CN112874906A - Full-automatic intelligent bag feeding device for powder packaging and bag body positioning method - Google Patents
Full-automatic intelligent bag feeding device for powder packaging and bag body positioning method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
- B65B43/14—Feeding individual bags or carton blanks from piles or magazines
- B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
- B65B43/18—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
- B65B43/14—Feeding individual bags or carton blanks from piles or magazines
- B65B43/22—Feeding individual bags or carton blanks from piles or magazines by rollers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- Mechanical Engineering (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
Abstract
The invention discloses a full-automatic intelligent bag feeding device for powder packaging, which relates to the technical field of powder packaging and comprises a bag detecting and positioning unit and a bag feeding unit, wherein the bag detecting and positioning unit and the bag feeding unit are arranged on the side surface of a valve bag packaging machine, the bag detecting and positioning unit comprises a conveying unit, a reference positioning table and a bag detecting and moving unit, and the bag detecting and moving unit can realize three-dimensional movement and can detect, pick up, move and adjust a valve bag. The bag feeding unit comprises a structure which can move, persist and rotate in three dimensions, and can clamp the valve bag from the reference positioning table and feed the valve bag to the valve bag packaging machine for self-contained packaging. Its reasonable in design, stability is good, and the equipment and the maintenance of being convenient for have solved prior art and can only be harder to the pocket material, and the pocket that the pocket roughness is good is packed, has strict restriction to supplied materials pocket piling up quantity, and the unable automatic processing scheduling problem of unusual pocket still provides corresponding bag body positioning method in addition.
Description
Technical Field
The invention relates to the technical field of powder packaging, in particular to a full-automatic intelligent bag feeding device for powder packaging and a bag body positioning method.
Background
The valve bag, commonly called as a bottom pasting bag, is an international popular packaging bag, is fed from a top or bottom valve port, and is formed into a square body after being filled with materials by adopting special filling equipment, and the stacked bag is neat and attractive, and belongs to an environment-friendly bag. The device for filling the valve bag is called a valve bag packaging machine, is generally provided with one or two filling ports, and usually needs manual bag feeding to realize filling. The existing technology that the part can be automatically bagged also has the following defects: the bag can only be packed with hard material and good flatness; the stacking number of the incoming material bags is strictly limited; abnormal pockets cannot be automatically processed, and the like.
Disclosure of Invention
In order to solve the above problems, one of the present invention provides a full-automatic intelligent bagging device for powder packaging, which is implemented by adopting the following technical scheme:
the bag feeding device comprises a bag integrity detection unit, a bag machine vision positioning unit and a bag feeding unit, wherein the bag integrity detection unit and the bag machine vision positioning unit are fixed on one side of the bag feeding unit; the bag feeding unit is positioned on one side of a packaging opening of the valve bag packaging machine.
The pocket integrity detection unit comprises a fixed bracket, wherein the fixed bracket can be formed by a stable bracket and is used for supporting components (such as an industrial camera and an industrial detection light source) placed on the fixed bracket;
the bag machine vision positioning unit comprises industrial camera equipment, a positioning frame body and a bag moving unit;
preferably, the pocket integrity detection unit comprises a detection unit support and a camera, and the detection unit support is used for fixing the industrial camera. And acquiring a pocket image by using a camera and a corresponding image recognition function so as to compare the pocket image with a standard image, and judging whether the pocket image meets the requirement.
The positioning frame body can be formed by a bracket with a stable structure and is used for supporting components and mechanisms placed on the positioning frame body. The positioning frame body is fixedly provided with a conveying unit, a reference positioning table and a bag moving bracket; computer vision equipment special for pocket valve port detection and a mobile unit are fixedly arranged on the bag moving bracket; the conveying unit is fixedly arranged on one side of the reference positioning table, and the bag moving support is positioned above the reference positioning table and the conveying unit; the conveyor unit may be any of the conveyors commonly used in the industry that can transport trays, bags, etc., such as a chain conveyor unit, a belt conveyor unit, a roller conveyor unit, etc. The reference positioning table is a fixed table top and is used for placing picked pockets so as to facilitate subsequent grabbing and conveying of the pockets, and the reference positioning table is a flat plate structure with reference marked lines engraved or drawn on the top; the bag moving bracket is a moving unit structure used for fixing the bag;
the pocket machine vision positioning unit comprises an industrial camera, an industrial detection light source and the reference positioning table;
preferably, the pocket machine vision positioning unit comprises a detection unit support and a camera, the detection unit support is of an L-shaped structure, one end of the detection unit support is fixed to a girder of the machine, and the other end of the detection unit support is fixedly provided with the camera. And acquiring the position of the pocket and judging whether the pocket meets the requirements or not by utilizing the camera and the corresponding image recognition function.
The bag moving unit comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, an R (rotation) axis rotating mechanism and a bag picking mechanism; the X-axis moving mechanism is fixedly connected with the bag moving bracket; the Y-axis moving mechanism is fixedly arranged on the bottom surface of the movable part of the X-axis moving mechanism; a Z-axis moving mechanism is fixedly arranged on the movable part of the Y-axis moving mechanism; the movable part of the Z-axis moving mechanism is fixed with an R (rotation) axis rotating mechanism and a pocket picking mechanism; the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism are all mechanisms capable of realizing linear reciprocating motion, and can adopt common linear reciprocating motion mechanisms in the industry, such as a mechanism consisting of an air cylinder, an electric cylinder, a motor and a screw rod, a semi-finished product linear module sold on the market and the like, as long as the linear motion can be realized. The movable part of the X-axis moving mechanism can reciprocate along the length direction of the positioning frame body to drive the pocket picking mechanism and move to and fro above the conveying unit and the reference positioning table.
