CN113753538A - System and method for adaptively adjusting and conveying cigarette carton posture - Google Patents
System and method for adaptively adjusting and conveying cigarette carton posture Download PDFInfo
- Publication number
- CN113753538A CN113753538A CN202111079843.1A CN202111079843A CN113753538A CN 113753538 A CN113753538 A CN 113753538A CN 202111079843 A CN202111079843 A CN 202111079843A CN 113753538 A CN113753538 A CN 113753538A
- Authority
- CN
- China
- Prior art keywords
- cigarette
- carton
- turning
- controller
- posture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
-
- 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
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
-
- 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
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Attitude Control For Articles On Conveyors (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention discloses a cigarette piece attitude self-adaptive adjustment conveying system, which comprises a controller and a plurality of sorting channels, wherein the controller is used for controlling the sorting channels; the sorting channel comprises a bar code identifier, a conveying roller way, a centering device, an image identifier, a steering device and a turnover device. The method ensures that the subsequent steering and overturning do not deviate from the center of a conveying roller way through cigarette alignment, can adapt to the conveying of various types of cigarettes, improves the utilization rate of each sorting channel, concentrates and does not disperse operation areas, and is more beneficial to energy-saving control. In addition, pattern recognition enables the posture adjustment of the cigarette carton to be more accurate and reliable, grabbing of the stacking robot is facilitated, the stacking robot can grab a plurality of cigarette cartons with the same posture, and efficiency is improved. The method has the advantages of high automatic mechanization degree, high operation efficiency and high reliability.
Description
Technical Field
The invention belongs to the technical field of cigarette carton conveying, and particularly relates to a cigarette carton posture self-adaptive adjusting and conveying system and method.
Background
The cigarette carton is packed into a box to form a cigarette carton, and the cigarette carton enters each sorting channel after being sorted by a sorting machine. Before entering warehouse storage usually, can carry a plurality of cigarette pile up neatly of the same type on a year dish through the robot, because the cigarette is through letter sorting and transport, its gesture differs, and the robot still need fix a position and snatch, still damages a cigarette package easily when long and snatching a cigarette consuming time. In addition, because the cigarette gesture differs, the robot can only snatch one by one, and is inefficient.
In addition, because the cigarettes are different in size and the packing boxes are different in size, different types of cigarettes are produced, and the corresponding cigarettes are different in shape. At present, for a cigarette factory with few product types, one type of cigarette generally corresponds to one sorting channel, but if a new product is added, the sorting channel needs to be added or modified, equipment investment needs to be increased no matter the new product is added or modified, and the current conveying operation can be influenced; for a cigarette factory with more product types, one sorting channel can correspond to several types of products, but the cigarette packages of the cigarettes are required to be close, if the difference of the products produced at present is larger, the difference of the corresponding sorting channels is possibly far, more equipment is required to operate, and energy-saving control is not facilitated.
The patent application with the publication number of CN101857146A discloses a posture adjusting device before cigarette box warehousing and stacking, which comprises a unit support, a motor, long rollers, short rollers, turning shafts and turning frames, wherein the two ends of the unit support are respectively provided with the long rollers (3) and driven by a driving motor (1), the short rollers (4) are arranged in the middle of the unit support in groups in parallel, the center area of the unit support is parallel to the short rollers (4) and is provided with the turning shafts (5) through bearings (6), the turning shafts (7) are arranged on the turning shafts (5), the turning shafts (5) are driven by the turning motors (2), and the turning frames which are controlled and operated by programs are adopted, so that the efficient adjustment of the posture of the cigarette box before cigarette box warehousing and stacking is realized, but single pieces are not suitable for adjusting various types of cigarette pieces, namely, the adjustment of various types of cigarette pieces is not accurate.
The patent application with the publication number of CN101863378A discloses a posture adjusting device for a cigarette box after being taken out of a warehouse and unstacked, which comprises a conveying unit and a turning unit, wherein a multi-wedged electric roller (3) and a long roller (4) are arranged on a conveying unit support in parallel, the front end of the conveying unit support is provided with a pneumatic baffle (9), and the pneumatic baffle (9) is driven by a cylinder (2) at the lower part; the overturning unit is connected to the front end of the conveying unit support, the overturning unit support is provided with short rollers (5) in parallel in groups, the front end of the overturning unit support is provided with an overturning shaft (7) through a bearing (6), the overturning shaft (7) is provided with an overturning frame (8), and the overturning shaft (7) is driven by a motor (1). By adopting the pneumatic baffle and the turnover mechanism, the efficient turnover treatment of the upright cigarette box after unstacking is realized, but the device is not suitable for adjusting various types of cigarette pieces, namely, the device can not accurately adjust various types of cigarette pieces.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a system and a method for adaptively adjusting and conveying a cigarette carton posture, which can adapt to conveying various cigarette cartons and perform posture adjustment, and are more energy-saving and efficient.
In order to achieve the above purpose, the embodiment of the invention provides a cigarette piece attitude self-adaptive adjusting and conveying system, which comprises a controller and a plurality of sorting channels; each sorting channel comprises a conveying roller way, a bar code identifier arranged on the conveying roller way, a centering device, an image identifier, a steering device and a turning device, wherein the bar code identifier is used for collecting bar code information on cigarette pieces, the centering device is used for adjusting the position of the cigarette pieces to the central position of the conveying roller way, the image identifier is used for identifying the posture of the cigarette pieces, the steering device is used for horizontally rotating the cigarette pieces, and the turning device is used for vertically turning the cigarette pieces; the bar code recognizer, the conveying roller way, the image recognizer, the steering device and the turning device are all in communication connection with the controller and controlled to work by the controller.
