CN113426680B - Automatic optical detection, classification and packaging device and using method thereof - Google Patents

Automatic optical detection, classification and packaging device and using method thereof Download PDF

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Publication number
CN113426680B
CN113426680B CN202110988983.4A CN202110988983A CN113426680B CN 113426680 B CN113426680 B CN 113426680B CN 202110988983 A CN202110988983 A CN 202110988983A CN 113426680 B CN113426680 B CN 113426680B
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China
Prior art keywords
moving
product
carrier
packaging
film
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CN202110988983.4A
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Chinese (zh)
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CN113426680A (en
Inventor
秦应化
姚亮亮
杜义祥
蒋元志
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Suzhou Dinnar Automation Technology Co Ltd
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Suzhou Dinnar Automation Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/38—Collecting or arranging articles in groups
    • 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
    • B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
    • B65B11/50—Enclosing articles, or quantities of material, by disposing contents between two sheets, e.g. pocketed sheets, and securing their opposed free margins
    • 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
    • B65B41/00—Supplying or feeding container-forming sheets or wrapping material
    • B65B41/02—Feeding sheets or wrapper blanks
    • B65B41/04—Feeding sheets or wrapper blanks by grippers
    • 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
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • 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
    • B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
    • B65B51/10—Applying or generating heat or pressure or combinations thereof

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The invention discloses an automatic optical detection, classification and packaging device and a using method thereof, wherein the device is used for detecting products, classifying the products, and then discharging and packaging the classified products; the device comprises an automatic optical detection device and a blanking packaging device, wherein the automatic optical detection device comprises a top surface and bottom surface detection device and a side surface detection device, and the blanking packaging device comprises a product blanking device, a stock bin and a packaging device; the top surface and bottom surface detection device and the side surface detection device are arranged to carry out all-dimensional detection on the product, so that the detection precision and efficiency of the product are improved, suspected NG materials can be separated from NG materials, and the product is cleaned in a dry manner before being packaged by the cleaning device, so that the product is prevented from being polluted before being packaged; realize automatic packing, work efficiency is high.

Description

Automatic optical detection, classification and packaging device and using method thereof
Technical Field
The invention relates to the technical field of nonstandard automation equipment, in particular to an automatic optical detection, classification and packaging device and a using method thereof.
Background
At present, in the precision part industry, the requirement on the machining precision of a product is high, so that the part needs to be measured and controlled in multiple sizes and multiple directions before and after the product is machined; because there will be great error using artifical naked eye to detect, inefficiency, simultaneously, when the product volume is less or the shape is comparatively nonstandard, artifical easy omission is examined. A single imager is usually adopted to detect a workpiece in the processing and detecting process at the present stage, the existing imager can only measure the size of a single surface, manual switching is carried out after measurement is carried out, when mass detection is carried out, the labor intensity of workers is high, the detection efficiency is low, and the production cost of enterprises is increased. In addition, in the processing and detection process at the present stage, a single imager is usually adopted to detect the workpiece, and the product is divided into an NG material and an OK material according to the detection result, detection errors may exist in the detection, suspected NG materials and NG materials cannot be separated, the NG materials are not separated according to specific defects, the processing efficiency of the subsequent processing steps of the NG materials is influenced, and the OK material after the detection is possibly polluted in the transfer process to influence the subsequent packaging; the existing packaging process is that the packaging film is opened by an individual and put into a product, the packaging process is slow, and the efficiency is low, so that improvement is needed.
Chinese patent CN111389752A provides an automatic detection and packaging integrated machine, which comprises a rack, wherein a lifting rotary workbench, a feeding and discharging station, an automatic detection device, a feeding and discharging manipulator, a material receiving swing disc device and a waste material collecting box are arranged on the rack in sequence along the circumferential direction of the lifting rotary workbench, the first bracket for placing a product jig is arranged on the lifting rotary workbench along the circumferential direction of the lifting rotary workbench, and the lifting rotary workbench can drive the product jig to lift and rotate so that the product jig is sequentially matched with the feeding and discharging station, the automatic detection device and the feeding and discharging manipulator correspondingly; the automatic detection and packaging of the product are realized, the labor and time are effectively saved, the overall volume of the equipment is reduced, the structure is compact and stable, the stability and the reliability are high, the production efficiency and the quality and the yield of the product are improved, and the production cost is reduced; however, the invention is only provided with a movable detection device and laser scanning, the moving range is limited, the product cannot be detected in all aspects and in multiple layers, the cleaning operation is not carried out in the process of operating to the packaging material tray after the detection is finished, the product is possibly polluted in the operating process, and the NG materials are not classified.
