CN113697167B

CN113697167B - Hose feeding visual identification device convenient to position

Info

Publication number: CN113697167B
Application number: CN202110909442.8A
Authority: CN
Inventors: 刘光辉; 张召军; 李佳; 张全涛; 赵晓明
Original assignee: Qingdao Vova Software Control Co ltd
Current assignee: Qingdao Vova Software Control Co ltd
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2023-01-31
Anticipated expiration: 2041-08-09
Also published as: CN113697167A

Abstract

The invention relates to the technical field of food processing, in particular to a hose feeding visual identification device convenient for positioning, which comprises a base, wherein a mechanical arm is arranged on the base, a conveying belt is arranged on the base, a filling container is placed on the conveying belt, a positioning mechanism is arranged on the base and comprises two blocking arms and a photoelectric sensing switch, each blocking arm comprises a fixed seat, a first servo motor is arranged on each fixed seat, the tail end of an output shaft of each first servo motor is connected with a rotating column in a key mode, and a baffle is arranged on the peripheral surface of each rotating column. According to the invention, through the positioning mechanism arranged on the base, when the filling container is transported and moved to the charging position by the conveyor belt, the two blocking arms on the positioning mechanism can block the filling container and clamp the filling container by using the clamping plates, so that the filling container is positioned on the base, the displacement distance required by the mechanical arm for identifying the filling container and adjusting the position is reduced, and the efficiency of visually identifying and positioning the filling container is increased.

Description

Hose feeding visual identification device convenient to position

Technical Field

The invention relates to the technical field of food processing, in particular to a hose feeding visual identification device convenient for positioning.

Background

The visual recognition device is a device that performs operations such as recognition of appearance and positioning of a position of an object such as a workpiece by using a visual recognition system, and is generally used in cooperation with a robot so that the robot can perform automatic positioning according to the positions of the workpiece and the object to perform works such as grasping and feeding of the workpiece and the object. When feeding and filling liquid food, some automatic factories can automatically fill containers on a production line by using a manipulator with a visual recognition device, because the positions of the containers on the production line are different, the manipulator needs to be controlled to move to the position of the container after the position of the container is visually recognized, and the manipulator needs to spend a certain time to align with the container when moving, so that the filling time of the container is increased, the production efficiency of the product is reduced, and in view of the above, the visual recognition device for hose feeding, which is convenient for positioning, is provided.

Disclosure of Invention

The invention aims to provide a visual identification device for hose feeding, which is convenient to position, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a reinforced visual identification device of hose convenient to carry out location, includes the base, install the arm on the base, the top of base is seted up flutedly, the recess internal rotation is connected with a plurality of bearing rollers, one of them bearing roller coaxial coupling has conveyor motor, and is a plurality of the bearing roller cover is established in the conveyer belt, load the container on the conveyer belt has been placed, be provided with vertical digging arm on the arm, reinforced hose is installed to the bottom of vertical digging arm, the peripheral department of vertical digging arm installs the discernment camera, be connected with defeated material hose on the side end face of vertical digging arm bottom.

Preferably, a limiting ring is fixed on the side end face of the longitudinal movable arm, and the delivery hose passes through the limiting ring.

Preferably, the base is provided with a positioning mechanism, the positioning mechanism comprises two blocking arms symmetrically distributed at the edges of the left side and the right side of the groove and a photoelectric sensing switch arranged at the top end face of the base, and the head of the photoelectric sensing switch faces the conveying belt.

Preferably, the baffle arm comprises a fixed seat fixed at the top end of the base, the top end of the fixed seat is in a horizontal protruding shape, a first servo motor is fixed at the top end of the fixed seat, a rotating column is connected to the tail end of an output shaft of the first servo motor in a key mode, a baffle plate is arranged on the peripheral surface of the rotating column, and an end plate is formed by bending the tail end of the baffle plate.

Preferably, a sleeve ring is sleeved on the periphery of the bottom end of the rotating column, a limiting notch is formed in the outer end of the sleeve ring, the baffle plates extend out of the limiting notch, the sleeve ring is fixed on the top end face of the base, when the baffle plates abut against the tail end of the limiting notch, the end plates of the two baffle plates abut against the upper portion of the conveying belt, and when the baffle plates abut against the head end of the limiting notch, the baffle plates are parallel to the edge of the conveying belt.

Preferably, the side surface of the baffle plate is provided with a through groove, a convex plate is arranged at the edge of the top of the tail end of the through groove and fixed on the baffle plate, a second servo motor is mounted on the convex plate, a clamping plate is mounted at the tail end of an output shaft of the second servo motor, and the position of the clamping plate corresponds to the position of the through groove.