Preferably, the tail end of the conveying roller way is a stacking station, a box pushing device used for arranging a plurality of cigarette pieces is arranged on the stacking station, and the box pushing device is in communication connection with the controller and is controlled by the controller to work.
In order to achieve the above object, an embodiment of the present invention further provides a cigarette carton posture adaptive adjustment conveying method, where the cigarette carton posture adaptive adjustment conveying method is implemented by applying the cigarette carton posture adaptive adjustment conveying system, and the method includes the following steps:
information entry: the method comprises the steps that cigarette information including types, shapes, patterns and bar codes and preset cigarette placing postures are input into a controller, and cigarette pieces input into the controller are classified into a plurality of specifications, wherein the specifications at least comprise A-type cigarettes which do not need to be turned and need not to be turned, B-type cigarettes which do not need to be turned and need to be turned, C-type cigarettes which need possibly to be turned and need not to be turned, D-type cigarettes which need possibly to be turned and need to be turned, and E-type cigarettes which need possibly to be turned and need to be turned regularly;
and (3) bar code identification: the bar code recognizer scans a bar code on the current cigarette to obtain bar code information, the bar code information is transmitted to the controller, the controller compares the bar code information on the current cigarette with the recorded preset cigarette information, and when the comparison fails, the controller gives an alarm; when the comparison is successful, distinguishing the specification of the current cigarette carton, and if the cigarette carton is the A-type cigarette, directly conveying the current cigarette carton to the tail end through a conveying roller way to finish the cigarette carton; if the cigarette is a B-type cigarette, controlling the cigarette to successively execute the turning of the cigarette to neutralize the cigarette; if the cigarette is C-type cigarette, controlling to successively execute cigarette alignment and cigarette turning; if the cigarette is D-type cigarette, controlling to sequentially execute cigarette alignment, cigarette turning and cigarette overturning; if the cigarette is the E-type cigarette, controlling the sequential execution of cigarette centering and cigarette turning, counting according to the turning rule of the actual requirement, and further controlling the execution of turning operation;
cigarette piece centering: the centering device adjusts the current cigarette piece position to the central position of the conveying roller way;
image recognition: the image recognizer collects images of the current cigarette carton and sends the collected images to the controller, and the controller compares the collected image information with the preset placing posture of the type cigarette carton to determine whether the current cigarette carton needs to be steered or not and to determine the steering angle;
turning the cigarette piece: the controller controls the steering device to stop acting or to steer the cigarette piece by a specified steering angle according to the instruction content;
turning over the cigarette pieces: the controller controls the turning device to stop or turn the cigarette piece by 90 degrees.
Preferably, the cigarette carton centering operation is executed before the bar code identification operation, and the cigarette carton centering operation is not executed after the controller identifies the current cigarette carton specification.
Preferably, the method further comprises cigarette component finishing: the controller controls the box pushing device to arrange the cigarette pieces conveyed to the tail end of the conveying roller way, namely the stroke of the box pushing device is controlled according to preset cigarette piece information, and then the cigarette pieces are forced to be aligned and compactly discharged.
In order to achieve the above object, an embodiment of the present invention further provides a cigarette carton posture adaptive adjustment conveying method, where the method is implemented by applying the cigarette carton posture adaptive adjustment conveying system, and the method includes the following steps:
information entry: inputting cigarette information including types, shapes, patterns and bar codes and preset cigarette placing postures into a controller;
image recognition: the image recognizer collects images of a current cigarette, sends the collected images to the controller, the controller determines the type of the current cigarette according to the collected image information, compares the collected image information with a preset placing posture of the type of cigarette, alarms when the comparison fails, determines whether the current cigarette needs to be steered or turned by an angle or not and needs to be turned over when the comparison is successful, and obtains an instruction;
cigarette piece centering: the centering device adjusts the current cigarette piece position to the central position of the conveying roller way;
turning the cigarette piece: the controller controls the steering device to stop acting or to steer the cigarette piece by a specified steering angle according to the instruction content;
turning over the cigarette pieces: the controller controls the turning device not to act or turns the cigarette piece by 90 degrees;
on the basis of information input, the method sequentially adjusts the posture of the cigarette carton according to the sequence of cigarette carton centering, image recognition, cigarette carton turning and cigarette carton overturning; or the method carries out attitude adjustment on the cigarette carton in sequence according to the sequence of image recognition, cigarette carton centering, cigarette carton turning and cigarette carton overturning on the basis of information input.
Preferably, when the information is entered, the method further comprises: according to the shape and size of the cigarette carton, dividing the cigarette carton with the information input into M types of cigarettes without steering and N types of cigarettes possibly needing steering;
the discriminator controller determines the type of the current cigarette according to the collected image and discriminates whether the current cigarette is M-type cigarette or N-type cigarette, if the current cigarette is M-type cigarette, image comparison is not carried out, and an instruction of whether turning is needed is directly given according to actual stacking requirements; if the current cigarette is identified to be N-type cigarettes, image comparison is carried out on the collected image information and the preset placing posture of the cigarette of the type, when the comparison fails, alarm processing is carried out, when the comparison succeeds, whether the current cigarette needs to be turned to or not, the turning angle needs to be adjusted or not is determined, and an instruction is obtained.