Therefore, the automatic optical detection, classification and packaging device is developed, which can realize the omnibearing detection of products, effectively separate NG/OK materials, automatically package and discharge the OK materials after cleaning, improves the detection precision, the packaging efficiency and the packaging precision, and obviously has practical significance.
Disclosure of Invention
The invention aims to provide an automatic optical detection, classification and packaging device and a using method thereof.
In order to achieve the purpose, the invention adopts the technical scheme that: an automatic optical detection, classification and packaging device is used for detecting products, classifying the products, and then discharging and packaging the products; the device comprises an automatic optical detection device and a blanking packaging device, wherein the automatic optical detection device comprises a top surface and bottom surface detection device and a side surface detection device, and the blanking packaging device comprises a product blanking device, a stock bin and a packaging device;
the top surface and bottom surface detection device comprises a first material moving device, a bottom surface camera unit and a top surface camera unit, wherein the first material moving device comprises a first moving module and a first transfer carrier, a first carrier seat is arranged on the first transfer carrier, and a plurality of fixed suction heads are arranged on the first carrier seat;
the side surface detection device comprises a second material moving device and a side surface camera set, the second material moving device comprises a second moving module and a second transfer carrier, a second carrier seat is arranged on the second transfer carrier, and a plurality of rotary suction heads are arranged on the second carrier seat;
the product blanking device comprises a third material moving device and a cleaning device, the third material moving device comprises a third moving module and a third transfer carrier, and the third transfer carrier is provided with a third carrier seat and a material tray placed on the third carrier seat;
the material bins comprise NG material bins and suspected NG material bins, and one NG material bin corresponds to one defect;
the packaging device comprises a fourth material moving device, a film supplying device, a film tearing device and a packaging and blanking device, wherein the fourth material moving device comprises a plurality of clamps, and the fourth material moving device drives the clamps to reciprocate above the film tearing device and the third carrier seat.
Preferably, the number of the first material moving devices and the number of the second material moving devices are 2, 2 the first material moving devices are symmetrically arranged, 2 the second material moving devices are symmetrically arranged, and the number of the third moving modules is 2 and 2 the third moving modules are symmetrically arranged.
Preferably, the first moving module, the second moving module and the third moving module are respectively provided with a clamping device, each clamping device is provided with at least two clamp blocks, and each clamp block is provided with a sliding cylinder.
Preferably, every the clamp is got the device and is still included support, fixed plate, movable plate and slide rail, the quantity of movable plate is a plurality of, the fixed plate is fixed on the support, the movable plate with elastic connection between the support, be provided with the first sunken that a plurality of extends to the support direction on the fixed plate, be provided with on the movable plate with the second that first sunk position corresponds is sunken, first sunken and second are sunken to form the anchor clamps hole that is used for pressing from both sides the product, the anchor clamps piece is located the top of fixed plate and with fixed plate sliding connection, be provided with a plurality of bellying on the movable plate, be provided with a plurality of on the anchor clamps piece and the bellying position corresponds the depressed part, the anchor clamps piece is in sliding process on the mounting panel, the anchor clamps piece drives the depressed part and slides, the depressed part promotes bellying, The movable plate connected with the convex part and the concave hole on the movable plate move to realize the opening and closing of the clamping device.
Preferably, when the number of the moving plates is one, a plurality of second recesses extending towards the direction of the bracket are arranged on the moving plates and correspond to the first recesses; when the number of the moving plates is the same as that of the first recesses, each moving plate is provided with a second recess.
Preferably, the bottom camera set, the top camera set and the side camera set each include at least two cameras disposed side by side, and each camera is provided with a lens and a light source.
Preferably, the second carrier seat is further provided with a first synchronous belt pulley and a rotating motor, the first synchronous belt pulley is arranged at the output end of the rotating motor, a second synchronous belt pulley and a rotating ring are arranged on a rotating suction head at one end of the second carrier seat, and the first synchronous belt pulley and the second synchronous belt pulley are connected through a synchronous belt.
Preferably, except the rotary suction head provided with the second synchronous pulley, the other rotary suction heads are provided with two rotating rings which are arranged up and down, the two rotating rings are fixedly connected, and the rotating rings on the two adjacent rotary suction heads are connected through a flat belt.
Preferably, the cleaning device comprises a dry cleaning device and a moving device for moving the dry cleaning device, wherein the dry cleaning device comprises an air inlet channel, a plasma processing chamber and an air outlet.