Preferably, the side surface of the tail end of the clamping plate is provided with an arc-shaped groove, and a plurality of anti-skidding blocks made of rubber materials are tightly adhered to the wall of the arc-shaped groove.

Preferably, a limiting plate is fixed on an outer end face of the baffle, the limiting plate is in an L-shaped plate structure, the limiting plate and the second servo motor are located on the same side of the baffle, the tail end of the limiting plate is fixed at the edge of the side end of the through groove, and when the clamping plate rotates on the baffle, the tail end of the clamping plate can be overlapped on the limiting plate.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, through the positioning mechanism arranged on the base, when the filling container is transported and moved to the charging position by the conveyer belt, the two baffle arms on the positioning mechanism can block the filling container and clamp the filling container by the clamping plates, so that the filling container is positioned on the base, the displacement distance required by the mechanical arm for identifying the filling container and adjusting the position is reduced, and the efficiency of visually identifying and positioning the filling container is increased.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an exploded view of the base of the present invention;

FIG. 3 is a schematic view of a robot arm according to the present invention;

FIG. 4 is a schematic view of the structure of the longitudinally movable arm according to the present invention;

FIG. 5 is a schematic view of the positioning mechanism of the present invention;

FIG. 6 is an exploded view of the arm of the present invention;

FIG. 7 is a schematic view of the construction of the splint of the present invention;

fig. 8 is a schematic view of the positioning mechanism of the present invention in a position to clear the refill container.

The meaning of the individual reference symbols in the figures is:

1. a base; 11. a groove; 12. a carrier roller; 121. a conveying motor; 13. a conveyor belt; 2. a filling container; 3. a mechanical arm; 31. a longitudinally movable arm; 311. a limiting ring; 32. a feeding hose; 33. identifying a camera; 34. a delivery hose; 4. a positioning mechanism; 41. a catch arm; 411. a fixed seat; 4111. a first servo motor; 412. rotating the column; 4121. a baffle plate; 4122. an end plate; 4123. a through groove; 4124. a convex plate; 4125. a limiting plate; 413. a second servo motor; 414. a splint; 4141. an arc-shaped slot; 4142. anti-skid blocks; 415. a collar; 4151. a limiting notch; 42. photoelectric sensing switch.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

In the description of the present invention, 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, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Referring to fig. 1 to 8, the present invention provides a technical solution:

the utility model provides a hose fed visual identification device convenient to carry out location, the on-line screen storage device comprises a base 1, install arm 3 on the base 1, base 1's top is seted up flutedly 11, 11 internal rotations in the recess are connected with a plurality of bearing rollers 12, one of them bearing roller 12 coaxial coupling has conveyor motor 121, conveyor motor 121 fixes the side at base 1, a plurality of bearing roller 12 covers are established in conveyer belt 13, packing container 2 has been placed on conveyer belt 13, when putting through conveyor motor 121 and external power supply, conveyor motor 121 begins to work and drives bearing roller 12 and rotate, thereby make bearing roller 12 drive conveyer belt 13 under the effect of frictional force and transport packing container 2. The mechanical arm 3 is provided with a longitudinal movable arm 31, a feeding hose 32 is mounted at the bottom end of the longitudinal movable arm 31, an identification camera 33 is mounted at the periphery of the longitudinal movable arm 31, a delivery hose 34 is connected to the side end face of the bottom of the longitudinal movable arm 31, a limiting ring 311 is fixed to the side end face of the longitudinal movable arm 31, the delivery hose 34 penetrates through the limiting ring 311 to prevent the delivery hose 34 from dropping on the conveying belt 13, fluid food to be injected is injected into the movable arm 31 through the delivery hose 34, when the filling container 2 moves to the position of the movable arm 31 along the conveying belt 13, the mechanical arm 3 judges the position of the filling container 2 on the conveying belt 13 through the identification camera 33 under the action of an identification system, controls the movable arm 31 to move to the position above the filling container 2 and then injects the food into the filling container 2 from the feeding hose 32, and achieves the purpose of filling the food.

In the invention, the base 1 is provided with the positioning mechanism 4, the positioning mechanism 4 comprises two baffle arms 41 which are symmetrically distributed at the edges of the left side and the right side of the groove 11 and a photoelectric sensing switch 42 which is arranged at the top end face of the base 1, and the head of the photoelectric sensing switch 42 faces the conveying belt 13.

