CN107758294B - Container orientation device - Google Patents

Abstract

The invention provides a container orientation device which is used for sequentially orienting a plurality of containers which are driven by a conveying chain to move in the extending direction of the conveying chain, so that the peripheries of the containers face the same preset direction, and the containers are arranged in a row along the extending direction of the conveying chain. The container orientation device can accurately adjust the peripheral orientation of each container moving on line to a preset direction by adopting the cooperation of the first camera set and the first rotating mechanism and the cooperation of the second camera set and the second rotating mechanism, thereby realizing the automatic orientation of the container moving on line and improving the orientation accuracy and the orientation speed of the container.

Description

Container orientation device

Technical Field

The invention relates to the technical field of package detection, in particular to a container orientation device.

Background

The exterior of the hard packaging container used for various beverages and wines in the market is stuck with labels with different shapes and various colors. Some containers have body and lid orientation requirements to facilitate the application of different labels in the orientation. In order to meet the orientation of the container during the capping or labelling process, it is necessary to orient the container orientation.

Currently, the traditional processing mode of the container orientation is mostly manual alignment or manipulator operation. The labor intensity of manual operation is high and the efficiency is low; the cost of manipulator operation is too great and the accuracy is difficult to guarantee.

Disclosure of Invention

In view of the above, it is an object of the present invention to provide a container orientation device that overcomes or at least partially solves the above-mentioned problems.

It is a further object of the present invention to increase the efficiency of the orientation of the container towards the orientation and to increase the accuracy of the orientation of the container towards the orientation.

The invention provides a container orientation device, which is used for sequentially orienting a plurality of containers driven by a conveying chain to move in the extending direction of the conveying chain, so that the peripheries of the containers face the same preset direction, and the containers are arranged in a row along the extending direction of the conveying chain, and comprises:

the first camera set is positioned at the upstream of the conveying chain and is configured to photograph the container so as to acquire first image information of the container;

an image processing unit configured to determine a current orientation of the container based on the first image information, and determine a rotation angle to be adjusted by the container based on a predetermined direction and the current orientation of the container;

A first rotation mechanism, disposed downstream of the first camera set, configured to perform a first rotation on the container so as to rotate the container by the above-described rotation angle around its own axis;

the second camera set is arranged at the downstream of the first rotating mechanism and is configured to photograph the container after the first rotation so as to acquire second image information of the container; the image processing unit is further configured to determine an orientation of the container after the first rotation according to the second image information, and compare the orientation of the container after the first rotation with a predetermined direction;

and a second rotation mechanism provided downstream of the second camera unit and configured to rotate the container again when the orientation of the container after the first rotation exceeds an error range in a predetermined direction, thereby adjusting the orientation of the container to the predetermined direction.

Optionally, the orientation apparatus further comprises:

the first clamping mechanism is arranged at the upstream of the first rotating mechanism and has the same moving direction as the conveying chain way;

the first clamping mechanism is configured to clamp the container so as to avoid changing the orientation of the container; the first camera set is configured to take a picture of the container held by the first holding mechanism to obtain first image information;

The first gripping mechanism is further configured to grip the container as it enters the first rotation mechanism to avoid a change in orientation as the container enters the first rotation mechanism;

the first gripper mechanism is further configured to disengage the container after the container enters the first rotation mechanism to facilitate rotation of the container by the first rotation mechanism.

Optionally, the orientation apparatus further comprises:

the space adjusting mechanism is arranged at the upstream of the first clamping mechanism and is the same as the moving direction and the moving speed of the conveying chain, and the space adjusting mechanism is configured to equally space apart a plurality of containers; and is also provided with

The first rotation mechanism is further configured to rotate a container located at the midstream when an upstream container of the adjacent three containers does not enter the first rotation mechanism and a downstream container has been disengaged from the first rotation mechanism, such that the first rotation mechanism rotates a single container;

the second rotation mechanism is further configured to rotate a container located at the midstream when an upstream container of the adjacent three containers does not enter the second rotation mechanism and a downstream container has been disengaged from the second rotation mechanism, such that the second rotation mechanism rotates a single container.

Optionally, the orientation apparatus further comprises:

The second clamping mechanism is arranged at the downstream of the first rotating mechanism and the upstream of the second rotating mechanism and has the same moving direction as the conveying chain;

the second clamping mechanism is configured to clamp the container after the container is rotated by the first rotating mechanism before the container is disengaged from the first rotating mechanism, so as to avoid a change in orientation of the container when the container is disengaged from the first rotating mechanism; the second camera set is configured to photograph the container clamped by the second clamping mechanism to acquire second image information of the container;

the second gripping mechanism is further configured to grip the container as it enters the second rotation mechanism and disengage the container after it enters the second rotation mechanism.

Optionally, the orientation apparatus further comprises:

the third clamping mechanism is arranged at the downstream of the second rotating mechanism, is configured to clamp the container before the container is separated from the second rotating mechanism and has the same moving direction as the conveying chain; to avoid a change in orientation of the container when disengaged from the second rotation mechanism.

Optionally, the orientation apparatus further comprises:

a third camera unit configured to take a picture of the container held by the third holding mechanism to obtain third image information of the container; the image processing unit is further configured to judge whether the container peripheral orientation exceeds an error range of a predetermined direction according to the third image information;

And the rejecting unit is arranged at the downstream of the third clamping mechanism and is configured to move the container out of the conveying chain when the image processing unit judges that the orientation of the container exceeds the error range of the preset direction.

Optionally, the first clamping mechanism, the second clamping mechanism and the third clamping mechanism each comprise two first belt pulley sets positioned at two sides of the moving direction of the container, and each first belt pulley set comprises a first driving wheel, at least one first driven wheel and a first belt wound on the first driving wheel and the at least one first driven wheel;

the two first belts grip the container and are controlled to move at the same speed as the container moves between the two first belts in the two first belt sets.