Preferably, the method further comprises barcode recognition: the bar code recognizer scans a bar code on the current cigarette to obtain bar code information, the bar code information is transmitted to the controller, the controller compares the bar code information on the current cigarette with the recorded preset cigarette information, and when the comparison fails, the controller gives an alarm; when the alignment is successful, two cases are distinguished:
the first condition is as follows: when the bar code recognition is executed after the information input and before the posture adjustment step, if the current cigarette is identified to be M-type cigarettes, the image recognition and cigarette turning in cigarette posture adjustment are skipped, and an instruction of whether turning is needed is directly given according to actual stacking requirements; if the cigarette is N-type cigarette, continuously executing the posture adjustment of the subsequent cigarette;
case two: when the barcode recognition is performed between image recognition and cigarette carton turning in posture adjustment, if the current cigarette carton is identified to be M-type cigarettes, an instruction of whether turning is needed is directly given according to actual stacking requirements; and if the cigarette is the type N cigarette, continuing to perform cigarette carton turning and cigarette carton overturning.
Preferably, in the image recognition process and the bar code recognition process, when the alarm is processed, the current cigarette is sent out of the roller conveyor.
Preferably, the method further comprises cigarette component finishing: the controller controls the box pushing device to arrange the cigarette pieces conveyed to the tail end of the conveying roller way, namely the stroke of the box pushing device is controlled according to preset cigarette piece information, and then the cigarette pieces are forced to be aligned and compactly discharged.
The system and the method for adaptively adjusting and conveying the cigarette carton posture have the following beneficial effects:
the centering device adjusts the cigarette position to the central point of rollgang for follow-up turn to action and upset action back can not deviate rollgang center, can adapt to each type of cigarette and carry, make the utilization ratio of every letter sorting passageway improve, the setting of letter sorting passageway is concentrated relatively and quantity requirement still less, makes the operation region concentrate not disperse, more does benefit to energy-saving control. In addition, information acquisition is carried out to the cigarette carton through the pattern recognition ware, and cooperation centering device uses with turning to the device for cigarette carton gesture adjustment is more accurate reliable, and the pile up neatly machine people of being convenient for snatchs, and pile up neatly machine people can snatch the same cigarette carton of a plurality of gestures simultaneously moreover, and efficiency can improve. The process flow of the invention has high automatic mechanization degree, high operation efficiency and high reliability.
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a cigarette carton posture adaptive adjustment and conveying method according to a first embodiment.
Fig. 2 is a flowchart of a cigarette carton posture adaptive adjustment and conveying method provided in the second embodiment.
Fig. 3 is a flowchart of a cigarette carton posture adaptive adjustment and conveying method provided in the third embodiment.
Fig. 4 is a flowchart of a cigarette carton posture adaptive adjustment and conveying method according to the fourth embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
The first embodiment is as follows:
the embodiment provides a cigarette piece attitude self-adaptive adjusting and conveying system which comprises a controller and a plurality of sorting channels. The sorting channel comprises a conveying roller way, a bar code identifier, a centering device, an image identifier, a steering device, a turnover device and a box pushing device, wherein the bar code identifier, the centering device, the image identifier, the steering device, the turnover device and the box pushing device are arranged on the conveying roller way. The bar code recognizer is used for collecting bar code information on cigarette packs. The centering device is used for adjusting the position of the cigarette carton to the central position of the conveying roller way. The image recognizer is used for recognizing the posture of the cigarette. The steering device is used for horizontally rotating the cigarette carton. The turnover device is used for vertically turning the cigarette pieces. The tail end of the conveying roller way is a stacking station, and the box pushing device is arranged at the position and used for arranging a plurality of cigarette pieces with the same posture, so that the cigarette pieces are arranged neatly and compactly, and a stacking robot can grab the cigarette pieces conveniently. Bar code recognizer, rollgang, image recognizer, turn to the device, turning device and push away the case device and all be connected with the controller, controller control bar code recognizer, rollgang, image recognizer, turn to the device, turning device and push away the case device and carry out bar code recognition, a cigarette is carried, image recognition, a cigarette turns to, a cigarette upset and a cigarette pushes away the case, still carries out the contrast of a cigarette information and the comparison of a cigarette gesture simultaneously, according to the work of each part of comparison result control.
In practical applications, various devices capable of realizing turning, steering and centering are provided, and the embodiment does not have any special requirement on the structures of the turning device, the steering device, the centering device and the box pushing device, and only needs to be a device capable of realizing the corresponding functions. In the embodiment, the turning device can select carton turning equipment such as a cross turning machine, four right-angled placing spaces are arranged on the cross turning machine, and the carton turning equipment can be circularly operated without being corrected.
The steering device can comprise a hydraulic cylinder and a stepping motor arranged on a push rod of the hydraulic cylinder, the end part of a rotating shaft of the stepping motor is connected with a turntable, the action direction of the hydraulic cylinder is vertical, and the rotating shaft direction of the stepping motor is vertical to the action direction of the hydraulic cylinder. The rotating angle of the turntable can be controlled by controlling the step pitch of the stepping motor through the controller, and the cigarette carton can be conveyed to the center of the turntable to turn, so that the cigarette carton is convenient and fast to use.
