mouth correspondence are provided with uncap robot and vision location four-degree-of-freedom of vision location four-degree-of-freedom and close and cover robot, and centre portion is provided with vision and locates three degree of freedom proof filling robot; Described control system is connected with capping machine with main body respectively.
Described vision level filling robot system, wherein, is provided with the vision location airtight detection sucker of three degree of freedom and vision location three degree of freedom gland robot on described capping machine.
Described vision level filling robot system, wherein, is provided with man-machine interface and button in described control system.
Described vision level filling robot system, wherein, described pick up camera is provided with many groups on main body machine top.
Described vision level filling robot system, wherein, described button comprises control button and power switch button.
A vision level filling method, it comprises the following steps:
The first graphicinformation of A, camera acquisition material barrel, and by described the first image transmission to control system, described control system draws pulse count and the direction position of described material barrel according to described graphicinformation, the synchronous vision location four-degree-of-freedom robot of uncapping that described pulse count and direction position are transferred to, locates the four-degree-of-freedom robot of uncapping by described vision and completes and uncap;
B, the described material barrel after uncapping transfer to filling station, described control system is controlled vision location three degree of freedom proof filling robot and is completed filling to described material barrel, and described material barrel is transferred to the described vision location four-degree-of-freedom robot of uncapping, the four-degree-of-freedom robot of uncapping in described vision location completes the pass of filling rear described material barrel is covered;
C, the described material barrel closing after lid transfer to gland station, and vision location three degree of freedom gland robot is to described material barrel gland, and the described material barrel after gland transfers to next station by 2D transfer formula stacker after automatic code-spraying labelling machine labeling.
Described vision level filling method, wherein, what described step B was concrete comprises: the second graphicinformation of material barrel described in camera acquisition, by described the second image transmission to described control system, described control system control described vision location three degree of freedom proof filling robot arrive carry out directly over described material barrel filling.
Described vision level filling method, wherein, what described step B was concrete comprises: the 3rd graphicinformation of material barrel described in described camera acquisition, by described the 3rd image transmission, to described control system, described control system is controlled the described vision location four-degree-of-freedom robot of uncapping and is closed lid directly over arriving described material barrel.
Described vision level filling method, wherein, what described step C was concrete comprises: the 4th graphicinformation of material barrel described in camera acquisition, by described the 4th image transmission, to described control system, described control system is controlled described vision location three degree of freedom gland robot and is carried out gland directly over arriving described material barrel.
Described vision level filling method, wherein, what described step C was concrete comprises: the described material barrel after gland is moved to the airtight detection sucker of vision location three degree of freedom and carry out air-tightness detection, if air-tightness is intact, described vision location three degree of freedom gland robot compresses pilfer proof closure by described material barrel.
A kind of vision level filling robot system provided by the invention and vision level filling method, adopt multisensor group Advanced Integrity Inspection Techniques: level detection, bung detects, bucket is along detecting, position probing, stroke detection, sealing detection, Leak Detection, physical dimension detects, weight detecting, bleed pressure detects, the technological means such as anticollision detection,------auto-filling---closes and covers---the filling full-automatic transmission of gland---automatic transmission---labeling piling automatically to automatic lid closing/opening automatically can to realize automatic transmission, simultaneously respectively in filling, before filling, after filling, detect, improved filling accuracy rate, guaranteed filling carrying out smoothly, thereby reached to filling on-the-spot without running, emit, drip, leak phenomenon, fundamentally stopped the generation of explosion accident.
Accompanying drawing explanation
Fig. 1 is total figure of vision level filling robot system in the present invention;
Fig. 2 is the structural representation of main body in the present invention;
Fig. 3 is the structural representation of capping machine in the present invention;
Fig. 4 is the structural representation of control system in the present invention;
Fig. 5 is the schematic flow sheet of vision level filling method in the present invention.