Optionally, the apparatus further comprises:

a photoelectric sensor disposed downstream of the second rotation mechanism and configured to detect a distance between two adjacent containers;

the third clamping mechanism is further configured to adjust a conveying speed of the third clamping mechanism to correct the space between the upstream container and the downstream container when the space between two adjacent containers is smaller than or larger than the preset space and the downstream container of the two adjacent containers is separated from the third clamping mechanism.

Optionally, the positions of the downstream ends of the two first pulley groups in the third clamping mechanism relative to the width direction of the conveying chain are controlled and adjustable so as to adjust the positions of the containers in the width direction of the conveying chain.

Optionally, the first rotating mechanism and the second rotating mechanism each comprise two second belt wheel sets positioned at two sides of the moving direction of the container, each second belt wheel set comprises a second driving wheel, a motor for driving the second driving wheel to rotate, at least one second driven wheel and a second belt wound on the second driving wheel and the at least one second driven wheel;

the two second belts in the first rotating mechanism are configured to be driven by corresponding motors to move at a first preset differential speed respectively, so that the container is driven by the two second belts in the first rotating mechanism to rotate around the axis of the container by the rotation angle;

the two second belts in the second rotating mechanism are configured to be driven by the corresponding motors to move at a second preset differential speed when the direction of the container after the first rotation exceeds the error range of the preset direction, so that the container is driven by the two second belts in the second rotating mechanism to rotate around the axis of the container to the preset direction.

Optionally, the clamping section of each second belt in the first rotating mechanism comprises a first stationary section, a first rotating section and a second stationary section connected in sequence in the direction of movement of the container;

the two second belts are driven by the corresponding motors to move at the same speed while the container is moving between and clamped by the two first plateaus;

when the container moves to the first rotating section, the two second belts are driven by the corresponding motors to move at a first preset differential speed, so that the container rotates around the axis of the container by the rotating angle;

when the container moves to the second stable section, the two second belts are driven by the corresponding motors to move at the same speed so that the container is smoothly separated from the second belts.

The clamping section of each second belt in the second rotating mechanism comprises a third stable section, a second rotating section and a fourth stable section which are sequentially connected in the moving direction of the container;

when the container moves between and is clamped by the two third stable sections, the two second belts are driven by the corresponding motors to move at the same speed;

when the container moves to the second rotating section, the two second belts are driven by the corresponding motors to move at a second preset differential speed, so that the container rotates to a preset direction around the axis of the container;

When the container moves to the fourth stabilizing section, the two second belts are driven by the corresponding motors to move at the same speed, so that the container is smoothly separated from the second belts.

Optionally, the length of the gripping section of each second belt is less than 2 times the spacing between two adjacent containers to ensure that when a container is moved to the first or second rotation section, a container adjacent to and upstream of the container has not entered the first or third plateau and a container adjacent to and downstream of the container has escaped the second or fourth plateau.

Optionally, the orientation apparatus further comprises:

at least one first light source configured to illuminate the container held by the first holding mechanism so that the first camera set obtains clear first image information;

at least one second light source configured to illuminate the container held by the second holding mechanism so that the second camera group obtains clear second image information;

at least one third light source configured to illuminate the container held by the third holding mechanism so that the third camera unit obtains clear third image information.

According to the container orientation device, the orientation of each container moving on line can be accurately adjusted to be in a preset direction by adopting the matching of the first camera set and the first rotating mechanism and the matching of the second camera set and the second rotating mechanism, so that the automatic orientation of the container moving on line is realized, and the orientation accuracy and the orientation speed of the container are improved.

Furthermore, in the container orientation device, the container moving on the conveying chain is clamped by the first clamping mechanism, so that the orientation of the container before entering the first rotating mechanism is kept unchanged, the first camera group can conveniently acquire the first image information, and accurate reference data is provided for the rotation of the container. And when the container enters the first rotating mechanism, the first clamping mechanism still clamps the container, so that the container is prevented from shaking or autorotation when entering the first rotating mechanism, and the orientation accuracy of the container is improved. After the container is rotated by the first rotating mechanism, before the container is separated from the first rotating mechanism, the second clamping mechanism clamps the container, so that the container is prevented from shaking or autorotation when the container is separated from the first rotating mechanism, and the orientation accuracy of the container is further improved.

Further, in the container orientation device, the clamping section of the second belt in the first rotating mechanism comprises a first stable section, a first rotating section and a second stable section which are sequentially connected in the moving direction of the container, when the container is conveyed between the first stable sections of the two second belts by the conveying chain, the moving speeds of the two second belts are the same, the container is stably transited between the two second belts, and shaking or autorotation of the container is avoided; when the container moves to the first rotating section, the two second belts generate a first preset differential speed, so that the container rotates around the axis of the container by a rotation angle determined before the container rotates around the axis of the container; after rotation of the container, the container is moved to a second stabilizing section, and the speed of the two second belts is adjusted to be the same, so that the container is smoothly separated from the second belts. Through the cooperation of orientation device and conveying chain way, realized the online orientation of container to solved the inaccurate problem of orientation because of the online removal of container, greatly improved the accuracy of container orientation.

The above, as well as additional objectives, advantages, and features of the present invention will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present invention when read in conjunction with the accompanying drawings.

Drawings

Some specific embodiments of the invention will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:

FIG. 1 is a schematic view of an electrical component of a container orientation fixture according to one embodiment of the invention;

FIG. 2 is a schematic block diagram of a container orientation system according to one embodiment of the invention; and

fig. 3 is a schematic block diagram of a container orientation system according to another embodiment of the present invention.

Detailed Description

The exterior of the hard packaging container used for various beverages and wines in the market is attached with labels with different shapes and various colors. The pattern of the label needs to correspond to the corresponding position of the container, and the positions of the containers corresponding to different patterns are also different, for example, the container is provided with a bulge corresponding to a certain pattern of the label, and when the label is sleeved, the bulge on the container needs to correspond to a certain pattern of the label, so that the label can be exactly matched with the shape of the container. This requires that the orientation of the container be adjusted to a proper orientation based on the shape of the container and the design and shape of the label prior to labeling, in order to facilitate labeling.