Preferably, the third material moving device is close to the below of the one end of the film tearing device is provided with a jacking mechanism, the jacking mechanism comprises a jacking cylinder and a jacking plate connected to the output end of the jacking cylinder, and a plurality of jacking blocks are arranged on the jacking plate.
Preferably, a plurality of product placing holes are formed in the tray, and when products are placed in the product placing holes, the products are embedded in the tray.
Preferably, the number of the jacking blocks is the same as that of the product placing holes in the material tray, the jacking blocks are arranged on the jacking plate at the same positions as those of the product placing holes in the material tray, and the cross section area of each jacking block is smaller than or equal to that of each product placing hole.
Preferably, the film supply device comprises a film stock bin and a film moving device, and the film stock bin is provided with a film moving device.
Preferably, the diaphragm comprises an upper diaphragm and a lower diaphragm, one end of the upper diaphragm and one end of the lower diaphragm are fixedly connected to form a closed end, and the end opposite to the closed end is an open-close end; the length of the lower-layer membrane is greater than that of the upper-layer membrane.
Preferably, the opening and closing end of the upper membrane is provided with two protruding ends, and the length of the upper membrane plus the length of the protruding ends is greater than that of the lower membrane.
Preferably, the film tearing device comprises a fourth moving module, and a film carrier, a first pressing device, a second pressing device and a film tearing clamping jaw are arranged on the fourth moving module.
Preferably, the first pressing device is located below the membrane carrier, the first pressing device includes a first pressing cylinder and a first pressing block arranged on an output end of the first pressing cylinder, two sides of the first pressing block are respectively provided with a second pressing block, and the second pressing block is elastically connected with the first pressing block; the first pressing block is arranged at the opening and closing end of the membrane carrier, and when the membrane is placed on the membrane carrier, the first pressing cylinder drives the second pressing block to press the lower-layer membrane.
Preferably, the second pressing device is arranged on one side of the membrane carrier, and the second pressing device comprises a second pressing cylinder and a third pressing block arranged on the output end of the second pressing cylinder; when a membrane is placed on the membrane carrier, the second pressing cylinder drives the third pressing block to press the membrane.
Preferably, the dyestripping clamping jaw removes the module including the dyestripping clamping jaw, sets up clamping jaw mounting panel on the dyestripping clamping jaw removes the module, sets up clamping jaw cylinder on the clamping jaw mounting panel and sets up the first turning block on clamping jaw cylinder output, it is connected with the second turning block to rotate on the first turning block, it is connected with the clamping jaw to rotate on the second turning block, fixedly connected with dyestripping fixed block on the mounting panel, the first turning block of clamping jaw cylinder drive and second turning block drive the clamping jaw and rotate, when the clamping jaw rotates to the diaphragm on, the clamping jaw colludes and cliies the protrusion end that sets up on the upper film piece with the cooperation of dyestripping fixed block to keep away from under the drive of dyestripping clamping jaw removal module the end of opening and shutting.
Preferably, the packaging and blanking device comprises a blanking transmission device and a blanking conveying belt, the blanking transmission device comprises a blanking welding frame, a blanking carrying device and a third pressing device, the blanking carrying device is connected with the blanking welding frame in a sliding mode, and the third pressing device is fixedly connected with the welding frame.
Preferably, the third pressing device comprises a heating device, a third pressing cylinder and a pressing block fixing plate connected to the output end of the third pressing cylinder, the pressing block fixing plate is elastically connected with a fourth pressing block, the fourth pressing block is connected with a vacuum generating device, and a vacuum cavity is arranged in the fourth pressing block.
Preferably, every the feed bin all is provided with unloading district and material loading district, the material loading district is used for placing the empty charging tray of NG material and wait for the blowing of NG material product, become NG material charging tray after filling the product on the empty charging tray of NG material, the unloading district is used for placing NG material charging tray, the unloading district with the top in material loading district is provided with feed bin moving mechanism, feed bin moving mechanism is used for snatching NG material charging tray removes to the unloading district from the material loading district.
Preferably, the NG material bins comprise an appearance NG material bin, a size NG material bin and a color NG material bin.
Preferably, the system further comprises a control system, wherein the control system comprises a main control unit, a data storage unit, a data processing unit and a driving unit, and the main control unit is used for transmitting signals to other units and receiving feedback signals of other units;
the data storage unit is used for storing product detection data and transmitting the product data to the data processing unit;
the data processing unit analyzes whether the product is an NG material or an OK material, classifies the NG material according to specific defects of the product, and transmits a classification result to the driving unit;
the driving unit is used for moving the products on the third material moving device to a storage bin corresponding to the defects or to the packaging device according to the classification result.