Preferably, the pocket picking mechanism comprises a connecting rod which is fixedly connected with the movable part of the Z-axis moving mechanism;
and the two sides of the connecting rod are respectively and symmetrically provided with a sucking disc. The suction cup is used for sucking the pocket, and the suction cup is connected with a corresponding control electromagnetic valve to suck the pocket in a vacuum mode, and the modes are very common in the field of pneumatic control and are not described too much here.
The bag feeding unit comprises a bag feeding unit fixing frame, and a bag feeding supporting frame is fixedly arranged on the bag feeding unit fixing frame; the bag feeding unit fixing frame and the bag feeding supporting frame in the embodiment are also made of aluminum alloy sections, and design and assembly are facilitated. An X-axis bag feeding mechanism is fixedly arranged on the bag feeding support frame; a Y-axis bag feeding mechanism is fixedly arranged below the movable part of the X-axis bag feeding mechanism, and a Z-axis bag feeding mechanism and a bag opening mechanism are fixedly arranged below the movable part of the Y-axis bag feeding mechanism; the X-axis bag feeding mechanism, the Y-axis bag feeding mechanism and the Z-axis bag feeding mechanism are all mechanisms capable of realizing linear reciprocating motion, and can adopt common linear reciprocating motion mechanisms in the industry, such as a mechanism consisting of an air cylinder, an electric cylinder, a motor and a screw rod, a commercially available semi-finished product linear module and the like, as long as the linear motion can be realized. One end of the bag feeding support frame is fixedly connected with the top of the valve bag packaging machine, an X-axis bag feeding mechanism on the bag feeding support frame is perpendicular to the bag feeding support frame, and a Y-axis bag feeding mechanism on the X-axis bag feeding mechanism can be close to or far away from a packaging opening of the valve bag packaging machine.
Preferably, the conveying unit is a roller conveying line, and the end part of the roller conveying line, which is close to the reference positioning table, is provided with a blocking cylinder, and the blocking cylinder is used for blocking a tray for placing a pocket so that the tray can be positioned on the roller conveying line;
and tray guiding and positioning devices are symmetrically and fixedly arranged on two sides of the roller conveying line and are fluency strips. The parts adopted in the method are industrial standard parts as far as possible, so that the design and manufacturing cost can be greatly saved, and the parts are easy to purchase and convenient to assemble.
Preferably, a fixed bottom plate is fixedly arranged below the movable part of the Y-axis bag conveying mechanism, a bag opening mechanism is fixedly arranged on one side of the bottom of the fixed bottom plate, a Z-axis bag conveying mechanism is fixedly arranged on the other side of the bottom of the fixed bottom plate, and a rotary clamping mechanism is fixedly arranged on the side surface of the movable part of the Z-axis bag conveying mechanism;
the bag opening mechanism comprises a finger cylinder, the movable parts at two ends of the finger cylinder are symmetrically and fixedly provided with fingers, and finger suckers are symmetrically and fixedly arranged on the fingers;
the rotary clamping mechanism comprises a rotary cylinder, a rotary part of the rotary cylinder is fixedly provided with a second finger cylinder, and two movable parts of the second finger cylinder are symmetrically and fixedly provided with clamping plates.
Preferably, a filling pipe of the valve bag packaging machine corresponds to the Y-axis bag feeding mechanism, and the rotary clamping mechanism can sleeve the valve bag into the filling pipe;
the valve bag packaging machine is also fixedly provided with a bag fixing and detecting device.
Preferably, the pocket fixing and detecting device comprises a fixing cylinder and a photoelectric sensor, the fixing cylinder is fixedly arranged on the valve bag packaging machine through a cylinder bracket, and a piston rod of the fixing cylinder can press the pocket to the filling pipe when extending out;
the photoelectric sensor is fixedly arranged on the valve bag packaging machine and used for detecting whether the valve bag is sleeved in the filling pipe or not.
Preferably, the Z-axis bag conveying mechanism is a rodless cylinder.
Preferably, the Y-axis bag feeding mechanism is a rodless cylinder. The rodless cylinder is adopted in the environment with only certain position motion, the structure is simple, the control is convenient, and the failure rate is low.
The valve bag packaging machine is provided with the bag detecting and positioning unit and the bag feeding unit on the side face, wherein the bag detecting and positioning unit comprises the conveying unit, the reference positioning table and the bag detecting and moving unit, and the bag detecting and moving unit can move in three dimensions and can detect, pick up, move and adjust the valve bag. The bag feeding unit comprises a structure which can move, persist and rotate in three dimensions, and can clamp the valve bag from the reference positioning table and feed the valve bag to the valve bag packaging machine for self-contained packaging. The bag packing machine is reasonable in design, ingenious in structure, convenient to operate, good in stability and convenient to assemble and maintain, and solves the problems that the bag packing machine can only pack bags with relatively hard materials and good bag flatness, the stacking number of supplied material bags is strictly limited, abnormal bags cannot be automatically processed and the like in the prior art.