Because the direction of each container when being conveyed on the conveying chain is uncertain, the containers on the production line are in continuous movement, and the containers can shake in the movement process, so that the containers are difficult to always keep in a preset direction, and the accuracy of the follow-up label sleeving is affected.

To this end, the present embodiment provides a container-facing orientation apparatus 100, and fig. 1 is a schematic view of electrical components of the container-facing orientation apparatus 100 according to one embodiment of the present invention.

The container orientation device 100 of this embodiment is used for sequentially orienting a plurality of containers that are driven by a conveyor chain to move in the extending direction of the conveyor chain, so that the peripheries of the plurality of containers face the same predetermined direction, and the plurality of containers are arranged in a row in the extending direction of the conveyor chain and continuously move on the conveyor chain.

Referring to fig. 1, the container orientation apparatus 100 of the present embodiment includes a first camera group 160, an image processing unit 170, a first rotation mechanism 130, a second camera group 161, a second rotation mechanism 131, and a control unit 150.

The first camera set 160 is located upstream of the conveying chain, and is configured to take a picture of the container, acquire first image information of the container, and send the first image information to the image processing unit 170, and the image processing unit 170 determines a current orientation of the container according to the first image information, and determines an angle of rotation required for adjusting the container to a predetermined direction according to the current orientation of the container and the predetermined direction. The first camera set 160 includes one or more cameras, and the number and location of the cameras included in the first camera set 160 is determined based on the location of the marker points that the outer surface of the container may use to determine the orientation of the container or the profile shape that may be used to distinguish the orientation of the container.

The first rotation mechanism 130 is disposed downstream of the conveyor, and when the container moves to the first rotation mechanism 130, the first rotation mechanism 130 rotates the container for the first time, so that the container rotates around its own axis by the above-described determined rotation angle.

However, the container often cannot be rotated by the above-described determined rotation angle with great accuracy after the first rotation, and the orientation of the container is not adjusted to the above-described predetermined direction. For this purpose, the present embodiment further adjusts the orientation of the container, specifically, the second camera set 161 is disposed downstream of the first rotation mechanism 130 and configured to take a photograph of the container after the first rotation to obtain the second image information of the container; the image processing unit 170 is further configured to determine an orientation of the container after the first rotation based on the second image information, and compare the orientation of the container after the first rotation with a predetermined direction. The second set of cameras 161 includes one or more cameras, and the number and location of the cameras included in the second set of cameras 161 is determined based on the location of the marker points at which the outer surface of the container is available for determining the orientation of the container or the profile shape that is available for distinguishing the orientation of the container.

When the orientation of the container after the first rotation exceeds the error range of the predetermined direction, the container is rotated again by the second rotation mechanism 131, and the second rotation mechanism 131 is disposed downstream of the second camera group 161. The image processing unit 170 determines the orientation of the container after one rotation according to the second image information, and determines the angle at which the container needs to be rotated a second time according to the orientation of the container after one rotation and the predetermined direction, and when the container passes through the second rotation mechanism 131, the second rotation mechanism 131 rotates the container a second time, thereby precisely adjusting the orientation of the container to the predetermined direction.

To improve the orientation accuracy of the container, the orientation apparatus of this embodiment further includes a first clamping mechanism 120. The first gripper mechanism 120 is disposed upstream of the first rotating mechanism 130, and the moving speed of the first gripper mechanism 120 is the same as the moving direction and moving speed of the conveying chain path. When the container moves to the first clamping mechanism 120 along the conveying chain, the first clamping mechanism 120 clamps the container, so that the container stably moves, and the container is prevented from shaking. The first clamping mechanism 120 may simultaneously clamp one or more containers.

The first camera set 160 is configured to take a picture of the container held by the first holding mechanism 120, and obtain first image information of the container in a stable operation state. Before determining the arrangement position of the first camera set 160, a mark point or a rotation orientation point is first selected according to the characteristics of the container, and is denoted as a mark point, and the arrangement position of the first camera set 160 may be determined according to the shape of the container and the selected mark point. For example, if the selected mark point is on the top of the container, the first camera set 160 may be disposed on the top of the container, take an image of the top of the container, and if the selected mark point is on the side of the container, the camera set may be disposed on the side of the container, facilitating subsequent determination of the angle of rotation required to adjust the container to a predetermined orientation.

The first camera set 160 may be an industrial camera set, where the first camera set 160 captures images of a container one at a time, and when the container moves to the capturing position, the first camera set 160 is controlled to capture images of the container, and obtain first image information of the container. In this embodiment, the selected mark point is at the top of the container, and the first camera set 160 includes a camera that is positioned at the top of the container and captures an image of the top of the container to determine the initial orientation of the container.

The first camera set 160 transmits the first image information of the container it captures to the image processing unit 170. The image processing unit 170 processes the container image using an image algorithm, and determines the orientation of the container, which is noted as the initial orientation of the container, from the first image information of the container. The image processing unit 170 determines a rotation angle of the container to be adjusted according to the initial orientation of the container and the set predetermined direction of the container. The predetermined direction of the container is predetermined according to the corresponding position of the label and the container and the selected mark point.

The first rotating mechanism 130 is disposed downstream of the first gripping mechanism 120, and the first rotating mechanism 130 is configured to rotate the container entering thereto such that the container is rotated about its own axis by the above-determined rotation angle.

When the container moves to the first rotating mechanism 130, the first clamping mechanism 120 still clamps the container, so that the container is prevented from shaking when moving to the first rotating mechanism 130 or changing the initial direction of the container due to autorotation caused by collision with the first rotating mechanism 130, and the accuracy of the container orientation is prevented from being influenced. After the container enters the first rotating mechanism 130, the container is separated from the first clamping mechanism 120, and the container is rotated for the first time by the first rotating mechanism 130.