Preferably, a threshold value of each defect is manually set in the data processing unit, and the data processing unit performs data analysis on the received product detection data and compares the data analysis with the set threshold value.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. compared with CN111389752A, the product is detected by arranging the top surface and bottom surface detection device and the side surface detection device, the detection precision and efficiency of the product are improved by rotatable omnibearing detection, the product can be classified according to a set threshold value, NG materials are classified according to specific defects, suspected NG materials are separated from NG materials, subsequent operation on the suspected NG materials is facilitated, the product is subjected to dry cleaning before being packaged by arranging the cleaning device, and the product is prevented from being polluted before being packaged;
2. according to the invention, the membrane is moved from the membrane bin to the membrane tearing device through the membrane moving device, the membrane is separated through the membrane tearing device, the cleaned product is placed in the membrane through the fourth material moving device, and the membrane is tightly pressed through the third pressing device, so that the whole process does not need manual operation, the automation degree is high, and the working efficiency is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that some of the drawings in the following description are embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic overall structure diagram according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a top-surface and bottom-surface detection apparatus according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a side detection apparatus according to a first embodiment of the invention;
fig. 4 is a schematic structural view of a blanking and packaging device in a first embodiment of the invention;
fig. 5 is a schematic structural diagram of a gripping device according to a first embodiment of the present invention;
fig. 6 is a schematic structural view of a second carrier seat according to a first embodiment of the invention;
fig. 7 is a schematic structural diagram of a product blanking device in the first embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a packaging device according to a first embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a film carrier according to an embodiment of the present invention;
FIG. 10 is a schematic view of a film-stripping jaw according to a first embodiment of the present invention;
fig. 11 is a schematic structural view of a blanking transmission device in the first embodiment of the present invention.
Wherein, 1, an automatic optical detection device; 2. a blanking and packaging device; 3. a top and bottom surface detection device; 4. a side detection device; 5. a product blanking device; 6. a storage bin; 7. a packaging device; 8. a gripping device;
31. a bottom camera set; 32. a top camera set; 33. a first moving module; 34. a first transfer carrier; 35. a first carrier seat; 36. fixing the suction head;
40. a flat belt; 41. a side camera set; 42. a second moving module; 43. a second transfer carrier; 44. a second carrier seat; 45. rotating the suction head; 46. a first timing pulley; 47. a rotating electric machine; 48. a second timing pulley; 49. a rotating ring; 50. a synchronous belt;
51. a cleaning device; 52. a third moving module; 53. a third transfer carrier; 54. a third carrier base; 55. a material tray; 56. a jacking mechanism; 57. a product placement hole; 58. jacking a cylinder; 59. jacking blocks;
511. a dry cleaning device; 512. a mobile device; 513. an air intake passage; 514. a plasma processing chamber; 515. an air outlet;
71. a fourth material moving device; 72. a film supply device; 73. a film tearing device; 74. a packaging and blanking device; 75. a clamp;
721. a membrane stock bin; 722. a film transfer device; 723. a diaphragm moving device; 724. a membrane; 725. an upper membrane sheet; 726. a lower membrane; 727. a protruding end;
731. a fourth moving module; 732. a membrane carrier; 733. a first pressing device; 734. a second pressing device; 735. a film tearing clamping jaw;
7331. a first hold-down cylinder; 7332. a first compact block; 7333. a second compact block;
7341. a second hold-down cylinder; 7342. a third compact block;
7351. a film tearing clamping jaw moving module; 7352. a clamping jaw mounting plate; 7353. a clamping jaw cylinder; 7354. a first rotating block; 7355. a second turning block; 7356. a clamping jaw; 7357. a fixed block for tearing the film;
741. a blanking transmission device; 742. a blanking conveyor belt; 743. blanking welding frames; 744. a blanking and conveying device; 745. a third pressing device;
7451. a third hold-down cylinder; 7452. a compression block fixing plate; 7453. a fourth compact block;
81. a clamp block; 82. a slide cylinder; 83. a support; 84. a fixing plate; 85. moving the plate; 86. a slide rail; 87. a boss portion; 88. a recessed portion.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
As shown in fig. 1-11, an automatic optical inspection, sorting and packaging device is used for inspecting, sorting and then discharging and packaging products; the device comprises an automatic optical detection device 1 and a blanking packaging device 2, wherein the automatic optical detection device 1 comprises a top surface and bottom surface detection device 3 and a side surface detection device 4, and the blanking packaging device 2 comprises a product blanking device 5, a stock bin 6 and a packaging device 7;
the top surface and bottom surface detection device comprises a first material moving device, a bottom surface camera set 31 and a top surface camera set 32, the first material moving device comprises a first moving module 33 and a first transfer carrier 34, a first carrier seat 35 is arranged on the first transfer carrier, and a plurality of fixed suction heads 36 are arranged on the first carrier seat;
the side detecting device comprises a second material moving device and a side camera set 41, the second material moving device comprises a second moving module 42 and a second transfer carrier 43, a second carrier seat 44 is arranged on the second transfer carrier, a plurality of rotary suction heads 45 are arranged on the second carrier seat, and each rotary suction head sucks a product;
the product blanking device comprises a third material moving device and a cleaning device 51, the third material moving device comprises a third moving module 52 and a third transfer carrier 53, and the third transfer carrier is provided with a third carrier seat 54 and a material tray 55 placed on the third carrier seat;
the material bins comprise NG material bins and suspected NG material bins, and one NG material bin corresponds to one defect;
the packaging device comprises a fourth material moving device 71, a film supply device 72, a film tearing device 73 and a packaging and blanking device 74, the fourth material moving device comprises a plurality of clamps 75, and the fourth material moving device drives the clamps to reciprocate above the film tearing device and the third carrier seat.