The centering device can be a linear stepping motor which is respectively arranged at two sides of the conveying roller way and is oppositely arranged, a baffle is arranged at the end part of a screw rod of the linear stepping motor, a plurality of pressure sensors or travel switches are uniformly arranged on the baffle along the conveying direction of the conveying roller way at intervals, the interval distance is 5-20cm, the two linear stepping motors synchronously work and move towards the center from the edge of the conveying roller way, when more than two groups of pressure sensors or travel switches are triggered on the two baffles, the condition that the cigarette is centered is indicated, the linear stepping motor reversely works, and the original position is recovered.
The box pushing device can comprise a front baffle and a lateral pushing plate, the front baffle is fixedly arranged on the conveying roller way, and the length direction of the front baffle is perpendicular to the conveying direction of the conveying roller way and is used for preventing the cigarette pieces from continuing to move forwards; the front baffle can also be arranged on an air cylinder for lifting control. The lateral push plate is arranged at the end part of a screw rod of the linear stepping motor, and the moving direction of the screw rod of the linear stepping motor is vertical to the conveying direction of the conveying roller way. Because the rollgang conveys continuously, a plurality of cigarette pieces can be compactly attached together after being blocked by the front baffle, and the side push plates and the side walls of the rollgang are matched to align the cigarette boxes. The step distance of the linear stepping motor is controlled through the controller, so that the stroke of the lateral push plate is accurately controlled, and the cigarette carton is not damaged.
The image recognizer may be IV series image recognition sensor from Kenzy, in which case the combination of IV-HG300CA sensor probe + IV-HG10 sensor controller is used.
As shown in fig. 1, the cigarette carton posture self-adaptive adjustment conveying method implemented by the cigarette carton posture self-adaptive adjustment conveying system comprises cigarette carton information input, bar code identification, cigarette carton centering, cigarette carton steering, cigarette carton overturning and cigarette carton sorting. The cigarette carton centering, cigarette carton turning and cigarette carton overturning are not necessarily executed programs and are selected to be executed after being discriminated according to the bar code identification. The method specifically comprises the following steps:
s101, information entry: the cigarette carton is characterized in that cigarette carton information including types, shapes, patterns and bar codes and cigarette carton preset placing postures are input into a controller, cigarette cartons input into the controller are classified into a plurality of specifications, the specifications at least comprise A-type cigarettes which do not need to be turned and need not to be turned, B-type cigarettes which do not need to be turned but need to be turned, C-type cigarettes which need not to be turned, D-type cigarettes which need to be turned and need to be turned, and E-type cigarettes which need to be turned regularly and need to be turned.
S102, barcode recognition: the bar code recognizer scans a bar code on the current cigarette to obtain bar code information, the bar code information is transmitted to the controller, the controller compares the bar code information on the current cigarette with the recorded preset cigarette information, and when the comparison fails, the controller gives an alarm; when the comparison is successful, distinguishing the specification of the current cigarette carton, and if the cigarette carton is the A-type cigarette, directly conveying the current cigarette carton to the tail end through a conveying roller way to finish the cigarette carton; if the cigarette is a B-type cigarette, controlling the cigarette to successively execute the turning of the cigarette to neutralize the cigarette; if the cigarette is C-type cigarette, controlling to successively execute cigarette alignment and cigarette turning; if the cigarette is D-type cigarette, controlling to sequentially execute cigarette alignment, cigarette turning and cigarette overturning; if the cigarette is the E-type cigarette, controlling the sequential execution of cigarette centering and cigarette turning, counting according to the turning rule of the actual requirement, and further controlling the execution of the turning operation.
S103, the centering device, the steering device and the overturning device are controlled by the controller to perform cigarette carton centering, cigarette carton steering and cigarette carton overturning according to cigarette cartons of different specifications.
And the cigarette piece centering operation executed by the centering device is to adjust the current cigarette piece position to the central position of the conveying roller way.
The cigarette carton turning performed by the turning device is to adjust the direction of the cigarette carton on the conveying roller way, and the turning operation and the turning direction are controlled by the controller. Therefore, before turning to the operation, image recognizer carries out image acquisition to present cigarette piece to send the collection image for the controller, the controller carries out the image comparison according to gathering image information and the preset posture of putting of this type cigarette piece, and then confirms whether present cigarette piece needs turn to, turn to the angle, when needs turn to, turn to the device and turn to according to the steering angle control that confirms and carry out cigarette piece and turn to.
The cigarette carton overturning operation performed by the overturning device is controlled by the controller to directly overturn the current cigarette carton by 90 degrees.
And S104, the controller controls the box pushing device to arrange the cigarette pieces conveyed to the tail end of the conveying roller way, specifically, the stroke of the box pushing device is controlled according to preset cigarette piece information, and then the cigarette pieces can be aligned and compactly discharged.
In the embodiment, the cigarette carton is divided into 5 specifications, all current cigarette cartons can be basically covered, conveying programs are appointed for cigarette cartons with different specifications, and corresponding operations are directly skipped for cigarette cartons which can be definitely not required to be turned or overturned and which definitely need to be overturned, so that the whole process is simple and efficient, and is convenient to control and manage. And for the cigarette pieces entering the sorting channel, the code is scanned first, the cigarette pieces with wrong sorting or damaged bar codes and the like can be directly alarmed, no useless work is done, and more energy is saved.