The specific embodiment
The invention provides a kind of vision level filling robot system and vision level filling method, for making object of the present invention, technical scheme and effect clearer, clear and definite, below the present invention is described in more detail.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
A kind of vision level filling robot system provided by the invention, as shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 4, comprise transmission roller channel 1, main body 2, material barrel 3, capping machine 4, automatic code-spraying labelling machine 5,2D transfer formula stacker 6 and control system 17; Described transmission roller channel 1 is connected with control system 17 with main body 2, capping machine 4, automatic code-spraying labelling machine 5,2D transfer formula stacker 6 successively; Described material barrel 3 is placed on transmission roller channel 1; Described main body 2 tops are provided with pick up camera 8, and bottom is provided with turning barrel machine 9 and rechecks and claims 11; Described main body machine 2 input ends and mouth correspondence are provided with uncap robot 7 and vision location four-degree-of-freedom of vision location four-degree-of-freedom and close and cover robot 12, and centre portion is provided with vision and locates three degree of freedom proof filling robot 10; Described control system 17 is connected with capping machine 4 with main body 2 respectively.
In another preferred embodiment of the present invention, the vision location airtight detection sucker 13 of three degree of freedom and vision location three degree of freedom gland robot 14 are installed on described capping machine 4, and top is provided with pick up camera 8; In described control system 17, be provided with man-machine interface 15 and button 16; Described pick up camera 8 is provided with many groups on main body machine 2 tops; Described button 16 comprises control button and power switch button.------------filling process of gland---automatic transmission---labeling piling is full-automatic automatically, the safety that has improved filling efficiency and pouring process automatically to close lid for auto-filling for automatic lid closing/opening to have realized automatic transmission.
The present invention also provides a kind of vision level filling method, and as shown in Figure 5, it comprises the following steps:
Step 101: pick up camera 8 gathers the first graphicinformation of material barrel 3, and by described the first image transmission to control system 17, described control system 17 draws pulse count and the direction position of described material barrel 3 according to described graphicinformation, the synchronous vision location four-degree-of-freedom robot 12 of uncapping that described pulse count and direction position are transferred to, locates the four-degree-of-freedom robot 12 of uncapping by described vision and completes and uncap;
Step 102: the described material barrel 3 after uncapping transfers to filling station, described control system 17 is controlled visions location three degree of freedom proof filling robots 10 and is completed filling to described material barrel 3, and described material barrel 3 is transferred to the described vision location four-degree-of-freedom robot 12 of uncapping, the four-degree-of-freedom robot 12 of uncapping in described vision location completes the pass of filling rear described material barrel 3 is covered;
Step 103: the described material barrel 3 closing after lid transfers to gland station, 14 pairs of described material barrel 3 glands of vision location three degree of freedom gland robot, the described material barrel 3 after gland transfers to next station by 2D transfer formula stacker 6 after automatic code-spraying labelling machine labeling.
In another preferred embodiment of the present invention, what described step 102 was concrete comprises: pick up camera 8 gathers the second graphicinformation of described material barrel, described the second image transmission, to described control system 17, is carried out filling directly over the described material barrel of the described control system described vision of 17 control location three degree of freedom proof filling robot 10 arrival.
It also comprises: described pick up camera 8 gathers the 3rd graphicinformation of described material barrel 3, by described the 3rd image transmission, to described control system 17, described control system 17 is controlled the described vision location four-degree-of-freedom robot 12 of uncapping and is closed lid directly over arriving described material barrel 3.
Further, what described step 103 was concrete comprises: described pick up camera 8 gathers the 4th graphicinformation of described material barrel 3, by described the 4th image transmission, to described control system 17, described control system 17 is carried out gland directly over controlling the described material barrel 3 of described vision location three degree of freedom gland robot 14 arrival.
It also comprises: the described material barrel 3 after gland is moved to the airtight detection sucker 13 of vision location three degree of freedom and carry out air-tightness detection, if air-tightness is intact, described vision location three degree of freedom gland robot 14 compresses pilfer proof closure by described material barrel.