Furthermore, the quantity of the first material moving device and the second material moving device is 2, 2 the first material moving device is symmetrically arranged, 2 the second material moving device is symmetrically arranged, and the third moving module is 2 and 2 symmetrically arranged.
Further, the first moving module, the second moving module and the third moving module are all provided with a clamping device 8, each clamping device is provided with at least two clamp blocks 81, and each clamp block is provided with a sliding cylinder 82.
Further, every it still includes support 83, fixed plate 84, movable plate 85 and slide rail 86 to press from both sides the device of getting, the quantity of movable plate is a plurality of, the fixed plate is fixed on the support, the movable plate with elastic connection between the support, be provided with the first sunken of a plurality of extension to the support direction on the fixed plate, be provided with on the movable plate with the second that first sunk position corresponds is sunken, first sunken and second are sunken to form the anchor clamps hole that is used for pressing from both sides the product, the anchor clamps piece is located the top of fixed plate and with fixed plate sliding connection, be provided with a plurality of bellying 87 on the movable plate, be provided with a plurality of sunk part 88 that corresponds with the bellying position on the anchor clamps piece, the anchor clamps piece is in the sliding process on the mounting panel, the anchor clamps piece drives the sunk part and slides, the sunk part promotes bellying, The movable plate connected with the convex part and the concave hole on the movable plate move to realize the opening and closing of the clamping device.
Furthermore, the number of the moving plates is the same as that of the first recesses, and each moving plate is provided with a second recess.
Furthermore, the bottom surface camera set, the top surface camera set and the side surface camera set all comprise 4 cameras which are placed in parallel, and each camera is provided with a lens and a light source.
Further, a first synchronous belt pulley 46 and a rotating motor 47 are further arranged on the second carrier seat, the first synchronous belt pulley is arranged at the output end of the rotating motor, a second synchronous belt pulley 48 and a rotating ring 49 are arranged on the rotating suction head at one end of the second carrier seat, and the first synchronous belt pulley and the second synchronous belt pulley are connected through a synchronous belt 50.
Furthermore, except the rotary suction head provided with the second synchronous belt wheel, the other rotary suction heads are provided with two rotating rings which are arranged up and down, the two rotating rings are fixedly connected, and the rotating rings on the two adjacent rotary suction heads are connected through a flat belt 40.
Further, the cleaning apparatus includes a dry cleaning apparatus 511 and a moving apparatus 512 for moving the dry cleaning apparatus, and the dry cleaning apparatus includes an air inlet passage 513, a plasma processing chamber 514, and an air outlet 515.
Further, the third material moving device is close to the below of the one end of dyestripping device is provided with climbing mechanism 56, climbing mechanism includes jacking cylinder 58 and the jacking board of connection on the jacking cylinder output, be provided with a plurality of jacking piece 59 on the jacking board.
Further, a plurality of product placing holes 57 are formed in the tray, and when products are placed in the product placing holes, the products are embedded in the tray.
Furthermore, the number of the jacking blocks is the same as that of the product placing holes in the material tray, the jacking blocks are arranged on the jacking plate and the product placing holes in the material tray, and the cross section area of each jacking block is smaller than or equal to the size of each product placing hole.
Further, the film supply device comprises a film bin 721 and a film moving device 722, and a film moving device 723 is arranged on the film bin; a plurality of diaphragms 724 are disposed in the diaphragm storage bin.