The orientation apparatus of this embodiment further includes a second clamping mechanism 121 disposed downstream of the first rotation mechanism 130 and upstream of the second rotation mechanism 131 and in the same direction as the movement direction of the conveying chain. After the container is rotated by the first rotating mechanism 130, the container is clamped by the second clamping mechanism 121 between the first rotating mechanism 130 and the first rotating mechanism 130, so that the change of the orientation of the container when the container is separated from the first rotating mechanism 130 is avoided, and the stability of the movement of the container is maintained.

The second camera group 161 photographs the container held by the second holding mechanism 121, and acquires second image information of the container. In this embodiment, the selected mark point is on the top of the container, and the second camera set 161 includes a camera, which is located on the top of the container, and captures an image of the top of the container, so as to determine the orientation of the container after one rotation.

When the container enters the second rotating mechanism 131, the second clamping mechanism 121 still clamps the container, ensures that the container stably enters the second rotating mechanism 131, avoids the change of the orientation when the container enters the second rotating mechanism 131, and after the container stably enters the second rotating mechanism 131, the second clamping mechanism 121 is separated from the container, and the second rotating mechanism 131 rotates the container for the second time so that the container rotates to be oriented to a preset orientation. Therefore, the accurate orientation of the container is realized, and the subsequent label sleeving operation of the container is facilitated.

The first clamping mechanism 120, the first rotating mechanism 130, the second clamping mechanism 121 and the second rotating mechanism 131 may be mechanical arms or other structures, and through the cooperation of the first clamping mechanism 120 and the first rotating mechanism 130 and the cooperation of the second clamping mechanism 121 and the second rotating mechanism 131, the precise orientation of the container in the continuous container conveying process is realized.

Since the initial direction of each container on the conveyor may be different, the first rotation mechanism 130 rotates one container at a time, ensuring that the container is rotated to a determined angle according to the initial direction of each container. To this end, the first rotation mechanism 130 is configured to rotate the container located at the midstream when the container located at the upstream of the adjacent three containers does not enter the first rotation mechanism 130 and the container located at the downstream has been separated from the first rotation mechanism 130, so that the first rotation mechanism 130 rotates the single container at a time, thereby individually adjusting the outer circumferential orientation of each container in sequence.

Likewise, when an upstream container of the adjacent three containers does not enter the second rotation mechanism 131 and a downstream container has been separated from the second rotation mechanism 131, the second rotation mechanism 131 rotates a midstream container such that the second rotation mechanism 131 rotates a single container, thereby sequentially adjusting the outer circumferential orientation of each container to a predetermined direction.

To avoid too small a space between adjacent containers, the rotation of the containers by the first rotation mechanism 130 and the second rotation mechanism 131 is affected. The orienting device may also include a spacing adjustment mechanism 110. The spacing adjustment mechanism 110 may be a spacing adjustment screw, and the spacing adjustment mechanism 110 is disposed upstream of the first clamping mechanism 120 for equally spacing apart a plurality of containers on the conveying chain.

In particular, for a regular-shaped container having substantially the same diameter from top to bottom, the spacing adjustment mechanism 110 may include a spacing adjustment screw that contacts a substantially central portion of the container. For irregularly shaped containers, referring to fig. 3, the spacing adjustment mechanism 110 may include two spacing adjustment screws, one of which 111b is in contact with the upper portion of the container and the other 111a is in contact with the lower portion of the container to maintain stability of movement of the container.

To further improve the accuracy of the orientation of the container 101, the orientation apparatus further comprises a third clamping mechanism 122. The third clamping mechanism 122 is disposed downstream of the second rotating mechanism 131, and is configured to clamp the container 101 before the container is separated from the second rotating mechanism 131 after the container is adjusted to a predetermined direction, so as to prevent the container 101 from shaking to change the orientation of the container when the container is separated from the second rotating mechanism 131, and to stabilize the outer circumferential orientation of the container to the predetermined direction. The third gripper mechanism 122 moves in the same direction as the conveyor chain.

The orientation apparatus further comprises a third camera set 162 and a culling unit 180. The third camera unit 162 is configured to take a photograph of the container held by the third holding mechanism 122, and obtain third image information of the container. The third camera set 162 may be an industrial camera set, where the third camera set 162 captures an image of a container each time, and when the container moves to the capturing position, the third camera set 162 is controlled to capture a photograph of the container, and obtain third image information of the container. The third camera set 162 may include one or more cameras, and the number and location of the cameras included in the third camera set 162 may be determined based on the location of the marker points at which the outer surface of the container may be used to determine the orientation of the container or the profile shape that may be used to distinguish the orientation of the container. In this embodiment, the selected mark point is on the top of the container, and the third camera unit 162 includes a camera, which is located on the top of the container, and captures an image of the top of the container, and acquires third image information of the container, so as to determine the orientation of the container after the second rotation.

The image processing unit 170 is further configured to determine whether the outer circumferential orientation of the container is a predetermined direction based on the third image information. When it is determined that the outer peripheral direction of the container is not oriented in the predetermined direction, this determination result is sent to the rejecting unit 180.

The reject unit 180 is provided downstream of the third gripper mechanism 122, and removes the container from the conveying chain when the image processing unit 170 determines that the outer periphery of the container is not oriented in the predetermined direction. Here, the fact that the outer circumferential direction of the container is not oriented in the predetermined direction means that the outer circumferential direction of the container is oriented beyond the error range of the predetermined direction, and when the outer circumferential direction of the container exceeds the error range of the predetermined direction, the image processing unit 170 determines that the outer circumferential direction of the container is oriented in the predetermined direction, and the reject unit 180 rejects the error.

To facilitate obtaining a clear image of the container, the orientation apparatus may further include at least one first light source 140, where the first light source 140 is configured to illuminate the container held by the first holding mechanism 120, and the first light source 140 is turned on when the first camera set 160 photographs the container, so that the first camera set 160 obtains clear first image information.