In order further to describe the present invention, below enumerate more detailed embodiment and describe.
Described material barrel 3 is transported to by described transmission roller channel 1 station of uncapping, described control system 17 can be sent pick up camera 8 work that signal makes described main body 2 tops, the picture signal that pick up camera 8 is taken can be passed described control system 17 back, and described control system 17 can calculate pulse count and direction position according to the relative position of the origin of coordinates and described material barrel 3 bungs.Described in these data, control system 17 can send the described vision location four-degree-of-freedom robot 7 of uncapping to, described vision location four-degree-of-freedom uncap robot 7 run to described material barrel 3 bung directly over, use device for releasing closures to complete the work of uncapping.Complete after the work of uncapping, described material barrel 3 is transported to filling station by described transmission roller channel 1.
Described control system 17 can be sent pick up camera 8 work that signal makes described main body 2 tops on main frame top, the picture signal that pick up camera 8 is taken can be passed described control system 17 back, and described control system 17 can calculate pulse count and direction position according to the relative position of the origin of coordinates and material barrel bung.Described in these data, control system 17 can send described vision location three degree of freedom proof filling robot 10 to, make described vision location three degree of freedom proof filling robot 10 run to described material barrel 3 bung directly over, make proof filling robot filling.In pouring process, described reinspection claims the weight of 11 pairs of described material barrels 3 to weigh, and gives described control system 17 data feedback, and described control system 17 is adjusted filling large a small amount of according to the data of feedback, has guaranteed filling carrying out smoothly.Complete after filling work, described material barrel 3 is transported to close by described transmission roller channel 1 and covers station.Described control system 17 can be sent pick up camera 8 work that signal makes described main body 2 tops, the picture signal that pick up camera 8 is taken can be passed described control system 17 back, and described control system 17 can calculate pulse count and direction position according to the relative position of the origin of coordinates and described material barrel 3 bungs.Described in these data, control system 17 can send described vision location four-degree-of-freedom to and closes and cover robot 12, described vision location four-degree-of-freedom is closed cover robot 12 run to described material barrel 3 bung directly over, complete pass and cover work.
Complete to close and cover after work, described material barrel 3 is transported to gland station by described transmission roller channel 1, described control system 17 can be sent pick up camera 8 work that signal makes main described main body 2 tops, the picture signal that pick up camera 8 is taken can be passed described control system 17 back, described control system 17 can calculate pulse count and direction position according to the relative position of the origin of coordinates and described material barrel 3 bungs, described in these data, control system 17 can send described vision location three degree of freedom gland robot 14 to, make described vision location three degree of freedom gland robot 14 drive the airtight detection sucker 13 of described vision location three degree of freedom run to described material barrel 3 bung directly over, described in airtight detection sucker 13 performance reviews of described vision location three degree of freedom, whether the air-tightness of material barrel 3 bungs closed lid and closed tight.Air-tightness is by after detecting, and three degree of freedom gland robot 14 work of described vision location compress pilfer proof closure.
After gland work completes, material barrel 3 is continued to be fed forward by described transmission roller channel 1, and when through automatic code-spraying labelling machine 5, millimeter paper can be attached on the bucket wall of material barrel 3 automatically, complete labeling work, then described material barrel 3 continues previously to carry, and arrives piling station, and described material barrel 3 stops automatically, piling station is provided with extremely spacing, described 2D transfer formula stacker 6 work, move to described material barrel 3 on pallet, complete whole filling work.In the operational process of equipment on-the-spot operator can by described man-machine interface 15 and described action button 16 at any time control convenience operation, stop, the work such as filling,---automatic lid closing/opening---auto-filling------the filling full-automatic transmission of gland---automatic transmission---labeling piling automatically of automatically closing lid that realized automatic transmission.