Further, the membrane comprises an upper membrane 725 and a lower membrane 726, one end of the upper membrane and one end of the lower membrane are fixedly connected to form a closed end, and the end opposite to the closed end is an open-close end; the length of the lower-layer membrane is greater than that of the upper-layer membrane.
Further, two protruding ends 727 are arranged at the opening and closing end of the upper-layer membrane, and the length of the upper-layer membrane plus the length of the protruding ends is greater than that of the lower-layer membrane.
Further, the film tearing device comprises a fourth moving module 731, and a film carrier 732, a first pressing device 733, a second pressing device 734 and a film tearing clamping jaw 735 are arranged on the fourth moving module 731.
Further, the first pressing device is located below the membrane carrier, the first pressing device includes a first pressing cylinder 7331 and a first pressing block 7332 disposed on an output end of the first pressing cylinder, two sides of the first pressing block are respectively provided with a second pressing block 7333, and the second pressing block and the first pressing block are elastically connected; the first pressing block is arranged at the opening and closing end of the membrane carrier, and when the membrane is placed on the membrane carrier, the first pressing cylinder drives the second pressing block to press the lower-layer membrane.
Further, the second pressing device is disposed at one side of the membrane carrier, and the second pressing device includes a second pressing cylinder 7341 and a third pressing block 7342 disposed on an output end of the second pressing cylinder; when a membrane is placed on the membrane carrier, the second pressing cylinder drives the third pressing block to press the membrane.
Further, the dyestripping clamping jaw removes module 7351, sets up clamping jaw mounting panel 7352 on the dyestripping clamping jaw removes module, sets up clamping jaw cylinder 7353 on the clamping jaw mounting panel and sets up first turning block 7354 on clamping jaw cylinder output including the dyestripping clamping jaw, rotate on the first turning block and be connected with second turning block 7355, it is connected with clamping jaw 7356 to rotate on the second turning block, fixedly connected with dyestripping fixed block 7357 on the mounting panel, first turning block of clamping jaw cylinder drive and second turning block drive the clamping jaw and rotate, when the clamping jaw rotates to the diaphragm, the clamping jaw colludes and presss from both sides the protrusion end that sets up on the upper strata film piece with the cooperation of dyestripping fixed block to keep away from under the drive of dyestripping clamping jaw removal module the division end.
Further, the package blanking device includes a blanking transmission device 741 and a blanking conveyor belt 742, the blanking transmission device includes a blanking welding frame 743, a blanking carrying device 744 and a third pressing device 745, the blanking carrying device is slidably connected to the blanking welding frame, and the third pressing device is fixedly connected to the welding frame.
Further, the third compressing device comprises a heating device, a third compressing cylinder 7451 and a compressing block fixing plate 7452 connected to the output end of the third compressing cylinder, the compressing block fixing plate is elastically connected with a fourth compressing block 7453, the fourth compressing block is connected with a vacuum generating device, and a vacuum cavity is arranged in the fourth compressing block.
Further, every the feed bin all is provided with unloading district and material loading district, the material loading district is used for placing the empty charging tray of NG material waits for NG to expect the product blowing, becomes NG material charging tray after filling the product on the empty charging tray of NG material, the unloading district is used for placing NG material charging tray, the unloading district with the top in material loading district is provided with feed bin moving mechanism, feed bin moving mechanism is used for snatching NG material charging tray removes to the unloading district from the material loading district.
Further, the NG material bins comprise an appearance NG material bin, a size NG material bin and a color NG material bin.
The control system comprises a main control unit, a data storage unit, a data processing unit and a driving unit, wherein the main control unit is used for transmitting signals to other units and receiving feedback signals of other units;
the data storage unit is used for storing product detection data and transmitting the product data to the data processing unit;
the data processing unit analyzes whether the product is an NG material or an OK material, classifies the NG material according to specific defects of the product, and transmits a classification result to the driving unit;
the driving unit is used for moving the products on the third material moving device to a storage bin corresponding to the defects or to the packaging device according to the classification result.
Furthermore, threshold values of all defects are manually set in the data processing unit, and the data processing unit carries out data analysis on the received product detection data and compares the data analysis with the set threshold values.