The invention also provides a bag body positioning method based on the full-automatic intelligent bag feeding device for powder packaging, which comprises the following steps:
s1, coarse positioning: the tray positioning is realized through the conveying unit, the blocking cylinder and the tray guiding and positioning device, and hundreds of valve bags can be preliminarily positioned at the same time, so that the requirements of one-time feeding and continuous automatic packaging of the valve bags are met;
s2, visual detection: identifying unqualified valve bags through image acquisition and image comparison and performing corresponding elimination operation;
s3, single valve bag pick-up: accurately picking up one valve bag at a time and sending the valve bag to a reference positioning table through a valve bag picking mechanism;
s4, fine positioning: through the combination of visual recognition and a valve bag picking mechanism, the valve bag and the reference positioning table in the step S3 are accurately aligned;
s5, precisely grabbing, namely grabbing the valve bag obtained in the step S5 through a rotary clamping mechanism and sending the valve bag to a bag feeding unit;
and S6, detecting whether the machine needs to be cleaned by using computer vision and with the aid of a dust sensor, and starting the high-pressure air spray gun and the built-in industrial dust collector in a time-sharing manner to perform self-cleaning so that the whole system can normally work in a high-dust environment.
By the method, the requirement of continuous and automatic work of multiple bags for feeding materials is met by secondary positioning operation of the bags; the requirement of accurate positioning of a single pocket in normal work is met; the function of independently processing the abnormal pocket is realized.
Drawings
FIG. 1 is a schematic diagram of the structure of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a pocket detecting and positioning unit and a pocket feeding unit according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another view of the pocket detecting and positioning unit and the bag feeding unit according to the embodiment of the present invention;
FIG. 4 is a front view of a pocket detecting and positioning unit and a pocket feeding unit according to an embodiment of the present invention;
FIG. 5 is a side view of FIG. 4;
FIG. 6 is a schematic diagram of an overall structure of a pocket detection positioning unit according to an embodiment of the present invention;
FIG. 7 is a schematic view of the connection of a bag feeding unit to a valve bag packing machine according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a Z-axis bag feeding mechanism, a bag opening mechanism and a rotary clamping mechanism in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described clearly and completely with reference to fig. 1 to 8 of the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1, the full-automatic intelligent bag feeding device for powder packaging comprises a bag detecting and positioning unit 1 and a bag feeding unit 2, wherein the bag detecting and positioning unit 1 is fixed on one side of the bag feeding unit 2, and the bag feeding unit 2 is located on one side of a packaging opening of a valve bag packaging machine 3.
As shown in fig. 6, the pocket detection positioning unit 1 includes a positioning frame 10, and the positioning frame 10 may be formed by a stable support for supporting the components and mechanisms placed thereon, and in this embodiment, it is preferable to construct a frame structure by using aluminum profiles. The positioning frame body 10 is fixedly provided with a conveying unit 11, a reference positioning table 12 and a bag moving support 13. The bag moving bracket 13 is fixedly provided with a bag detecting and moving unit. The conveying unit 11 is fixedly arranged at one side of the reference positioning table 12, and the bag moving bracket 13 is positioned above the reference positioning table 12 and the conveying unit 11. The conveyor unit 11 may be any industrial conveyor capable of transporting trays and bags, such as a chain conveyor unit, a belt conveyor unit, a roller conveyor unit, etc.
The conveying unit 11 of the embodiment is a roller conveying line, and the end part of the roller conveying line close to the reference positioning table 12 is provided with a blocking cylinder 110, and the blocking cylinder 110 is used for blocking a tray for placing a pocket so that the tray can be positioned on the roller conveying line. And tray guiding and positioning devices 111 are symmetrically and fixedly arranged on two sides of the roller conveying line, and the tray guiding and positioning devices 111 are fluency strips. The parts adopted in the method are industrial standard parts as far as possible, so that the design and manufacturing cost can be greatly saved, and the parts are easy to purchase and convenient to assemble. The datum positioning table 12 is a fixed table top for placing picked-up bags for subsequent bag grabbing and feeding, and the datum positioning table 12 may be of any structure as long as it has an end face with a flat top. The bag moving stand 13 is a structure for fixing the bag detecting and moving unit, and for convenience and simplicity, the present embodiment extends one side of a protruding pillar supporting the aluminum alloy plate constituting the reference positioning table 12, and has an L-shaped top portion, and the bag detecting and moving unit is fixed to an end portion thereof.
The pocket detection and movement unit includes an X-axis movement mechanism 14, a Y-axis movement mechanism 15, a Z-axis movement mechanism 16, a pocket pickup mechanism 17, and a detection unit 18. The X-axis moving mechanism 14 is fixedly connected with the bag moving bracket 13. A Y-axis moving mechanism 15 is fixedly provided on the bottom surface of the movable portion of the X-axis moving mechanism 14. A Z-axis moving mechanism 16 and a detection unit 18 are fixedly provided to a movable portion of the Y-axis moving mechanism 15. A pocket pickup mechanism 17 is fixedly provided to a movable portion of the Z-axis moving mechanism 16. The X-axis moving mechanism 14, the Y-axis moving mechanism 15, and the Z-axis moving mechanism 16 are all mechanisms capable of realizing linear reciprocating motion, and any mechanism capable of realizing linear reciprocating motion, such as a mechanism composed of an air cylinder, an electric cylinder, a motor, and a screw rod, and a commercially available semi-finished product linear module, may be used. In order to save the cost of design and manufacture and improve the reliability, the X-axis moving mechanism 14 and the Y-axis moving mechanism 15 in this embodiment are preferably linear modules, and the Z-axis moving mechanism 16 is preferably an air cylinder. Of course, a limit sensor, a position detection sensor, and the like should be disposed correspondingly. The movable portion of the X-axis moving mechanism 14 is capable of reciprocating along the longitudinal direction of the positioning frame body 10, and drives the pocket pickup mechanism 17 and the detection unit 18 to and fro above the conveying unit 11 and the reference positioning table 12.