Specifically, the blocking arm 41 includes a fixing seat 411 fixed on the top end of the base 1, the top end of the fixing seat 411 is in a horizontal protruding shape, a first servo motor 4111 is fixed on the top end of the fixing seat 411, a rotating column 412 is keyed joint with the tail end of an output shaft of the first servo motor 4111, a baffle 4121 is arranged on the peripheral surface of the rotating column 412, and an end plate 4122 is formed by bending the tail end of the baffle 4121. The first servo motors 4111 on the two blocking arms 41 rotate in a synchronous reverse direction, when the first servo motors 4111 are connected with an external power supply, the first servo motors 4111 start to work and drive the blocking plates 4121 to rotate, when the two blocking plates 4121 approach each other, the end plates 4122 at the tail ends of the two blocking plates 4121 are finally attached together, so that the two blocking plates 4121 form a V shape and are blocked above the conveying belt 13, the filling containers 2 moving along with the conveying belt 13 are blocked by the attached blocking plates 4121, the filling containers 2 are kept at fixed positions on the base 1, the purpose of preliminarily positioning the filling containers 2 is achieved, subsequent filling containers 2 can be positioned at the same position by the blocking plates 4121, the change of the blocking and positioning positions of the mechanical arm 3 for the plurality of filling containers 2 is reduced, the displacement required when the mechanical arm 3 moves to the position of the filling container 2 is reduced, and the purpose of increasing the charging efficiency is achieved.

Further, a lantern ring 415 is sleeved on the periphery of the bottom end of the rotating column 412, a limiting notch 4151 is formed in the outer end of the lantern ring 415, the baffle 4121 extends out of the limiting notch 4151, the lantern ring 415 is fixed to the top end face of the base 1, when the baffle 4121 abuts against the tail end of the limiting notch 4151, the end plates 4122 of the two baffles 4121 abut against each other above the conveying belt 13, and at the moment, the baffle 4121 plays a role in intercepting and positioning the filling container 2. When the stop 4121 abuts against the head end of the stop notch 4151, the stop 4121 is parallel to the edge of the conveyor belt 13, and the stop arm 41 is now free, so that the filled containers 2 can be transported by the conveyor belt 13 to the next process.

In addition, a through groove 4123 is formed on a side surface of the blocking plate 4121, a protruding plate 4124 is arranged at a top edge of a tail end of the through groove 4123, the protruding plate 4124 is fixed on the blocking plate 4121, a second servo motor 413 is installed on the protruding plate 4124, a clamping plate 414 is installed at a tail end of an output shaft of the second servo motor 413, a position of the clamping plate 414 corresponds to a position of the through groove 4123, the photoelectric sensing switch 42, the first servo motor 4111 and the second servo motor 413 are electrically connected through a wire, a delay module is installed on the second servo motor 413, when the filling container 2 moves to the position of the photoelectric sensing switch 42 along the conveyer belt 13, the photoelectric sensing switch 42 is activated, the first servo motor 4111 starts to drive the blocking plate 4121 to intercept the filling container 2, when the filling container 2 abuts against a position between the two blocking plates 4121, the second servo motor 413 starts to work again, the second servo motor 413 drives the clamping plate 414 to rotate towards the filling container 2, finally, the two clamping plates 414 clamp the filling container 2 to keep the filling container 2 in a fixed state, when the container 2 abuts against the blocking plate 4121, and further displacement of the conveyer belt is detected, and the position of the filling container can be further conveniently. An arc-shaped groove 4141 is formed on the side surface of the tail end of the clamping plate 414, and a plurality of anti-slip blocks 4142 made of rubber materials are tightly adhered to the wall of the arc-shaped groove 4141, so that the friction force generated when the clamping plate 414 clamps the filling container 2 is increased, and the filling container 2 can be clamped by the clamping plate 414.

It is to be noted that the stopper plate 4125 is fixed to the outer end surface of the barrier 4121, the stopper plate 4125 has an L-shaped plate structure, the stopper plate 4125 and the second servomotor 413 are located on the same side of the barrier 4121, and the end of the stopper plate 4125 is fixed to the side end edge of the through groove 4123, so that when the clamp plate 414 rotates on the barrier 4121, the end of the clamp plate 414 can overlap the stopper plate 4125, so that the rotation of the clamp plate 414 is restricted by the stopper plate 4125, and the rotation range of the clamp plate 414 is prevented from being excessively large.