Should be understood that, application of the present invention is not limited to above-mentioned giving an example, and for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (10)
1. a vision level filling robot system, is characterized in that, described vision level filling robot system comprises transmission roller channel, main body, material barrel, capping machine, automatic code-spraying labelling machine, 2D transfer formula stacker and control system; Described transmission roller channel successively same main body, capping machine, automatic code-spraying labelling machine, 2D transfer formula stacker is connected with control system; Described material barrel is placed on transmission roller channel; Described main body top is provided with pick up camera, and bottom is provided with turning barrel machine and rechecks and claims; Described main body machine input end and mouth correspondence are provided with uncap robot and vision location four-degree-of-freedom of vision location four-degree-of-freedom and close and cover robot, and centre portion is provided with vision and locates three degree of freedom proof filling robot; Described control system is connected with capping machine with main body respectively.
2. vision level filling robot system according to claim 1, is characterized in that, the vision location airtight detection sucker of three degree of freedom and vision location three degree of freedom gland robot are installed on described capping machine.
3. vision level filling robot system according to claim 1, is characterized in that, is provided with man-machine interface and button in described control system.
4. vision level filling robot system according to claim 1, is characterized in that, described pick up camera is provided with many groups on main body machine top.
5. vision level filling robot system according to claim 1, is characterized in that, described button comprises control button and power switch button.
6. a vision level filling method, it comprises the following steps:
The first graphicinformation of A, camera acquisition material barrel, and by described the first image transmission to control system, described control system draws pulse count and the direction position of described material barrel according to described graphicinformation, the synchronous vision location four-degree-of-freedom robot of uncapping that described pulse count and direction position are transferred to, locates the four-degree-of-freedom robot of uncapping by described vision and completes and uncap;
B, the described material barrel after uncapping transfer to filling station, described control system is controlled vision location three degree of freedom proof filling robot and is completed filling to described material barrel, and described material barrel is transferred to the described vision location four-degree-of-freedom robot of uncapping, the four-degree-of-freedom robot of uncapping in described vision location completes the pass of filling rear described material barrel is covered;
C, the described material barrel closing after lid transfer to gland station, and vision location three degree of freedom gland robot is to described material barrel gland, and the described material barrel after gland transfers to next station by 2D transfer formula stacker after automatic code-spraying labelling machine labeling.
7. vision level filling method according to claim 6, it is characterized in that, what described step B was concrete comprises: the second graphicinformation of material barrel described in camera acquisition, by described the second image transmission to described control system, described control system control described vision location three degree of freedom proof filling robot arrive carry out directly over described material barrel filling.
8. vision level filling method according to claim 7, it is characterized in that, what described step B was concrete comprises: the 3rd graphicinformation of material barrel described in camera acquisition, by described the 3rd image transmission, to described control system, described control system is controlled the described vision location four-degree-of-freedom robot of uncapping and is closed lid directly over arriving described material barrel.
9. vision level filling method according to claim 6, it is characterized in that, what described step C was concrete comprises: the 4th graphicinformation of material barrel described in camera acquisition, by described the 4th image transmission, to described control system, described control system is controlled described vision location three degree of freedom gland robot and is carried out gland directly over arriving described material barrel.