The pocket pickup mechanism 17 of the present embodiment includes a link 170, and the link 170 is fixedly connected to the movable portion of the Z-axis moving mechanism 16. The suction cups 171 are symmetrically disposed at both sides of the link 170, respectively. The suction cup 171 is used to suck the pocket, and the suction cup 171 should be connected to a corresponding control solenoid valve to suck the pocket by a vacuum method, which is very common in the pneumatic control field and will not be described herein.
The detecting unit 18 includes a detecting unit bracket 180 and a camera 181, the detecting unit bracket 180 is an L-shaped structure, one end of which is fixedly connected to the movable portion of the Y-axis moving mechanism 15, and the other end of which is fixedly provided with the camera 181. In this embodiment, the position where the pocket is placed is obtained and whether the position meets the requirement is determined by using the camera 181 and the corresponding image recognition function. The software contained in the image recognition function can be directly software provided by a camera provider or self-developed and designed, and in order to save cost, the software provided by a merchant is preferably directly adopted and can be used after being slightly modified.
In one embodiment, the pocket pickup mechanism 17 further includes a rotary slide 172, and the rotary slide 172 is located between the link 170 and the movable portion of the Z-axis moving mechanism 16. A rotary slide table 172 is fixedly provided under the movable portion of the Z-axis moving mechanism 16, and a rotary portion of the rotary slide table 172 is fixedly connected to a midpoint of the link 170. The rotary sliding table 172 is of a high-precision positioning structure, and can be controlled by a stepping motor or a servo motor, so that the rotation angle of the rotary sliding table can be accurately controlled, and the purpose is to solve the problem that in the pocket feeding process, not all directions of the pockets can be consistent, and therefore the rotary sliding table 172 needs to be used for adjustment. During adjustment, the rotation angle of the pocket is firstly identified by using the camera 181 and the corresponding image identification function, then the Z-axis moving mechanism 16 is controlled to move downwards and suck the uppermost pocket through the suction cup 171, then the Z-axis moving mechanism 16 moves upwards, and in the moving process, the rotary sliding table 172 is controlled to rotate for a certain angle so as to achieve the angle meeting the requirement. Such design can guarantee no matter be stereoplasm or soft pocket, no matter what kind of specification and what kind of direction feeding, all can the automatic adjustment adaptation, has improved work efficiency greatly.
As shown in fig. 2 and 3, the bag feeding unit 2 includes a bag feeding unit holder 20, and a bag feeding support frame 22 is fixed to the upper surface of the bag feeding unit holder 20. The bag-feeding unit fixing frame 20 and the bag-feeding support frame 22 in the embodiment are also made of aluminum alloy sections, so that the design and the assembly are convenient. An X-axis bag feeding mechanism 23 is fixedly arranged on the bag feeding support frame 22. A Y-axis bag feeding mechanism 24 is fixedly arranged below the movable part of the X-axis bag feeding mechanism 23, and a Z-axis bag feeding mechanism 25 and a bag opening mechanism 26 are fixedly arranged below the movable part of the Y-axis bag feeding mechanism 24. The X-axis bag feeding mechanism 23, the Y-axis bag feeding mechanism 24, and the Z-axis bag feeding mechanism 25 are all mechanisms capable of realizing linear reciprocating motion, and any mechanism capable of realizing linear reciprocating motion, such as a mechanism composed of a cylinder, an electric cylinder, a motor, and a screw rod, and a commercially available semi-finished product linear module, may be used as long as the mechanism is capable of realizing linear motion. In order to save the cost of design and manufacture and improve the reliability, the X-axis bag feeding mechanism 23 in this embodiment is a linear module, and the Y-axis bag feeding mechanism 24 and the Z-axis bag feeding mechanism 25 are rodless cylinders. One end of the bag feeding support frame 22 is fixedly connected with the top of the valve bag packing machine 3, the X-axis bag feeding mechanism 23 on the bag feeding support frame 22 is perpendicular to the bag feeding support frame 22, and the Y-axis bag feeding mechanism 24 on the X-axis bag feeding mechanism 23 can be close to or far away from the packing opening of the valve bag packing machine 3.
A rotary clamping mechanism 27 is fixedly arranged on the side surface of the movable part of the Z-axis bag feeding mechanism 25, and the rotary clamping mechanism 27 can clamp the valve bag and realize at least 90-degree rotation. The Z-axis bag feeding mechanism 25 is a rodless cylinder.
More specifically, as shown in fig. 8, a fixed bottom plate 240 is fixedly disposed under the movable portion of the Y-axis bag feeding mechanism 24, and the Y-axis bag feeding mechanism 24 is a rodless cylinder. The rodless cylinder is adopted in the environment with only certain position motion, the structure is simple, the control is convenient, and the failure rate is low. A bag opening mechanism 26 is fixedly arranged on one side of the bottom of the fixed bottom plate 240, a Z-axis bag feeding mechanism 25 is fixedly arranged on the other side of the bottom of the fixed bottom plate 240, and a rotary clamping mechanism 27 is fixedly arranged on the side surface of the movable part of the Z-axis bag feeding mechanism 25.
The bag opening mechanism 26 comprises a finger cylinder 260, the movable parts at two ends of the finger cylinder 260 are symmetrically and fixedly provided with fingers 261, and finger suckers 262 are symmetrically and fixedly arranged on the fingers 261.
The rotary clamping mechanism 27 includes a rotary cylinder 270, a second finger cylinder 271 is fixedly provided on a rotary portion of the rotary cylinder 270, and clamping plates 272 are symmetrically and fixedly provided on two movable portions of the second finger cylinder 271.