In use, the visual recognition device for hose loading facilitating positioning of the present invention is adapted such that, as the refill 2 moves along the production line to the head end of the conveyor belt 13, the conveyor belt 13 carries the conveyor belt 13 along with the conveyor motor 121 to transport the refill 2, then as the refill 2 moves along the conveyor belt 13 to the position of the photoelectric switch 42, the photoelectric switch 42 is activated to connect the first servomotor 4111 to an external power source and to rotate the blocking plate 4121, so that the end plates 4122 at the ends of the two blocking plates 4121 abut together, and the two blocking plates 4121 form a V-shape and are trapped above the conveyor belt 13, so that the refill 2 moving along with the conveyor belt 13 is intercepted by the abutting blocking plate 4121, and finally, after the refill 2 is intercepted by the blocking plate 4121, the second servomotor 413 is operated and drives the blocking plate 414 towards the refill 2 to rotate the refill 2, so that the two blocking plates 414 hold the refill 2 together, so that the subsequent refill 2 can be held by the blocking plates 413 at the same position, and the robotic arm can be moved to a reduced displacement of the refill 2 to the desired position.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, which fall within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a hose is reinforced visual identification device convenient to fix a position, includes base (1), install arm (3), its characterized in that on base (1): the automatic packaging machine is characterized in that a groove (11) is formed in the top end of the base (1), a plurality of carrier rollers (12) are rotatably connected in the groove (11), one of the carrier rollers (12) is coaxially connected with a conveying motor (121), the plurality of carrier rollers (12) are sleeved in a conveying belt (13), a packing container (2) is placed on the conveying belt (13), a longitudinal movable arm (31) is arranged on the mechanical arm (3), a feeding hose (32) is installed at the bottom end of the longitudinal movable arm (31), an identification camera (33) is installed at the periphery of the longitudinal movable arm (31), and a conveying hose (34) is connected to the side end face of the bottom of the longitudinal movable arm (31);

the positioning mechanism (4) is installed on the base (1), the positioning mechanism (4) comprises two baffle arms (41) which are symmetrically distributed on the edges of the left side and the right side of the groove (11) and a photoelectric sensing switch (42) installed on the top end face of the base (1), and the head of the photoelectric sensing switch (42) faces the conveying belt (13);

the baffle arm (41) comprises a fixed seat (411) fixed to the top end of the base (1), the top end of the fixed seat (411) is in a horizontal protruding shape, a first servo motor (4111) is fixed to the top end of the fixed seat (411), the tail end of an output shaft of the first servo motor (4111) is in keyed joint with a rotating column (412), a baffle plate (4121) is arranged on the peripheral surface of the rotating column (412), and an end plate (4122) is formed by bending the tail end of the baffle plate (4121);

a lantern ring (415) is sleeved on the periphery of the bottom end of the rotating column (412), a limiting notch (4151) is formed in the outer end of the lantern ring (415), the baffle plate (4121) extends out of the limiting notch (4151), the lantern ring (415) is fixed on the top end face of the base (1), when the baffle plate (4121) abuts against the tail end of the limiting notch (4151), the end plates (4122) of the two baffle plates (4121) abut against each other above the conveying belt (13), and when the baffle plate (4121) abuts against the head end of the limiting notch (4151), the baffle plate (4121) is parallel to the edge of the conveying belt (13);

the side surface of the baffle plate (4121) is provided with a through groove (4123), the edge of the top of the tail end of the through groove (4123) is provided with a convex plate (4124), the convex plate (4124) is fixed on the baffle plate (4121), a second servo motor (413) is installed on the convex plate (4124), the tail end of an output shaft of the second servo motor (413) is provided with a clamping plate (414), and the position of the clamping plate (414) corresponds to the position of the through groove (4123).

2. A visual identification device for facilitating localized hose loading as claimed in claim 1 wherein: a limiting ring (311) is fixed on the side end face of the longitudinal movable arm (31), and the delivery hose (34) penetrates through the limiting ring (311).

3. A visual identification device for facilitating localized hose loading as claimed in claim 1 wherein: an arc-shaped groove (4141) is formed in the side surface of the tail end of the clamping plate (414), and a plurality of anti-skidding blocks (4142) made of rubber materials are tightly adhered to the wall of the arc-shaped groove (4141).

4. A visual identification device for facilitating localized hose loading as claimed in claim 3, wherein: a limiting plate (4125) is fixed on the outer end face of the baffle (4121), the limiting plate (4125) is of an L-shaped plate structure, the limiting plate (4125) and the second servo motor (413) are located on the same side of the baffle (4121), the tail end of the limiting plate (4125) is fixed at the side end edge of the through groove (4123), and when the clamping plate (414) rotates on the baffle (4121), the tail end of the clamping plate (414) can be lapped on the limiting plate (4125).