10. vision level filling method according to claim 9, it is characterized in that, what described step C was concrete comprises: the described material barrel after gland is moved to the airtight detection sucker of vision location three degree of freedom and carry out air-tightness detection, if air-tightness is intact, described vision location three degree of freedom gland robot compresses pilfer proof closure by described material barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410010064.XA CN103738902B (en) | 2014-01-02 | 2014-01-02 | A kind of vision localization proof filling robot system and vision localization packaging process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410010064.XA CN103738902B (en) | 2014-01-02 | 2014-01-02 | A kind of vision localization proof filling robot system and vision localization packaging process |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103738902A true CN103738902A (en) | 2014-04-23 |
| CN103738902B CN103738902B (en) | 2017-01-04 |
Family
ID=50495997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410010064.XA Active CN103738902B (en) | 2014-01-02 | 2014-01-02 | A kind of vision localization proof filling robot system and vision localization packaging process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103738902B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192781A (en) * | 2014-08-29 | 2014-12-10 | 辽宁工业大学 | Automatic filling extraction system |
| CN104229702A (en) * | 2014-06-18 | 2014-12-24 | 电子科技大学 | Round barrel center positioning device and positioning method thereof |
| CN104331894A (en) * | 2014-11-19 | 2015-02-04 | 山东省科学院自动化研究所 | Robot unstacking method based on binocular stereoscopic vision |
| CN104833273A (en) * | 2015-04-29 | 2015-08-12 | 山东天宝化工股份有限公司 | Full-automatic riser removing, demolding, cleaning and labeling all-in-one machine for primer and working method thereof |
| CN105384127A (en) * | 2015-11-17 | 2016-03-09 | 长春北方化工灌装设备有限公司 | Cap closing and pressing all-in-one machine control method based on machine vision |
| CN105800539A (en) * | 2014-12-31 | 2016-07-27 | 长春北方化工灌装设备有限公司 | Self-centering wear-free barrel rotating device |
| CN106904442A (en) * | 2017-04-24 | 2017-06-30 | 北京佳百瑞科技有限责任公司 | Fully automatic feeding machine people's system of view-based access control model |
| CN107381468A (en) * | 2017-08-11 | 2017-11-24 | 广州达意隆包装机械股份有限公司 | A kind of automatic screw capping device of oil drum and its screw capping technique |
| CN107644692A (en) * | 2017-09-30 | 2018-01-30 | 中国核电工程有限公司 | A kind of novel locating device |
| CN108584026A (en) * | 2018-05-06 | 2018-09-28 | 长春北方化工灌装设备股份有限公司 | Mechanical just positioning and machine vision accurate positioning device and localization method |
| CN109879222A (en) * | 2019-02-25 | 2019-06-14 | 上海飒智智能科技有限公司 | A kind of pilferproof closure compresses robot system and its automatic manufacturing method |
| CN115180572A (en) * | 2022-07-25 | 2022-10-14 | 展一智能科技(东台)有限公司 | Rotary barrel conveying method for packaging barrel |
| CN117132655A (en) * | 2023-10-25 | 2023-11-28 | 江苏金旺智能科技有限公司 | Filling barrel opening position measuring method based on machine vision |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201670717U (en) * | 2010-04-20 | 2010-12-15 | 湖南信息职业技术学院 | Eccentric barrel filling device based on visual positioning |
| CN201751380U (en) * | 2010-03-22 | 2011-02-23 | 潍坊海瑞通机电设备有限公司 | Adjusting mechanism of automatic capping device for filling machine |
| CN103407953A (en) * | 2013-07-29 | 2013-11-27 | 长春北方仪器设备有限公司 | Fixed weight type stepping filling robot with machine vision and filling method thereof |
| CN203402912U (en) * | 2013-07-01 | 2014-01-22 | 长春北方仪器设备有限公司 | Visual positioning filling robot system |
-
2014
- 2014-01-02 CN CN201410010064.XA patent/CN103738902B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201751380U (en) * | 2010-03-22 | 2011-02-23 | 潍坊海瑞通机电设备有限公司 | Adjusting mechanism of automatic capping device for filling machine |