In the rotating operation, the cigarette carton centering is firstly carried out, then the image recognition is carried out, the deviation angle of the centered cigarette carton and the preset cigarette carton is fixed to be 0 degree, 90 degrees, 180 degrees or 270 degrees, when the image acquisition is compared, the manual programming intervention can be carried out to determine the angle, then the rotating angle of the steering device is rapidly determined, and the integral efficiency is improved. In addition, an image recognizer with lower precision can be selected to reduce the purchase and maintenance cost. The deviation angle of the centered cigarette pieces is fixed, and the rotation angle of the rotating device can be controlled more conveniently.
In the embodiment, the cigarette carton centering operation can be performed before the bar code identification, and the cigarette carton centering operation is not performed after the bar code identification identifies the specification of the current cigarette carton. The adjustment enables the cigarette pieces of all specifications to be centered, compared with unadjusted procedures, the workload of A-type cigarettes is only increased, because the cigarette pieces are conveyed in a laid-down mode, namely, if the cigarette pieces are not turned over, the contact surface of the cigarette pieces with the conveying roller way is always unchanged, the cigarette pieces do not need to be turned, the length and the width (in the laid-down state) of the cigarette pieces limit the cigarette pieces to be impossible to turn, the stroke of the centering device is mostly very short, the influence on the whole process flow is not large, and the cigarette pieces can be used as an alternative. In addition, the steering operation and the reversing operation may be performed in the same order, but it is preferable to reverse the steering operation first.
Example two:
as shown in fig. 2, the self-adaptive adjustment and conveying method of cigarette carton posture, which is implemented by using the self-adaptive adjustment and conveying system of cigarette carton posture provided in the first embodiment, includes the steps of carton information entry, barcode recognition, cigarette carton posture adjustment and carton cigarette sorting.
S201, information entry: and inputting cigarette piece information including types, shapes, patterns and bar codes and preset cigarette piece placing postures into the controller. In addition, according to the shape and the size of the cigarette, the cigarette pieces with the information input are divided into M types of cigarettes without steering and N types of cigarettes with the possibility of steering.
S202, barcode recognition: the method comprises the steps that a bar code recognizer scans a bar code on a current cigarette to obtain bar code information, the bar code information is transmitted to a controller, the controller compares the bar code information on the current cigarette with input preset cigarette information, when the comparison fails, alarming processing is carried out, the current cigarette is sent out of a roller conveyor to be processed, when the comparison succeeds, if the current cigarette is identified to be M-type cigarettes, image recognition and cigarette turning in subsequent cigarette attitude adjustment are skipped, and an instruction of whether turning is needed or not is directly given according to actual stacking requirements; and if the cigarette is N-type cigarette, continuing to perform subsequent cigarette attitude adjustment.
S203, adjusting the cigarette piece posture: the cigarette carton turning device comprises a controller for controlling a centering device, a turning device and a turning device to perform cigarette carton centering, cigarette carton turning and cigarette carton turning according to cigarette cartons of different specifications.
And the cigarette piece centering operation executed by the centering device is to adjust the current cigarette piece position to the central position of the conveying roller way.
The cigarette carton turning performed by the turning device is to adjust the direction of the cigarette carton on the conveying roller way, and the turning operation and the turning direction are controlled by the controller. Therefore, before turning to the operation, the image recognizer carries out image acquisition to present cigarette, the image information of gathering includes gesture, appearance, pattern etc. of present cigarette to send the collection image to the controller, the controller confirms the type of present cigarette according to gathering image information, and carry out the image comparison with the preset posture of putting of this type cigarette with the image information of gathering, when the comparison fails, alarm processing, when the comparison succeeds, confirm whether present cigarette need turn to, turn to the angle, need overturn, and obtain the instruction.
When the cigarette carton is required to be steered, controlling a steering device to execute an instruction, and not acting or steering the cigarette carton by a specified steering angle according to the instruction content;
when the cigarette carton needs to be turned, the turning device executes an instruction and does not act or turns the cigarette carton by 90 degrees.
S204, cigarette piece tidying: the controller controls the box pushing device to arrange the cigarette pieces conveyed to the tail end of the conveying roller way, particularly, the stroke of the box pushing device is controlled according to preset cigarette piece information, and then the cigarette pieces can be aligned and compactly discharged.
In the embodiment, the cigarette carton centering is firstly carried out and then the image recognition is carried out, so that the advantage that the deviation angle of the centered cigarette carton and the preset cigarette carton is fixed to be 0 degree, 90 degrees, 180 degrees or 270 degrees, when the image acquisition is compared, the angle can be determined through manual programming intervention, the tolerance degree is larger, and therefore the image recognizer with lower precision can be selected for use, so that the purchase and maintenance cost is reduced. The deviation angle of the centered cigarette pieces is fixed, and the rotation angle of the rotating device can be controlled more conveniently. A green channel is opened for M types of cigarettes without diversion, so that cigarette carton conveying is more efficient.
The embodiment is suitable for the barcode recognition to be performed before the image recognition, that is, another case may also be included: the bar code recognition is carried out after the cigarette is centered and before the image recognition, and accordingly, the front and back positions of the bar code recognizer and the centering device can be interchanged or the same station position can be adopted.
Example three:
as shown in fig. 3, the present embodiment is different from the second embodiment in that a barcode recognizer is placed behind an image recognizer, and a cigarette carton posture adaptive adjustment and transmission method is changed correspondingly, and specifically includes the following steps:
s301, information entry: and inputting cigarette piece information including types, shapes, patterns and bar codes and preset cigarette piece placing postures into the controller. In addition, according to the shape and the size of the cigarette, the cigarette pieces with the information input are divided into M types of cigarettes without steering and N types of cigarettes with the possibility of steering.