The filling tube 30 of the valve bag packing machine 3 corresponds to the Y-axis bag feeding mechanism 24, and the rotary clamping mechanism 27 can sleeve the valve bag into the filling tube 30. The valve bag packaging machine 3 is also fixedly provided with a bag fixing and detecting device 31. The bag fixing and detecting device 31 comprises a fixing cylinder and a photoelectric sensor, the fixing cylinder is fixedly arranged on the valve bag packaging machine 3 through a cylinder support, and a piston rod of the fixing cylinder can compress the bag to the filling tube 30 when extending out. The photoelectric sensor is fixedly arranged on the valve bag packaging machine 3 and used for detecting whether the valve bag is sleeved into the filling tube 30 or not.
When the device works, the device operates according to the following steps:
In the step 2, the pocket integrity is detected by adopting a machine vision method, and because the method for judging the dust concentration by combining machine vision with an atmosphere fine particle sensor is required to be added in a high-dust environment, if the dust concentration is too high, a vacuum cleaner is started to carry out dust removal operation on the camera, so that the accuracy of image acquisition is improved. The algorithm flow for detecting the pocket integrity comprises the following steps:
the method comprises the following steps:
s21: acquiring an image of a camera, namely frame capture, acquiring several photos from the camera by a vision computer, and screening out one picture with the maximum contrast;
s22: the image brightness adjustment method is improved by referring to the principle of Photoshop contrast and saturation adjustment, and tests show that the method mainly has the advantages of wide undistorted adjustment range, good layering, reduction of image information loss as much as possible and the like; meanwhile, in code processing, a gray scale lookup method is adopted, a linear brightness/contrast lookup table with the size of 256 elements is firstly manufactured, then adjusted data are obtained from the image data in the lookup table pixel by pixel according to R, G, B component values, the processing speed is high, when the brightness and the contrast are adjusted simultaneously, if the contrast is greater than 0, the brightness is adjusted firstly, and then the contrast is adjusted; when the contrast is smaller than 0, the contrast is adjusted first, and then the brightness is adjusted. The specific principle is as follows:
if the brightness increase and decrease value ranges from-1- +1, when value > 0:
RGB＝rgb+rgb*(1/(1-value)-1)；
when value < 0:
RGB＝rgb+rgb*value。
by adopting the principle to adjust the brightness of the image, the code is simple to realize, the adjustment speed is high, the image distortion is small, and preparation is made for subsequent image processing. RGB is an RGB value of the image after the brightness adjustment, and RGB is an RGB value of the image before the brightness adjustment.
S23: image gray-scale processing: the image is converted into a gray scale image, and then the character length is expanded and converted into a 64-step gray scale image for subsequent processing. The principle of converting an image into a grayscale image is as follows:
in the image processing, real color is represented by three RGB components (R: Red, G: Green, B: Blue), namely three primary colors of Red, Green and Blue, the value ranges of the R component, the G component and the B component are all 0-255, and the R, G, B components of the image are weighted and averaged by different weights. Because human eyes have highest sensitivity to green and lowest sensitivity to blue, R, G, B three components are weighted and averaged according to the following formula to obtain a reasonable gray image;
Gray(i,j)＝0.299*R(i,j)+0.587*G(j,j)+0.114*B(i,j)；
r (i, j) represents an R component of the ith row and jth column pixel in the pixel matrix of the image, G (i, j) represents a G component of the ith row and jth column pixel in the pixel matrix of the image, B (i, j) represents a B component of the ith row and jth column pixel in the pixel matrix of the image, and Gray (i, j) represents a value obtained by performing Gray processing on the ith row and jth column pixel in the pixel matrix of the image.
S24: and performing Gaussian filtering on the image: gaussian filtering is also a linear smoothing filtering method, and is mainly used to eliminate gaussian noise. The method takes image weighted average as a criterion, and each pixel point is obtained by weighted average of the pixel value of the pixel point and the pixel value in the neighborhood. The specific operation is as follows: a template is adopted and is also called convolution, each pixel point of the image is scanned from top to bottom in sequence, the value of each pixel point is replaced by the pixel weighted average value of the corresponding template, and therefore Gaussian filtering is completed, and the Gaussian filtering is actually performed by convolution operation on the original image and a Gaussian kernel. The convolution operation can be understood as a weighted average process in filtering, the value of each pixel point is obtained by carrying out weighted average on the value of each pixel point and other pixel values in a neighborhood, and how to weight the pixel points is according to a kernel function Gaussian function.
Let an image be an array with f (x, y) N x N, and the gray value of a pixel in the filtered image g (x, y) is determined by the following formula:
g(x,y)＝f(x,y)*Gσ；
wherein denotes a convolution operation, GσA two-dimensional gaussian kernel representing a standard deviation σ, defined as:
the gaussian filtering step is as follows:
(1) moving a central element of the two-dimensional Gaussian kernel to enable the central element to be positioned right above a pixel to be processed of the input image;
(2) multiplying the pixel values of the input image by the correlation kernel as a weight;
(3) and adding the results obtained in the above steps as output.
The image needs to be segmented before being filtered, the segmentation method adopted by the invention is an OTSU thresholding algorithm, and the algorithm comprises the following steps:
(1) and counting the number of each pixel in the image in the gray level.
(2) The probability distribution of each pixel over the entire image is calculated.
(3) And traversing and searching the gray level, and calculating the probability between foreground and background classes under the current gray value.
(4) And calculating a threshold value corresponding to the intra-class variance and the inter-class variance through an objective function.