The position and number of the first light sources 140 may be determined according to the arrangement position of the first camera set 160 and the position of the mark point of the container. If the mark point is at the top of the container, the first light source 140 may be a ring-shaped light source, and disposed at the upper portion of the container, and the first camera set 160 is disposed at the upper portion of the first light source 140 and on the central axis of the first light source 140. If the mark point is on the side of the container, the first light source 140 and the first camera set 160 may be disposed on the side of the container.

The orientation device may further comprise at least one second light source (not shown) for illuminating the container held by the second holding mechanism 121, the second light source being illuminated when the second camera set 161 photographs the container, so that the second camera set 161 obtains clear second image information.

Likewise, the position of the second light source may also be determined according to the arrangement position of the second camera set 161 and the position of the mark point of the container. The second light source may be a ring-shaped light source, may be disposed at an upper portion of the container, and the second camera set 161 is located at an upper portion of the second light source and on a central axis of the second light source. If the mark point is on the side of the container, the second light source and second camera set 161 may be disposed on the side of the container.

The orientation apparatus may further include at least one third light source 142, where the third light source 142 is configured to illuminate the container held by the third holding mechanism 122, and the third light source 142 is turned on when the third camera 162 photographs the container, so that the third camera 162 obtains clear third image information. Likewise, in the present embodiment, the third light source 142 is an annular light source, and is disposed at the top of the container. The operation of the container towards the various components of the orienting device 100 is controlled by a control unit 150.

In this embodiment, the first clamping mechanism 120, the second clamping mechanism 121 and the third clamping mechanism 122 may each include two first pulley sets located at both sides of the moving direction of the container. Each first belt pulley group comprises a first driving wheel, at least one first driven wheel and a first belt wound on the first driving wheel and the at least one first driven wheel.

Fig. 2 is a schematic structural view of a container-facing orientation apparatus 100 according to an embodiment of the present invention, and fig. 3 is a schematic structural view of a container-facing orientation apparatus 100 according to another embodiment of the present invention.

Referring to fig. 2 and 3, the first, second and third clamping mechanisms 120, 121 and 122 clamp the container in a position near the lower portion, and the first and second rotating mechanisms 130 and 131 clamp the container in a position near the upper portion so that the container rotates. For example, the first rotation mechanism 130 and the second rotation mechanism 131 grip the neck of the container so that the container rotates.

The first clamping mechanism 120 comprises two first pulley sets 120a, the second clamping mechanism 121 comprises two first pulley sets 121a, and the third clamping mechanism 122 comprises two first pulley sets 122a.

In one embodiment, each first pulley set 120a includes a motor, and the first driving wheel in each first pulley set 120a is driven by the corresponding motor.

In another embodiment, the orienting device may further comprise two sets of drive belt wheels 123, each set comprising a drive wheel, a driven wheel, and a belt wound around the drive wheel and the driven wheel. The two driving belt pulley sets 123 are respectively driven to move by two corresponding first belt pulley sets 121a of the second clamping mechanism 121, and each of the two first belt pulley sets 121a of the second clamping mechanism 121 comprises a motor 124. Under the driving of the motor 124, the two first belt pulley sets 121a of the second clamping mechanism 121 move at the same speed, and the movement of the two first belt pulley sets 121a drives the movement of the two driving belt pulley sets 123 at the same time, and the two driving belt pulley sets 123 drive the two first belt pulley sets 120a of the first clamping mechanism 120 to move at the same speed.

The container is gripped by the two first belts in the two first pulley sets 120a of the first gripping mechanism 120 as it moves between the two first belts. The positions of the two first belt clamping containers can be adjusted according to practical situations, for example, the positions of the two first belt clamping containers are positioned below. The two first belts are driven by the corresponding motors to move in opposite directions and at the same speed as the moving speed of the conveyor chain, keep the container stably moving along the conveyor chain, and when the container moves to a position corresponding to the first light source 140, the first light source 140 and the first camera set 160 are controlled by the control unit 150 to photograph the container, and acquire first image information of the container.

The container moves to the first rotation mechanism 130 and is rotated by the first rotation mechanism 130 for the first time. After the first rotation of the container, the container is held by the two first belts of the second holding mechanism 121, which can hold the container near the lower position, and the two first belts of the second holding mechanism 121 are driven by the corresponding motors in opposite directions and move at the same speed as the moving speed of the conveying chain, so that the container is stably separated from the first rotating mechanism 130.

The container is sent into the second rotary mechanism 131 under the clamping of the two first belts of the second clamping mechanism 121, after the container enters the second rotary mechanism 131, the two first belts of the second clamping mechanism 121 are separated from the container, and the container is rotated for the second time by the second rotary mechanism 131, so that the orientation of the container is adjusted to be in a preset direction, and the subsequent labeling operation is facilitated.

After the container is rotated by the second rotating mechanism 131, when the container is not separated from the second rotating mechanism 131, the container is clamped by the two first belts of the third clamping mechanism 122, and the container is separated from the second rotating mechanism 131 by the two first belts of the third clamping mechanism 122.

In this embodiment, the first rotating mechanism 130 and the second rotating mechanism 131 each include two second belt pulley sets located at both sides of the moving direction of the container, each of which includes a second driving pulley, a motor for driving the second driving pulley to rotate, at least one second driven pulley, and a second belt wound around the second driving pulley and the at least one second driven pulley.

As shown in fig. 2 and 3, the first rotation mechanism 130 includes two second pulley groups 130a, and the second rotation mechanism 131 includes two second pulley groups 131a.

The two second belts in the first rotation mechanism 130 are respectively driven by corresponding motors to move at a first preset differential speed, so that the container is driven by the two second belts of the first rotation mechanism 130 to rotate around the axis of the container by a determined angle. The first preset differential speed of the two second belts of the first rotation mechanism 130 is determined according to the first image information and the predetermined direction in which the container needs to be adjusted.