S302, cigarette alignment: and adjusting the current cigarette carton position to the central position of the conveying roller way through cigarette carton centering operation executed by the centering device.
S303, image recognition: the image recognizer collects images of the current cigarette, the collected image information comprises the posture, the appearance, the pattern and the like of the current cigarette, and the controller determines the type of the current cigarette according to the collected images and judges whether the current cigarette is M-type cigarette or N-type cigarette. If the cigarette is N-type cigarette, comparing the acquired image information with the preset placing posture of the cigarette of the type, alarming when the comparison fails, determining whether the current cigarette needs to be turned, turned at an angle and turned over or not when the comparison succeeds, and obtaining an instruction; if the cigarettes are M-type cigarettes, image comparison is not carried out, and whether a turning instruction needs to be carried out or not is directly given according to actual stacking requirements.
S304, barcode recognition: the method comprises the steps that a bar code recognizer scans a bar code on a current cigarette to obtain bar code information, the bar code information is transmitted to a controller, the controller compares the bar code information on the current cigarette with input preset cigarette information, when the comparison fails, an alarm is given, the current cigarette is sent out of a roller conveyor to be processed, and when the comparison succeeds, the subsequent steps are continuously executed, namely if the current cigarette is identified to be M-type cigarettes, whether an instruction of turning is needed or not is directly given according to actual stacking requirements; and if the cigarette is the type N cigarette, continuing to perform cigarette carton turning and cigarette carton overturning.
S305, cigarette carton turning and cigarette carton overturning: the controller controls the steering device to execute the instruction, and does not act or steers the cigarette piece by a specified steering angle according to the instruction content; the controller controls the overturning device to execute instructions, and the cigarette carton does not act or overturns the cigarette carton by 90 degrees.
S306, cigarette piece tidying: the controller controls the stroke of the box pushing device according to the preset cigarette carton information, so that a plurality of cigarette cartons can be aligned and compactly discharged.
The present embodiment distinguishes between M-type smoke and N-type smoke by means of image recognition, and the effect is the same as that of the present embodiment. In addition, bar code scanning is used as secondary gate checking, so that the error rate of conveying operation can be further reduced. Under the condition that the situation allows, the embodiment can also cancel the bar code identifier so as to save the cost.
Example four:
as shown in fig. 4, the difference between this embodiment and the second embodiment is that, after the centering device is placed on the image recognizer, the cigarette carton posture adaptive adjustment and conveying method performs corresponding adjustment, specifically: the cigarette pairs and the bar code identification execution sequence are exchanged.
In this embodiment, adopt earlier to carry out image recognition and then carry out a cigarette centering, the benefit is that the type and the gesture of present cigarette can be judged to the image recognition procedure, and then accurately control the stroke of centering device, can avoid pressure sensor or travel switch on the centering device to lose efficacy and the cigarette damage that causes, perhaps directly cancel pressure sensor and travel switch, cancel this feedback control, the accurate centering of direct execution, save the cost. In addition, if the type of the cigarette pieces entering the sorting is not consistent with the preset cigarette piece type, the alarm can be directly carried out, and the centering device does not have idle work, thereby being beneficial to energy conservation.
The above-mentioned embodiments are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only the most preferred embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions, equivalents, etc. made within the scope of the principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A cigarette piece attitude self-adaptive adjusting and conveying system is characterized by comprising a controller and a plurality of sorting channels; each sorting channel comprises a conveying roller way, a bar code identifier arranged on the conveying roller way, a centering device, an image identifier, a steering device and a turning device, wherein the bar code identifier is used for collecting bar code information on cigarette pieces, the centering device is used for adjusting the position of the cigarette pieces to the central position of the conveying roller way, the image identifier is used for identifying the posture of the cigarette pieces, the steering device is used for horizontally rotating the cigarette pieces, and the turning device is used for vertically turning the cigarette pieces; the bar code recognizer, the conveying roller way, the image recognizer, the steering device and the turning device are all in communication connection with the controller and controlled to work by the controller.
2. The cigarette carton posture self-adaptive adjusting and conveying system of claim 1, wherein the tail end of the conveying roller way is a stacking station, a carton pushing device for arranging a plurality of cigarette cartons is arranged on the stacking station, and the carton pushing device is in communication connection with the controller and is controlled by the controller to work.