Let an image f (x, y) be an array of N · N with a gray level of L. The number of occurrences of the gray-scale value i (i is 0,1,2, …, L-1) is f, and the frequency of occurrences P is fiV (M.N). Assuming that when the threshold is k, the image is divided into two parts, namely, the target and the background, the probability distribution of the occurrence of the target and the background is:
the average values of the target and background are then:
the overall average is therefore:
the inter-class variance of the target and the background is calculated as:
σB 2＝ω0(μ0-μ)2+ω1(μ1-μ)2；
when sigma isB 2Threshold k (O) at which maximum is reached<k<L-1) is the optimal threshold. For in-image data according to this optimal threshold kAnd reassigning each pixel point, wherein the new image obtained at the moment is as follows:
since variance is a measure of the uniformity distribution of the pixel gray scale, a larger variance indicates a larger difference between the target and the background. When part of the objects are segmented into the background by mistake or part of the background is segmented into the objects by mistake, the difference between the objects and the background is reduced, so that the probability of wrong segmentation by adopting the OTSU method is minimum.
S25: the image is binarized, and the specific method is as follows:
finding a binary threshold value by using an approximate one-dimensional Means method, which roughly comprises the following steps:
(1) an initialization threshold T, which may be set by itself or generated according to a random method.
(2) Each pixel data G (x, y) is divided into object pixel data G1 and background pixel data G2 according to a threshold map. (x is a row and y is a column)
(3) The average value of G1 is m1, and the average value of G2 is m2
(4) A new threshold T' ═ m1+ m 2)/2;
(5) and returning to the second step, continuously taking the sub-pixel data as the object pixel data and the background pixel data by using the new threshold, and continuing for 2-4 steps until the calculated new threshold is equal to the last threshold.
S26: the image g (x, y) is subjected to dilation:
the formula is represented by B1To perform dilation processing on the image g, wherein B1Is a convolution template or kernel, which may be square or circular in shape, passing through a template B1Performing convolution calculation with image g, scanning each pixel point in image g, and performing XOR operation with template element and binary image element, such asIf the results are the same, the target pixel point is 0, otherwise, the target pixel point is 1. Thereby calculating B1And (4) the maximum value of the pixel point of the coverage area is adopted, and the pixel value of the reference point is replaced by the maximum value to realize expansion. Dilation is an operation that "lengthens" or "thickens" in a binary image. The specific mode and the thickening degree are B1And (5) controlling. g1Showing the image after the dilation process. The default number of iterations is 1, which means that one expansion is performed, or multiple iterations and multiple expansions may be performed as needed. Usually, the swelling is carried out 1 time.
S27: for the image g after expansion1Carrying out corrosion treatment:
the formula represents the image g1Using convolution templates B2To perform an etching treatment through the template B2And image g1Performing convolution calculation to obtain B2And (4) the minimum value of the pixel points in the coverage area is used for replacing the pixel value of the reference point. Convolution kernels are a key array in erosion and can be generated using the numpy library.
S28: and performing contour search on the image by using a findContours function in OpenCV, and searching whether a qualified contour exists, wherein the contour is a maximum contour close to a closed line or the difference between the area of the image formed by the contour and the area of a reference image is within an error range. And if the contour meets the condition, fitting the found contour by adopting a drawContours function in OpenCV, and otherwise, judging that the valve bag corresponding to the image is unqualified.
S29: and after the contour of the image is fitted, searching a contour of a target image similar to the contour of the reference image, translating and rotating the contour of the target image to ensure that the contour of the target image is basically superposed with the contour of the reference image, and then correctly searching the contour of the target image.
S210: and calculating the Hamming distance between the target image and the reference image, wherein if the Hamming distance between the target image and the reference image is larger than or equal to a set threshold value, the valve bag corresponding to the target image is unqualified, otherwise, if the Hamming distance between the target image and the reference image is smaller than the set threshold value, the valve bag corresponding to the target image is qualified.
Step 4, fine positioning: in the process of sucking up one valve bag by the picking mechanism 17, if the angle of the valve bag needs to be adjusted according to the judgment of data obtained by visual detection, the rotating sliding table 172 is controlled to drive the connecting rod 170 to rotate. The specific method is that the picking mechanism 17 is moved onto the reference positioning table 12 by controlling the X-axis moving mechanism 14, the Y-axis moving mechanism 15 and the Z-axis moving mechanism 16, so that a part of the top of a single valve bag is exposed out of one side of the reference positioning table 12, and then the rotary sliding table 172 is controlled to drive the connecting rod 170 to rotate, so that the edge of the valve bag placed on the reference positioning table 12 is parallel to the edge of the reference positioning table 12.
The method comprises the following specific steps:
s41: the center coordinates of the contour of the target image in step S29 are calculated: and finding the minimum circumscribed rectangle of the outline of the target image by adopting an OpenCV minAreaRect function, obtaining the center point coordinate of the minimum circumscribed rectangle as the center coordinate of the outline of the target image, and simultaneously outputting the size and the rotation angle of the minimum circumscribed rectangle.
S42: the size of the outline of the target image is measured in units of pixels, and since the actual size of the valve bag is known, the outline size of the target image is known from the ratio of the actual size to the pixels. Ratio P of actual size to pixelpdThe method comprises the following specific steps:
wherein x ispeRepresenting the end point, x, of the image pixel in the x-directionpsRepresenting the starting point, y, of the image pixel in the x-directionpeIndicating the end of the image pixel y-direction, ypsRepresenting the starting point, x, of the image pixel y directionmeRepresenting the end of the actual reference scale in the x-direction, xmsIndicating the starting point, y, of the actual reference scale in the x-directionmeIndicating the end of the actual reference scale in the y-direction, ymsIndicating the starting point of the actual reference scale y direction.
S43: calculating the area of the target image contour in pixel units: calculating the area of the target image contour by using a contourArea function of OpenCV, which is specifically as follows:
double contourArea(InputArray contour,bool oriented＝false)
InputAlray contourer: the input points are generally contour points of the image;
the area value of the contour in a certain direction is represented as "false", and a default false is generally selected as "clockwise" or "counterclockwise".