After the container is driven by the first rotation mechanism 130 to rotate for the first time, the second camera set 161 photographs the container to obtain second image information, and the image processing unit 170 determines the direction of the container after the first rotation according to the second image information, if the direction of the container after the first rotation exceeds the error range of the predetermined direction, the container still needs to rotate through the second rotation mechanism 131.

The two second belts of the second rotating mechanism 131 are driven by corresponding motors to move at a second preset differential speed, so as to drive the container to rotate around the axis of the container to a preset direction. The second preset differential speed is determined based on the orientation of the container after the first rotation and the predetermined direction of the container, which are determined based on the second image information.

The clamping section of each second belt in the first rotation mechanism 130 may include a first stationary section, a first rotating section, and a second stationary section that are sequentially connected in the container moving direction. The two second belts are driven by the corresponding motors to move at the same speed as the moving speed of the conveyor chain when the container moves between and is held by the two first plateaus, whereby the container can be stably transited between the two second belts so that the container is kept stably in the initial direction before being rotated by the first rotating mechanism 130.

When the container moves to the first rotating section, the two second belts are driven by the corresponding motors to move at a first preset differential speed, so that the container rotates around the axis of the container by the determined rotating angle.

When the container moves to the second stable section, the moving speed of the two second belts is adjusted to be the same as the moving speed of the conveying chain, and the two first belts in the second clamping mechanism 121 clamp the container, so that the container is smoothly separated from the second belts and continues to move forward.

When the container moves to the second stable section, the second camera set 161 and the second light source 141 are controlled to capture images of the container at this time, and second image information of the container is acquired. If the image processing unit 170 determines that the orientation of the container exceeds the error range of the predetermined direction based on the second image information, the container continues to move to the second rotating mechanism 131.

Likewise, the gripping section of each of the second belts in the second rotating mechanism 131 includes a third plateau section, a second rotating section, and a fourth plateau section connected in sequence in the container moving direction, and when the container moves between and is gripped by the two third plateau sections, the two second belts are driven by the corresponding motors to move at the same speed as the conveyor chain moving speed, whereby the container can be stably transited between the two second belts so that the container is kept stably in the initial direction before being rotated by the second rotating mechanism 131.

When the container moves to the second rotating section, the two second belts are driven by the corresponding motors to move at a second preset differential speed, so that the container rotates to a preset direction around the axis of the container.

When the container moves to the fourth stable section, the moving speed of the two second belts is adjusted to be the same as the moving speed of the conveying chain, and the container is clamped by the two first belts in the third clamping mechanism 122, and is smoothly separated from the second belts to move forward.

When the container moves to the fourth stable segment, the third camera unit 162 and the third light source 142 are controlled to capture images of the container at the moment, and acquire third image information of the container. If the image processing unit 170 determines that the container is oriented beyond the error range of the predetermined direction according to the third image information, the container is moved out of the conveying chain by the rejecting unit 180. If the container is oriented within the error range of the preset direction, the container moves to the next station of the conveying chain to carry out label sleeving operation.

Wherein the length of the two first belts of the third clamping mechanism can meet the requirement of conveying the container to the next station.

In particular, the orienting device further comprises a photosensor, arranged downstream of the second rotation mechanism 131. In the process that the containers are separated from the second rotating mechanism 131 and clamped by the third clamping mechanism 122 to move forward, the photoelectric sensor judges the distance between two adjacent containers, and if the distance between two adjacent containers is larger or smaller than the preset distance at this time, and after the containers positioned at the downstream in the two adjacent containers are separated from the third clamping mechanism 122, the moving speeds of the two first belts of the third clamping mechanism 122 are adjusted, and the distance between the container positioned at the upstream and the container positioned at the downstream is corrected. Specifically, if the distance between two adjacent containers is greater than the preset distance, after the downstream container is separated from the third clamping mechanism 122, the moving speed of the two first belts of the third clamping mechanism 122 is adjusted to be greater than the speed of the conveying chain, so that the moving speed of the upstream container is greater than the moving speed of the downstream container, thereby reducing the distance between the two containers, and adjusting the distance between the two containers to the preset distance. Similarly, if the distance between two adjacent containers is smaller than the preset distance, after the downstream container is separated from the third clamping mechanism 122, the moving speed of the two first belts of the third clamping mechanism 122 is adjusted to be smaller than the speed of the conveying chain, so that the moving speed of the upstream container is smaller than the moving speed of the downstream container, the distance between the two containers is increased, and the distance between the two containers is adjusted to be the preset distance.

The preset distance is determined according to the working requirements of stations on the conveying chain channel, which are positioned at the downstream of the orientation device. For example, if the label sleeving machine is arranged downstream of the orientation device, if the label sleeving machine requires that the distance between two adjacent containers must be kept at a certain distance, the distance between two adjacent containers detected by the photoelectric sensor when the containers are clamped by the third clamping mechanism 122 and conveyed forward is smaller than the distance required by the label sleeving machine, and if the containers positioned downstream are separated from the third clamping mechanism 122, the moving speed of the two first belts of the third clamping mechanism 122 needs to be adjusted to be smaller than the moving speed of the conveying chain, so that the distance between two adjacent containers is increased.

In particular, the central axes of the two first belts in the first clamping mechanism 120, the central axes of the two first belts in the second clamping mechanism 121, the central axes of the two second belts in the first rotating mechanism 130 and the central axes of the two second belts in the second rotating mechanism 131 are aligned, so that the moving track of the container is aligned when the container passes through the first clamping mechanism 120, the first rotating mechanism 130, the second clamping mechanism 121 and the second rotating mechanism 131 in sequence, thereby ensuring that the container is deflected by friction with one of the belts due to deflection of the container on the central axes of the two belts in the downstream mechanism when the container enters the downstream mechanism from the upstream mechanism, and improving the positioning accuracy of the container.