3. A cigarette carton posture self-adaptive adjusting and conveying method is realized by applying the cigarette carton posture self-adaptive adjusting and conveying system of claim 1 or 2, and the method comprises the following steps:
information entry: the method comprises the steps that cigarette information including types, shapes, patterns and bar codes and preset cigarette placing postures are input into a controller, and cigarette pieces input into the controller are classified into a plurality of specifications, wherein the specifications at least comprise A-type cigarettes which do not need to be turned and need not to be turned, B-type cigarettes which do not need to be turned and need to be turned, C-type cigarettes which need possibly to be turned and need not to be turned, D-type cigarettes which need possibly to be turned and need to be turned, and E-type cigarettes which need possibly to be turned and need to be turned regularly;
and (3) bar code identification: the bar code recognizer scans a bar code on the current cigarette to obtain bar code information, the bar code information is transmitted to the controller, the controller compares the bar code information on the current cigarette with the recorded preset cigarette information, and when the comparison fails, the controller gives an alarm; when the comparison is successful, distinguishing the specification of the current cigarette carton, and if the cigarette carton is the A-type cigarette, directly conveying the current cigarette carton to the tail end through a conveying roller way to finish the cigarette carton; if the cigarette is a B-type cigarette, controlling the cigarette to successively execute the turning of the cigarette to neutralize the cigarette; if the cigarette is C-type cigarette, controlling to successively execute cigarette alignment and cigarette turning; if the cigarette is D-type cigarette, controlling to sequentially execute cigarette alignment, cigarette turning and cigarette overturning; if the cigarette is the E-type cigarette, controlling the sequential execution of cigarette centering and cigarette turning, counting according to the turning rule of the actual requirement, and further controlling the execution of turning operation;
cigarette piece centering: the centering device adjusts the current cigarette piece position to the central position of the conveying roller way;
image recognition: the image recognizer collects images of the current cigarette carton and sends the collected images to the controller, and the controller compares the collected image information with the preset placing posture of the type cigarette carton to determine whether the current cigarette carton needs to be steered or not and to determine the steering angle;
turning the cigarette piece: the controller controls the steering device to stop acting or to steer the cigarette piece by a specified steering angle according to the instruction content;
turning over the cigarette pieces: the controller controls the turning device to stop or turn the cigarette piece by 90 degrees.
4. The cigarette carton posture adaptive adjustment conveying method according to claim 3, wherein cigarette carton centering operation is performed before barcode recognition operation, and the cigarette carton centering operation is not performed after the controller identifies the current cigarette carton specification.
5. The cigarette carton posture adaptive adjustment conveying method according to claim 3 or 4, characterized by further comprising cigarette carton tidying: the controller controls the box pushing device to arrange the cigarette pieces conveyed to the tail end of the conveying roller way, namely the stroke of the box pushing device is controlled according to preset cigarette piece information, and then the cigarette pieces are forced to be aligned and compactly discharged.
6. A cigarette carton posture self-adaptive adjusting and conveying method is realized by applying the cigarette carton posture self-adaptive adjusting and conveying system of claim 1 or 2, and the method comprises the following steps:
information entry: inputting cigarette information including types, shapes, patterns and bar codes and preset cigarette placing postures into a controller;
image recognition: the image recognizer collects images of a current cigarette, sends the collected images to the controller, the controller determines the type of the current cigarette according to the collected image information, compares the collected image information with a preset placing posture of the type of cigarette, alarms when the comparison fails, determines whether the current cigarette needs to be steered or turned by an angle or not and needs to be turned over when the comparison is successful, and obtains an instruction;
cigarette piece centering: the centering device adjusts the current cigarette piece position to the central position of the conveying roller way;
turning the cigarette piece: the controller controls the steering device to stop acting or to steer the cigarette piece by a specified steering angle according to the instruction content;
turning over the cigarette pieces: the controller controls the turning device not to act or turns the cigarette piece by 90 degrees;
on the basis of information input, the method sequentially adjusts the posture of the cigarette carton according to the sequence of cigarette carton centering, image recognition, cigarette carton turning and cigarette carton overturning; or the method carries out attitude adjustment on the cigarette carton in sequence according to the sequence of image recognition, cigarette carton centering, cigarette carton turning and cigarette carton overturning on the basis of information input.
7. The cigarette carton posture adaptive adjustment and conveying method according to claim 6, characterized by further comprising, when the information is entered: according to the shape and size of the cigarette carton, dividing the cigarette carton with the information input into M types of cigarettes without steering and N types of cigarettes possibly needing steering;
the discriminator controller determines the type of the current cigarette according to the collected image and discriminates whether the current cigarette is M-type cigarette or N-type cigarette, if the current cigarette is M-type cigarette, image comparison is not carried out, and an instruction of whether turning is needed is directly given according to actual stacking requirements; if the current cigarette is identified to be N-type cigarettes, image comparison is carried out on the collected image information and the preset placing posture of the cigarette of the type, when the comparison fails, alarm processing is carried out, when the comparison succeeds, whether the current cigarette needs to be turned to or not, the turning angle needs to be adjusted or not is determined, and an instruction is obtained.
8. The cigarette piece attitude adaptive adjustment conveying method according to claim 6 or 7, further comprising barcode recognition: the bar code recognizer scans a bar code on the current cigarette to obtain bar code information, the bar code information is transmitted to the controller, the controller compares the bar code information on the current cigarette with the recorded preset cigarette information, and when the comparison fails, the controller gives an alarm; when the alignment is successful, two cases are distinguished:
the first condition is as follows: when the bar code recognition is executed after the information input and before the posture adjustment step, if the current cigarette is identified to be M-type cigarettes, the image recognition and cigarette turning in cigarette posture adjustment are skipped, and an instruction of whether turning is needed is directly given according to actual stacking requirements; if the cigarette is N-type cigarette, continuously executing the posture adjustment of the subsequent cigarette;
case two: when the barcode recognition is performed between image recognition and cigarette carton turning in posture adjustment, if the current cigarette carton is identified to be M-type cigarettes, an instruction of whether turning is needed is directly given according to actual stacking requirements; and if the cigarette is the type N cigarette, continuing to perform cigarette carton turning and cigarette carton overturning.
9. The cigarette carton posture self-adaptive adjusting and conveying method according to claim 6 or 8, characterized in that the current cigarette carton is conveyed out of the conveying roller way during the image recognition process and the bar code recognition process and during the alarm processing.