| CN201670717U (en) * | 2010-04-20 | 2010-12-15 | 湖南信息职业技术学院 | Eccentric barrel filling device based on visual positioning |
| CN203402912U (en) * | 2013-07-01 | 2014-01-22 | 长春北方仪器设备有限公司 | Visual positioning filling robot system |
| CN103407953A (en) * | 2013-07-29 | 2013-11-27 | 长春北方仪器设备有限公司 | Fixed weight type stepping filling robot with machine vision and filling method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 韩立强等: "一种基于机器视觉的液体自动灌装技术应用", 《机械与电子》 * |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104229702A (en) * | 2014-06-18 | 2014-12-24 | 电子科技大学 | Round barrel center positioning device and positioning method thereof |
| CN104229702B (en) * | 2014-06-18 | 2016-01-13 | 电子科技大学 | A kind of round tank center positioning device and localization method thereof |
| CN104192781A (en) * | 2014-08-29 | 2014-12-10 | 辽宁工业大学 | Automatic filling extraction system |
| CN104331894A (en) * | 2014-11-19 | 2015-02-04 | 山东省科学院自动化研究所 | Robot unstacking method based on binocular stereoscopic vision |
| CN105800539B (en) * | 2014-12-31 | 2018-08-03 | 长春北方化工灌装设备股份有限公司 | It is a kind of self-centering without abrasion rotating barrel device |
| CN105800539A (en) * | 2014-12-31 | 2016-07-27 | 长春北方化工灌装设备有限公司 | Self-centering wear-free barrel rotating device |
| CN104833273A (en) * | 2015-04-29 | 2015-08-12 | 山东天宝化工股份有限公司 | Full-automatic riser removing, demolding, cleaning and labeling all-in-one machine for primer and working method thereof |
| CN105384127A (en) * | 2015-11-17 | 2016-03-09 | 长春北方化工灌装设备有限公司 | Cap closing and pressing all-in-one machine control method based on machine vision |
| CN106904442A (en) * | 2017-04-24 | 2017-06-30 | 北京佳百瑞科技有限责任公司 | Fully automatic feeding machine people's system of view-based access control model |
| CN107381468A (en) * | 2017-08-11 | 2017-11-24 | 广州达意隆包装机械股份有限公司 | A kind of automatic screw capping device of oil drum and its screw capping technique |
| CN107644692A (en) * | 2017-09-30 | 2018-01-30 | 中国核电工程有限公司 | A kind of novel locating device |
| CN108584026A (en) * | 2018-05-06 | 2018-09-28 | 长春北方化工灌装设备股份有限公司 | Mechanical just positioning and machine vision accurate positioning device and localization method |
| CN108584026B (en) * | 2018-05-06 | 2021-09-21 | 长春融成智能设备制造股份有限公司 | Mechanical initial positioning and machine vision accurate positioning device and positioning method |
| CN109879222A (en) * | 2019-02-25 | 2019-06-14 | 上海飒智智能科技有限公司 | A kind of pilferproof closure compresses robot system and its automatic manufacturing method |
| CN115180572A (en) * | 2022-07-25 | 2022-10-14 | 展一智能科技(东台)有限公司 | Rotary barrel conveying method for packaging barrel |
| CN115180572B (en) * | 2022-07-25 | 2023-09-26 | 展一智能科技(东台)有限公司 | Rotary barrel conveying method of packaging barrel |
| CN117132655A (en) * | 2023-10-25 | 2023-11-28 | 江苏金旺智能科技有限公司 | Filling barrel opening position measuring method based on machine vision |
| CN117132655B (en) * | 2023-10-25 | 2024-01-26 | 江苏金旺智能科技有限公司 | Filling barrel opening position measuring method based on machine vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103738902B (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103738902A (en) | Vision positioning type filling robot system and vision positioning type filling method | |
| CN103407953B (en) | A kind of fixed heavy formula stepping proof filling robot and packaging process thereof with machine vision | |
| CN203076221U (en) | Automatic detecting and waste eliminating device | |
| CN102730212B (en) | Packaging machine capable of being applied to sampling industry | |
| CN105600511B (en) | A kind of automatic movement system of sample bucket | |
| CN201503340U (en) | Device for on-line detecting bottle seal gas tightness | |
| CN205709811U (en) | Fully-automatic paint filling system | |