The central axes of the two first belts of the third clamping mechanism 122 are positioned on the same line with the central axes of the two second belts of the second rotating mechanism 131 at the upstream part section, thereby ensuring that the container does not deflect when entering the third clamping mechanism 122 and improving the orientation accuracy of the container orientation.

In particular, the positions of the downstream ends of the two first pulley groups 122a in the third clamping mechanism 122 with respect to the conveying chain width direction are controlled and adjustable. Thereby, the position of the container clamped by the third clamping mechanism 122 in the width direction of the conveying chain can be changed when the container is about to be separated from the third clamping mechanism 122, so that the container can adapt to the operation requirement of the next station. The positions of the downstream ends of the two first pulley groups 122a in the third clamping mechanism 122 relative to the width direction of the conveying chain are required to be determined according to the station requirements downstream of the orientation device, for example, a label sleeving machine is arranged downstream of the orientation device, if the label sleeving machine requires that the container be at a specific position (possibly not the center position in the width direction of the conveying chain) in the width direction of the conveying chain, when the container is clamped by the third clamping mechanism 122 to be conveyed downstream, the positions of the downstream ends of the two first pulley groups in the third clamping mechanism 122 relative to the width direction of the conveying chain are changed, and therefore the positions of the container clamped by the two first pulley groups in the width direction of the conveying chain are changed, so that the operation requirements of the label sleeving machine are met.

To ensure that the first rotation mechanism 130 does not affect other containers each time a single container is rotated. The length of the gripping section of the second belt may be less than 2 times the spacing between two adjacent containers to ensure that when a container is moved to the first rotation section, a container adjacent to and upstream of the container has not entered the first plateau and a container adjacent to and downstream of the container has escaped the second plateau. Therefore, when the container is in the first rotating section, only one container is arranged between the two second belts, at the moment, the two second belts are driven by the corresponding motors to move at a first preset differential speed, the containers are rotated by a determined angle, and the rotation of the containers cannot be influenced by the adjacent containers.

Likewise, in the second rotary mechanism 131, the length of the gripping section of the second belt may be less than 2 times the spacing between two adjacent containers to ensure that when a container moves to the second rotary section, a container adjacent to and upstream of the container has not entered the third plateau and a container adjacent to and downstream of the container has exited the fourth plateau. Therefore, when the container is in the second rotating section, only one container is arranged between the two second belts, and at the moment, the two second belts are driven by the corresponding motors to move at a second preset differential speed so as to rotate the container to a preset direction, and the adjacent containers cannot influence the rotation of the container.

According to the container orientation device, due to the fact that the first camera set and the first rotating mechanism are matched and the second camera set and the second rotating mechanism are matched, the peripheral orientation of each container moving on line can be accurately adjusted to be in a preset direction, automatic orientation of the container moving on line is achieved, and orientation accuracy and orientation speed of the container are improved.

Further, in the container orientation device of the embodiment, the container moving on the conveying chain is clamped by the first clamping mechanism, so that the orientation of the container before entering the first rotating mechanism is kept unchanged, the first camera group is convenient to acquire the first image information, and accurate reference data is provided for the rotation of the container. And when the container enters the first rotating mechanism, the first clamping mechanism still clamps the container, so that the container is prevented from shaking or autorotation when entering the first rotating mechanism, and the orientation accuracy of the container is improved. The container is rotated to a preset direction by the first rotating mechanism, and before the container is separated from the first rotating mechanism, the second clamping mechanism clamps the container, so that the container is prevented from shaking or autorotation when the container is separated from the first rotating mechanism, and the precision of the orientation of the container is further improved.

Further, in the container orientation device of this embodiment, the clamping section of the second belt in the first rotating mechanism includes a first stable section, a first rotating section and a second stable section that are sequentially connected in the moving direction of the container, when the container is conveyed between the first stable sections of the two second belts by the conveying chain, the moving speeds of the two second belts are the same, so that the container is stably transited between the two second belts, and shaking or autorotation of the container is avoided; when the container moves to the first rotating section, the two second belts generate a first preset differential speed, so that the container rotates around the axis of the container by a rotation angle determined before the container rotates around the axis of the container; after rotation of the container, the container is moved to a second stabilizing section, and the speed of the two second belts is adjusted to be the same, so that the container is smoothly separated from the second belts. Through the cooperation of orientation device and conveying chain way, realized the online orientation of container to solved the inaccurate problem of orientation because of the online removal of container, improved the oriented accuracy of container.

By now it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described herein in detail, many other variations or modifications of the invention consistent with the principles of the invention may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims (6)

1. A container orientation orienting device for sequentially orienting a plurality of containers moved in a direction of extension of a conveyor chain by the conveyor chain such that outer circumferences of the plurality of containers are oriented in the same predetermined direction, the plurality of containers being arranged in a row along the direction of extension of the conveyor chain, the device comprising:

a first camera set, located upstream of the conveyor chain, configured to take a picture of the container to obtain first image information of the container;

an image processing unit configured to determine a current orientation of the container according to the first image information, and determine a rotation angle to be adjusted of the container according to the predetermined direction and the current orientation of the container;

a first rotation mechanism, provided downstream of the first camera group, configured to perform a first rotation of the container so that the container rotates by the rotation angle around its own axis;

the second camera set is arranged at the downstream of the first rotating mechanism and is configured to take a picture of the container after the first rotation so as to acquire second image information of the container; the image processing unit is further configured to determine an orientation of the container after the first rotation according to the second image information, and compare the orientation of the container after the first rotation with the predetermined direction;

A second rotation mechanism provided downstream of the second camera group and configured to rotate the container again when the orientation of the container after the first rotation exceeds an error range of the predetermined direction, thereby adjusting the orientation of the container to the predetermined direction;

the first clamping mechanism is arranged at the upstream of the first rotating mechanism and has the same moving direction as the conveying chain way;

the first clamping mechanism is configured to clamp the container to avoid a change in orientation of the container; the first camera set is configured to take a picture of the container held by the first holding mechanism to acquire the first image information;

the first gripping mechanism is further configured to grip the container as it enters the first rotation mechanism to avoid a change in orientation of the container as it enters the first rotation mechanism;

the first gripper mechanism is further configured to disengage the container after the container enters the first rotation mechanism to facilitate the first rotation mechanism to rotate the container;

a spacing adjustment mechanism disposed upstream of the first gripping mechanism and having the same moving direction and moving speed as the conveying chain path, the spacing adjustment mechanism being configured to equally space apart the plurality of containers; and, in addition, the processing unit,