The using method of the embodiment mainly comprises the following steps:
s1, the first carrier seat moves to one end, close to the first moving module, of the first transfer carrier, the clamping device on the first moving module clamps the product and then moves to the position above the first carrier seat, and at the moment, the bottom camera group photographs the bottom of the product and transmits data to the control system;
s2, placing the product on a first carrier seat by the first moving module, moving the first carrier seat from one end, close to the first moving module, of the first transfer carrier to one end, far away from the first moving module, and in the moving process, photographing the top surface of the product by a top surface camera group and transmitting data to a control system;
s3, when the first carrier seat moves to one end of the first transfer carrier far away from the first moving module, the product on the first carrier seat is clamped and placed on the second carrier seat by the clamping device on the second moving module, the side camera group takes a picture of the side of the product, and the data is transmitted to the control system;
s4, moving a second carrier seat from one end, close to the second moving module, of the second transfer carrier to one end, far away from the second moving module, wherein in the moving process, the rotating motor drives the first synchronous belt pulley to rotate so as to drive the rotating suction head on the second carrier seat to rotate, and in the rotating process, the side camera group takes pictures of the side face of the product and transmits the data to the control system;
s5, processing the data collected in the steps S1-S4 by a data processing unit in the control system, calculating and determining a data mean value and information of each product according to the data, setting a threshold value according to the mean value, comparing the information of the product with the threshold value, and distinguishing the product into an OK material, a suspected NG material and an NG material with a certain defect;
s6, after the second carrier seat moves to one end far away from the second moving module, the clamping device on the third moving module moves the OK material on the second carrier seat to the material tray on the third carrier seat, moves the NG material on the second carrier seat to the corresponding bin according to the specific defect type, and moves the suspected NG material to the bin of the suspected NG material;
s7, after the products in the material tray are placed, moving the material tray to the lower part of the cleaning device for cleaning, and after cleaning, moving the material tray to the lower part of the fourth material moving device for waiting for packaging;
s8, the membrane moving device moves the membrane from the membrane bin to the membrane carrier, the membrane is pressed by the second pressing device, and the lower layer of membrane is pressed by the second pressing block;
s9, clamping the protruding end on the upper membrane sheet by the membrane tearing clamping jaw, moving, and separating the upper membrane sheet from the lower membrane sheet;
s10, clamping the product on the tray by the clamp, moving the product to the upper part of the membrane, and clamping and loosening the product to realize blanking;
s11, the film tearing clamping jaw returns to the original position and loosens the upper-layer film, namely, the upper-layer film covers the lower-layer film, the film carrier moves to the position below the blanking transmission device, and the film is packaged through a third pressing device; and moving the product to a blanking conveying belt through a blanking conveying device.
Further, in step S6, after the NG material is placed in the bin, and after the NG material tray in the loading area of the bin is full, the bin moving mechanism grabs the NG material tray to move from the loading area to the unloading area.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. An automatic optical detection, classification and packaging device is characterized in that the device is used for detecting products, classifying the products, and then blanking and packaging the products; the device comprises an automatic optical detection device, a blanking packaging device and a control system, wherein the automatic optical detection device comprises a top surface and bottom surface detection device and a side surface detection device, and the blanking packaging device comprises a product blanking device, a storage bin and a packaging device;
the top surface and bottom surface detection device comprises a first material moving device, a bottom surface camera unit and a top surface camera unit, wherein the first material moving device comprises a first moving module and a first transfer carrier, a first carrier seat is arranged on the first transfer carrier, and a plurality of fixed suction heads are arranged on the first carrier seat;
the side surface detection device comprises a second material moving device and a side surface camera set, the second material moving device comprises a second moving module and a second transfer carrier, a second carrier seat is arranged on the second transfer carrier, and a plurality of rotary suction heads are arranged on the second carrier seat;
the second carrier seat is also provided with a first synchronous belt wheel and a rotating motor, the first synchronous belt wheel is arranged at the output end of the rotating motor, a rotating suction head at one end of the second carrier seat is provided with a second synchronous belt wheel and a rotating ring, and the first synchronous belt wheel and the second synchronous belt wheel are connected through a synchronous belt;
except the rotary suction heads provided with the second synchronous belt wheel, the other rotary suction heads are provided with two rotating rings which are arranged up and down, the two rotating rings are fixedly connected, and the rotating rings on the two adjacent rotary suction heads are connected through a flat belt;
the product blanking device comprises a third material moving device and a cleaning device, the third material moving device comprises a third moving module and a third transfer carrier, and the third transfer carrier is provided with a third carrier seat and a material tray placed on the third carrier seat;
the material bins comprise NG material bins and suspected NG material bins, and one NG material bin corresponds to one defect;
the packaging device comprises a fourth material moving device, a film supplying device, a film tearing device and a packaging and blanking device, the fourth material moving device comprises a plurality of clamps, and the fourth material moving device drives the clamps to reciprocate above the film tearing device and the third carrier seat;
the film tearing device comprises a fourth moving module, and a film carrier, a first pressing device, a second pressing device and a film tearing clamping jaw are arranged on the fourth moving module;
the first pressing device is positioned below the membrane carrier and comprises a first pressing cylinder and a first pressing block arranged on the output end of the first pressing cylinder, two sides of the first pressing block are respectively provided with a second pressing block, and the second pressing block is elastically connected with the first pressing block;
the dyestripping clamping jaw removes the module, sets up clamping jaw mounting panel on the dyestripping clamping jaw removes the module, sets up clamping jaw cylinder on the clamping jaw mounting panel and sets up the first turning block on clamping jaw cylinder output including the dyestripping clamping jaw, rotate on the first turning block and be connected with the second turning block, it is connected with the clamping jaw to rotate on the second turning block, fixedly connected with dyestripping fixed block on the mounting panel, the first turning block of clamping jaw cylinder drive and second turning block drive the clamping jaw and rotate.