| CN105347279A (en) | Cap screwing and cap pressing integrated mechanical arm and cap screwing and cap pressing method thereof | |
| CN204211467U (en) | A kind of fixed heavy formula stepping proof filling robot with machine vision | |
| CN104709481A (en) | Automatic mineral collecting and sealing device | |
| CN102730211B (en) | Automatic gland device used for collecting and processing sample product packer | |
| CN203402912U (en) | Visual positioning filling robot system | |
| CN114104400B (en) | Flexible device for automatic packaging of aerospace initiating explosive device accessories | |
| CN207738079U (en) | A kind of full-automatic polytypic feeder of plastic drum lid | |
| CN207523973U (en) | The full-automatic filling pipeline of ink | |
| CN201343183Y (en) | Device of cartoning machine capable of automatically eliminating unqualified medicine boxes in non-weighting manner | |
| CN103086303B (en) | Visual addressing seal-capping system used for steel drum and visual addressing seal-capping method thereof | |
| CN105384127A (en) | Cap closing and pressing all-in-one machine control method based on machine vision | |
| CN209650733U (en) | A kind of baling line of multi-product mixed production | |
| CN203767192U (en) | Automatic filling machine | |
| CN201209117Y (en) | Full-automatic coating filling system | |
| CN103357593B (en) | Liquid leakage detection system | |
| CN103072812B (en) | A kind of arrangement feedway for special-shaped pilfer proof closure and arrangement carrying method thereof | |
| CN215946717U (en) | Detection control system for filling machine | |
| DE60009381D1 (en) | Method and system for the transfer of objects from a manufacturing to a packaging unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 130000 Changchun hi tech Industrial Development Zone, Jilin, No. three software Road, No. 177 Applicant after: CHANGCHUN NORTHERN CHEMICAL FILLING EQUIPMENT CO., LTD. Address before: 130000 Changchun hi tech Industrial Development Zone, Jilin, No. three software Road, No. 177 Applicant before: Changchun Beifang Instrument Equipment Co., Ltd. |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: CHANGCHUN BEIFANG INSTRUMENT EQUIPMENT CO., LTD. TO: CHANGCHUN NORTHERN CHEMICAL FILLING EQUIPMENT CO., LTD. |
|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 130000 Changchun hi tech Industrial Development Zone, Jilin, No. three software Road, No. 177 Applicant after: Changchun North Chemical Filling Equipment Co., Ltd. Address before: 130000 Changchun hi tech Industrial Development Zone, Jilin, No. three software Road, No. 177 Applicant before: CHANGCHUN NORTHERN CHEMICAL FILLING EQUIPMENT CO., LTD. |
|
| COR | Change of bibliographic data | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Huo Jiandong Inventor after: Zhang Yuhang Inventor after: Wang Qingxu Inventor after: Yang Pengling Inventor after: Jiang Yourui Inventor after: Ou Xiangyin Inventor after: Sun Dechun Inventor after: Jiang Shicai Inventor after: Jiang Hongbin Inventor after: Li Guangyuan Inventor after: Kang Zhenguo Inventor after: Li Zhihui Inventor before: Huo Jiandong Inventor before: Li Zhihui Inventor before: Zhang Yuhang Inventor before: Wang Qingxu Inventor before: Yang Pengling Inventor before: Liu Zhen Inventor before: Zheng Yu Inventor before: Jiang Yourui Inventor before: Ou Xiangyin Inventor before: Sun Dechun Inventor before: Jiang Shicai Inventor before: Jiang Hongbin Inventor before: Li Guangyuan Inventor before: Kang Zhenguo Inventor before: Wang Xin |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 130000 Changchun hi tech Industrial Development Zone, Jilin, No. three software Road, No. 177 Patentee after: Changchun Rongcheng Intelligent Equipment Manufacturing Co., Ltd. Address before: 130000 Changchun hi tech Industrial Development Zone, Jilin, No. three software Road, No. 177 Patentee before: Changchun North Chemical Filling Equipment Co., Ltd. |