S45: checking whether the size or the area smaller than the threshold exists, if so, rejecting the outline of the size or the area smaller than the threshold, and if not, performing proportion correction:
using the ratio P of actual size to pixelpdThe size of the outline of the target image is corrected;
s46: and calculating the rotation angle of the outline of the target image, specifically adopting a minimum bounding rectangle method (minAreaRect ()) of OpenCV, and returning the center point, the width, the height and the rotation angle of the minimum bounding rectangle. The angle at which the minimum bounding rectangle of the outline of the target image returns is the rotation angle of the outline of the target image.
S46, outputting the coordinate information, here, outputting the relative coordinate information, generally with respect to the reference scale. The coordinate information comprises a center coordinate, a size and a rotation angle of the outline of the target image, the coordinate information of four vertexes of a valve bag corresponding to the target image is obtained through the center coordinate and the size, the coordinate information is output to the motion control card through a specific interface, and then accurate grabbing is controlled through the coordinate information.
Step 5, precise grabbing: the X-axis bag feeding mechanism 23, the Y-axis bag feeding mechanism 24, and the Z-axis bag feeding mechanism 25 are then controlled to move the rotary clamp mechanism 27 to the side of the reference positioning table 12, and to clamp the top of the valve bag laterally and move horizontally away from the reference positioning table 12.
Step 6, erecting a valve bag: the rotary clamping mechanism 27 controls the rotary cylinder 270 to rotate downward by 90 degrees while gripping and moving the valve bag, so that the valve bag is vertically downward, and then controls the movable part of the Z-axis bag feeding mechanism 25 to move upward so that the opening part of the valve bag is positioned right at both sides of the finger suckers 262.
Step 7, bag feeding and aligning: then, the X-axis bag feeding mechanism 23, the Y-axis bag feeding mechanism 24, and the Z-axis bag feeding mechanism 25 are controlled to move the rotary gripper 27 and the valve bag in front of the filling tube 30, and the finger cylinder 260, the finger 261, and the finger suction cup 262 of the bag opening mechanism 26 suck the fabric on both sides of the opening of the valve bag and pull it open.
Step 8, inserting bags: inserting the valve bag with the bag opening pulled open into the filling tube 30;
step 9, inserting the valve bag in place for detection and positioning: the opening of the valve bag is detected and fixed by the bag fixing and detecting device 31, so that the bag feeding is completed, and then the valve bag packing machine 3 is started to pack.
And step 10, detecting whether the machine needs to be cleaned by using computer vision and with the aid of a dust sensor, and starting a high-pressure air spray gun and a built-in industrial dust collector in a time-sharing manner to perform self-cleaning so as to enable the whole system to work normally in a high-dust environment.
The invention uses an edge computing device to independently obtain the data of two or more industrial cameras and can simultaneously analyze and process two groups of irrelevant images, thereby achieving the purpose of reducing the cost of the device.
According to the invention, the side surface of the valve bag packaging machine 3 is provided with the bag detecting and positioning unit 1 and the bag feeding unit 2, wherein the bag detecting and positioning unit 1 comprises the conveying unit 11, the reference positioning table 12 and a bag detecting and moving unit, the bag detecting and moving unit can realize three-dimensional movement, and can detect, pick up, move and adjust the valve bag. The bag feeding unit 2 comprises a structure which can move, hold and rotate in three dimensions and can clamp the valve bag from the reference positioning table 12 to feed the valve bag to the valve bag packing machine 3 for self-contained packing. The bag packing machine is reasonable in design, ingenious in structure, convenient to operate, good in stability and convenient to assemble and maintain, and solves the problems that the bag packing machine can only pack bags with relatively hard materials and good bag flatness, the stacking number of supplied material bags is strictly limited, abnormal bags cannot be automatically processed and the like in the prior art.
Claims (10)
1. The full-automatic intelligent bag feeding device for powder packaging is characterized by comprising a pocket detection and positioning unit (1) and a bag feeding unit (2), wherein the pocket detection and positioning unit (1) is fixed on one side of the bag feeding unit (2); the bag feeding unit (2) is positioned on one side of a packaging opening of the valve bag packaging machine (3);
the pocket detection positioning unit (1) comprises a positioning frame body (10), and a conveying unit (11), a reference positioning table (12) and a bag moving support (13) are fixedly arranged on the positioning frame body (10); a pocket detection and moving unit is fixedly arranged on the bag moving support (13); the conveying unit (11) is fixedly arranged on one side of the reference positioning table (12), and the bag moving support (13) is positioned above the reference positioning table (12) and the conveying unit (11);
the pocket detection and moving unit comprises an X-axis moving mechanism (14), a Y-axis moving mechanism (15), a Z-axis moving mechanism (16), a pocket picking mechanism (17) and a detection unit (18); the X-axis moving mechanism (14) is fixedly connected with the bag moving bracket (13); the Y-axis moving mechanism (15) is fixedly arranged on the bottom surface of the movable part of the X-axis moving mechanism (14); a Z-axis moving mechanism (16) and a detection unit (18) are fixedly arranged on the movable part of the Y-axis moving mechanism (15); the movable part of the Z-axis moving mechanism (16) is fixedly provided with the pocket picking mechanism (17);
the bag feeding unit (2) comprises a bag feeding unit fixing frame (20), and a bag feeding support frame (22) is fixedly arranged on the bag feeding unit fixing frame (20); an X-axis bag feeding mechanism (23) is fixedly arranged on the bag feeding support frame (22); a Y-axis bag feeding mechanism (24) is fixedly arranged below the movable part of the X-axis bag feeding mechanism (23), and a Z-axis bag feeding mechanism (25) and a bag opening mechanism (26) are fixedly arranged below the movable part of the Y-axis bag feeding mechanism (24);
and a rotary clamping mechanism (27) is fixedly arranged on the side surface of the movable part of the Z-axis bag feeding mechanism (25), and the rotary clamping mechanism (27) can clamp the valve bag and realize at least 90-degree rotation.