The first rotation mechanism is further configured to rotate the container located at midstream when the container located at upstream of the adjacent three containers does not enter the first rotation mechanism and the container located at downstream has been disengaged from the first rotation mechanism, such that the first rotation mechanism rotates a single container;

the second rotation mechanism is further configured to rotate the container located at the midstream when the container located at the upstream of the adjacent three containers does not enter the second rotation mechanism and the container located at the downstream has been disengaged from the second rotation mechanism, so that the second rotation mechanism rotates a single container;

the second clamping mechanism is arranged at the downstream of the first rotating mechanism and the upstream of the second rotating mechanism and has the same moving direction as the conveying chain way;

the second gripping mechanism is configured to grip the container after rotation of the container by the first rotation mechanism, before the container is disengaged from the first rotation mechanism, to avoid a change in orientation of the container when disengaged from the first rotation mechanism; the second camera set is configured to take a picture of the container held by the second holding mechanism to acquire the second image information of the container;

The second gripping mechanism is further configured to grip the container as it enters the second rotation mechanism and disengage the container after it enters the second rotation mechanism;

the first rotating mechanism and the second rotating mechanism comprise two second belt wheel sets positioned at two sides of the moving direction of the container, and each second belt wheel set comprises a second driving wheel, a motor for driving the second driving wheel to rotate, at least one second driven wheel and a second belt wound on the second driving wheel and the at least one second driven wheel;

the two second belts in the first rotating mechanism are configured to be driven by the corresponding motors to move at a first preset differential speed respectively, so that the container is driven by the two second belts in the first rotating mechanism to rotate around the axis of the container by the rotation angle;

the two second belts in the second rotating mechanism are configured to be driven by the corresponding motors to move at a second preset differential speed when the direction of the container after the first rotation exceeds the error range of the preset direction, so that the container is driven by the two second belts in the second rotating mechanism to rotate around the axis of the container to the preset direction;

The clamping section of each second belt in the first rotating mechanism comprises a first stable section, a first rotating section and a second stable section which are sequentially connected in the moving direction of the container;

the two second belts are driven to move at the same speed by the corresponding motors while the container is moved between and clamped by the two first plateaus;

when the container moves to the first rotating section, the two second belts are driven by the corresponding motors to move at the first preset differential speed so that the container rotates around the axis of the container by the rotating angle;

as the container moves to the second plateau, the two second belts are driven by the corresponding motors to move at the same speed so that the container is smoothly separated from the second belts;

the clamping section of each second belt in the second rotating mechanism comprises a third stable section, a second rotating section and a fourth stable section which are sequentially connected in the moving direction of the container;

the two second belts are driven to move at the same speed by the corresponding motors while the container is moved between and clamped by the two third plateaus;

When the container moves to the second rotating section, the two second belts are driven by the corresponding motors to move at the second preset differential speed so as to enable the container to rotate to the preset direction around the axis of the container;

as the container moves to the fourth plateau, the two second belts are driven by the corresponding motors to move at the same speed so that the container is smoothly separated from the second belts;

further comprises:

a third clamping mechanism arranged downstream of the second rotating mechanism and configured to clamp the container before the container is separated from the second rotating mechanism and has the same moving direction as the conveying chain; to avoid a change in orientation of the container when disengaged from the second rotation mechanism;

a third camera unit configured to take a picture of the container held by the third holding mechanism to acquire third image information of the container; the image processing unit is further configured to determine whether the peripheral orientation of the container exceeds an error range of the predetermined direction based on the third image information;

and the rejecting unit is arranged at the downstream of the third clamping mechanism and is configured to move the container out of the conveying chain channel when the image processing unit judges that the orientation of the container exceeds the error range of the preset direction.

2. The device of claim 1, wherein

The first clamping mechanism, the second clamping mechanism and the third clamping mechanism comprise two first belt pulley sets positioned at two sides of the moving direction of the container, and each first belt pulley set comprises a first driving wheel, at least one first driven wheel and a first belt wound on the first driving wheel and the at least one first driven wheel;

when the container moves between the two first belts in the two first belt wheel sets, the two first belts clamp the container and are controlled to move at the same speed.

3. The apparatus of claim 2, further comprising:

a photoelectric sensor disposed downstream of the second rotation mechanism and configured to detect a pitch between two adjacent containers;

the third clamping mechanism is further configured to adjust the conveying speed of the third clamping mechanism to correct the space between the upstream container and the downstream container when the space between two adjacent containers is smaller than or larger than the preset space and the downstream container in the two adjacent containers is separated from the third clamping mechanism.

4. The apparatus of claim 2, wherein

The positions of the downstream ends of the two first belt pulley groups in the third clamping mechanism relative to the width direction of the conveying chain are controlled and adjustable so as to adjust the positions of the containers in the width direction of the conveying chain.

5. The device of claim 1, wherein

The length of the gripping section of each second belt is less than 2 times the spacing between two adjacent containers to ensure that when the containers are moved to the first or second rotation section, a container adjacent to and upstream of the container has not entered the first or third plateau and a container adjacent to and downstream of the container has exited the second or fourth plateau.

6. The apparatus of claim 1, further comprising:

at least one first light source configured to illuminate the container held by the first holding mechanism so that the first camera set obtains clear first image information;

at least one second light source configured to illuminate the container held by the second holding mechanism so that the second camera group obtains clear second image information;

At least one third light source configured to illuminate the container held by the third holding mechanism so that the third camera group obtains clear third image information.