2. The automatic optical inspection, sorting and packaging apparatus of claim 1 wherein the first moving module, the second moving module and the third moving module are each provided with a gripper, each gripper is provided with at least two gripper blocks, and each gripper block is provided with a sliding cylinder.
3. The automated optical inspection, sorting and packaging apparatus of claim 1 wherein the bottom camera set, top camera set and side camera set each comprise at least two cameras juxtaposed, each camera having a lens and a light source disposed thereon.
4. The automated optical inspection, sorting and packaging apparatus of claim 1 wherein the cleaning apparatus comprises a dry cleaning apparatus and a moving apparatus for moving the dry cleaning apparatus, the dry cleaning apparatus comprising an inlet channel, a plasma processing chamber and an outlet aperture.
5. The automatic optical inspection, classification and packaging device of claim 1, wherein a jacking mechanism is arranged below one end of the third material moving device close to the film tearing device, the jacking mechanism comprises a jacking cylinder and a jacking plate connected to the output end of the jacking cylinder, and a plurality of jacking blocks are arranged on the jacking plate.
6. The apparatus of claim 1, wherein the film supplying device comprises a film storage bin and a film moving device, and the film storage bin is provided with a film moving device.
7. The automatic optical inspection, sorting and packaging device of claim 1 wherein the packaging and feeding device comprises a feeding conveyor and a feeding conveyor belt, the feeding conveyor comprises a feeding welding frame, a feeding carrying device and a third pressing device, the feeding carrying device is slidably connected with the feeding welding frame, and the third pressing device is fixedly connected with the welding frame.
8. A method of using an automated optical inspection, sorting and packaging apparatus, using the apparatus of claim 1, comprising the steps of:
s1, the first carrier seat moves to one end, close to the first moving module, of the first transfer carrier, the first moving module clamps the product and moves the product to the upper side of the first carrier seat, and at the moment, the bottom camera group takes a picture of the bottom of the product and transmits the data to the control system;
s2, placing the product on a first carrier seat by the first moving module, moving the first carrier seat from one end, close to the first moving module, of the first transfer carrier to one end, far away from the first moving module, and in the moving process, photographing the top surface of the product by a top surface camera group and transmitting data to a control system;
s3, when the first carrier seat moves to one end of the first transfer carrier far away from the first moving module, the second moving module clamps the product on the first carrier seat and places the product on the second carrier seat, and the side camera group takes a picture of the side of the product and transmits the data to the control system;
s4, moving a second carrier seat from one end, close to the second moving module, of the second transfer carrier to one end, far away from the second moving module, rotating a suction head in the moving process, taking a picture of the side face of the product by a side face camera group in the rotating process, and transmitting the data to a control system;
s5, the control system processes the data collected in the steps S1-S4, the data mean value and the information of each product are determined according to the data calculation, the threshold value is set according to the mean value, the information of the products is compared with the threshold value, and the products are divided into OK materials, suspected NG materials and NG materials with a certain defect;
s6, after the second carrier seat moves to one end far away from the second moving module, a clamping device on the third moving module moves the OK material on the second carrier seat to a material tray on the third carrier seat, moves the NG material on the second carrier seat to a corresponding bin according to specific defect types, and moves the suspected NG material to a suspected NG material bin;
s7, after the products in the material tray are placed, moving the material tray to the lower part of the cleaning device for cleaning, and after cleaning, moving the material tray to the lower part of the fourth material moving device for waiting for packaging;
s8, the film supplying device moves the film to the film tearing device for film tearing, a clamp in the fourth material moving device clamps the product on the material tray and moves the product to the upper side of the film, and the clamp releases the product to realize blanking;
and S9, moving the product with the film into a packaging and blanking device to package and blank the film.
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