2. The powder packaging full-automatic intelligent bagging device of claim 1, wherein:
the conveying unit (11) is a roller conveying line, a blocking cylinder (110) is arranged at the end part of the roller conveying line close to the reference positioning table (12), and the blocking cylinder (110) is used for blocking a tray for placing a pocket so that the tray can be positioned on the roller conveying line;
and tray guiding and positioning devices (111) are symmetrically and fixedly arranged on two sides of the roller conveying line, and the tray guiding and positioning devices (111) are fluency strips.
3. The powder packaging full-automatic intelligent bagging device of claim 1, wherein:
the pocket picking mechanism (17) comprises a connecting rod (170), and the connecting rod (170) is fixedly connected with the movable part of the Z-axis moving mechanism (16);
the two sides of the connecting rod (170) are respectively and symmetrically provided with a sucker (171).
4. The powder packaging full-automatic intelligent bagging device of claim 3, wherein:
the pocket picking mechanism (17) further comprises a rotary sliding table (172), and the rotary sliding table (172) is positioned between the connecting rod (170) and the movable part of the Z-axis moving mechanism (16);
the rotary sliding table (172) is fixedly arranged below the movable part of the Z-axis moving mechanism (16), and the rotary part of the rotary sliding table (172) is fixedly connected with the middle point of the connecting rod (170).
5. The powder packaging full-automatic intelligent bagging device of claim 1, wherein:
the detection unit (18) comprises a detection unit support (180) and a camera (181), the detection unit support (180) is of an L-shaped structure, one end of the detection unit support is fixedly connected with the movable part of the Y-axis moving mechanism (15), and the other end of the detection unit support is fixedly provided with the camera (181).
6. The powder packaging full-automatic intelligent bagging device of claim 1, wherein:
a fixed bottom plate (240) is fixedly arranged below the movable part of the Y-axis bag conveying mechanism (24), a bag opening mechanism (26) is fixedly arranged on one side of the bottom of the fixed bottom plate (240), a Z-axis bag conveying mechanism (25) is fixedly arranged on the other side of the bottom of the fixed bottom plate (240), and a rotary clamping mechanism (27) is fixedly arranged on the side surface of the movable part of the Z-axis bag conveying mechanism (25);
the bag opening mechanism (26) comprises a finger cylinder (260), the movable parts at two ends of the finger cylinder (260) are symmetrically and fixedly provided with fingers (261), and finger suckers (262) are symmetrically and fixedly arranged on the fingers (261);
the rotary clamping mechanism (27) comprises a rotary cylinder (270), a rotary part of the rotary cylinder (270) is fixedly provided with a second finger cylinder (271), and two movable parts of the second finger cylinder (271) are symmetrically and fixedly provided with clamping plates (272).
7. The powder packaging full-automatic intelligent bagging device of claim 6, wherein:
a filling pipe (30) of the valve bag packaging machine (3) corresponds to the Y-axis bag feeding mechanism (24), and the rotary clamping mechanism (27) can sleeve a valve bag into the filling pipe (30);
the valve bag packaging machine (3) is also fixedly provided with a bag fixing and detecting device (31).
8. The powder packaging full-automatic intelligent bagging device of claim 7, wherein:
the pocket fixing and detecting device (31) comprises a fixing cylinder and a photoelectric sensor, the fixing cylinder is fixedly arranged on the valve bag packaging machine (3) through a cylinder support, and a piston rod of the fixing cylinder can press the pocket to the filling pipe (30) when extending out;
the photoelectric sensor is fixedly arranged on the valve bag packaging machine (3) and used for detecting whether the valve bag is sleeved in the filling tube (30).
9. The powder packaging full-automatic intelligent bagging device of claim 6, wherein:
the Z-axis bag feeding mechanism (25) is a rodless cylinder;
the Y-axis bag feeding mechanism (24) is a rodless cylinder.
10. A bag body positioning method of a full-automatic intelligent bag feeding device for powder packaging based on any one of claims 1 to 9 is characterized by comprising the following steps:
s1, coarse positioning: the tray positioning is realized through the conveying unit, the blocking cylinder and the tray guiding and positioning device, and hundreds of valve bags can be preliminarily positioned at the same time, so that the requirements of one-time feeding and continuous automatic packaging of the valve bags are met;
s2, visual detection: identifying unqualified valve bags through image acquisition and image comparison and performing corresponding elimination operation;
s3, single valve bag pick-up: accurately picking up one valve bag at a time and sending the valve bag to a reference positioning table through a valve bag picking mechanism;
s4, fine positioning: through the combination of visual recognition and a valve bag picking mechanism, the valve bag and the reference positioning table in the step S3 are accurately aligned;
s5, precisely grabbing, namely grabbing the valve bag obtained in the step S4 through a rotary clamping mechanism and sending the valve bag to a bag feeding unit;
and S6, detecting whether the machine needs to be cleaned by using computer vision and with the aid of a dust sensor, and starting the high-pressure air spray gun and the built-in industrial dust collector in a time-sharing manner to perform self-cleaning so that the whole system can normally work in a high-dust environment.
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