10. The cigarette carton posture adaptive adjustment conveying method according to claim 6, further comprising cigarette carton sorting: the controller controls the box pushing device to arrange the cigarette pieces conveyed to the tail end of the conveying roller way, namely the stroke of the box pushing device is controlled according to preset cigarette piece information, and then the cigarette pieces are forced to be aligned and compactly discharged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111079843.1A CN113753538B (en) | 2021-09-15 | 2021-09-15 | Cigarette carton posture self-adaptive adjusting and conveying system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111079843.1A CN113753538B (en) | 2021-09-15 | 2021-09-15 | Cigarette carton posture self-adaptive adjusting and conveying system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113753538A true CN113753538A (en) | 2021-12-07 |
| CN113753538B CN113753538B (en) | 2022-11-25 |
Family
ID=78795793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111079843.1A Active CN113753538B (en) | 2021-09-15 | 2021-09-15 | Cigarette carton posture self-adaptive adjusting and conveying system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113753538B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201828527U (en) * | 2010-09-21 | 2011-05-11 | 山东中烟工业有限责任公司青州卷烟厂 | Online mmoke box automatic identification and elimination system |
| US20130096711A1 (en) * | 2011-10-17 | 2013-04-18 | R.J. Reynolds Tobacco Company | Cigarette Package Coding System and Associated Method |
| CN103274194A (en) * | 2013-04-11 | 2013-09-04 | 红云红河烟草(集团)有限责任公司 | Conveying device with automatically-adjusted cigarette box postures |
| CN203359331U (en) * | 2013-05-31 | 2013-12-25 | 浙江省烟草公司绍兴市公司 | Automatic replenishment system used for real-time ordering and real-time sorting |
| CN111071755A (en) * | 2019-08-19 | 2020-04-28 | 红云红河烟草(集团)有限责任公司 | Finished cigarette high-speed laser scanning code recognition sorting system |
| CN111532729A (en) * | 2019-08-21 | 2020-08-14 | 湖南省烟草公司衡阳市公司 | Sorting device for improving sorting speed of special-shaped cigarettes and control method thereof |
| CN211282740U (en) * | 2019-08-19 | 2020-08-18 | 红云红河烟草(集团)有限责任公司 | Finished cigarette high-speed laser scanning code recognition sorting system |
| CN212442130U (en) * | 2020-05-26 | 2021-02-02 | 中国烟草总公司重庆市公司涪陵分公司 | Cigarette package bar code recognition device |
-
2021
- 2021-09-15 CN CN202111079843.1A patent/CN113753538B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201828527U (en) * | 2010-09-21 | 2011-05-11 | 山东中烟工业有限责任公司青州卷烟厂 | Online mmoke box automatic identification and elimination system |
| US20130096711A1 (en) * | 2011-10-17 | 2013-04-18 | R.J. Reynolds Tobacco Company | Cigarette Package Coding System and Associated Method |
| CN103274194A (en) * | 2013-04-11 | 2013-09-04 | 红云红河烟草(集团)有限责任公司 | Conveying device with automatically-adjusted cigarette box postures |
| CN203359331U (en) * | 2013-05-31 | 2013-12-25 | 浙江省烟草公司绍兴市公司 | Automatic replenishment system used for real-time ordering and real-time sorting |
| CN111071755A (en) * | 2019-08-19 | 2020-04-28 | 红云红河烟草(集团)有限责任公司 | Finished cigarette high-speed laser scanning code recognition sorting system |
| CN211282740U (en) * | 2019-08-19 | 2020-08-18 | 红云红河烟草(集团)有限责任公司 | Finished cigarette high-speed laser scanning code recognition sorting system |
| CN111532729A (en) * | 2019-08-21 | 2020-08-14 | 湖南省烟草公司衡阳市公司 | Sorting device for improving sorting speed of special-shaped cigarettes and control method thereof |
| CN212442130U (en) * | 2020-05-26 | 2021-02-02 | 中国烟草总公司重庆市公司涪陵分公司 | Cigarette package bar code recognition device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113753538B (en) | 2022-11-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109279373B (en) | Flexible unstacking and stacking robot system and method based on machine vision | |
| US10407249B2 (en) | Item infeed apparatus and method for a palletizer | |
| US10604361B2 (en) | Case manipulator for a palletizer system | |
| CN110498243B (en) | Intelligent mixed box body robot pile-detaching system and control method | |
| US7610855B2 (en) | Apparatus and process for transporting lithographic plates to a press cylinder | |
| CN100519372C (en) | Device for stacking and unstacking objects | |
| EP2399850A1 (en) | Stacking line system and method | |
| CN104773432A (en) | Automatic warehouse output and input device and method of plate production line | |
| CN103274194A (en) | Conveying device with automatically-adjusted cigarette box postures | |
| JP2016132034A (en) | Carrying-in laminate device to stack | |
| CN212863004U (en) | Device for processing piece goods moving in at least one row in succession | |
| CN111731856A (en) | Automatic stacking equipment and stacking method for industrial logistics storage | |
| CN109693944B (en) | Automatic keel packaging and stacking equipment and method | |
| CN113753538B (en) | Cigarette carton posture self-adaptive adjusting and conveying system and method | |
| CN109693902A (en) | A kind of tray handling device and its working method | |
| US11498782B2 (en) | Robotic palletizing | |
| CN209814470U (en) | Smoke box mistake proofing tablet device | |
| CN210437869U (en) | Stacking robot | |
| CN104828657A (en) | Intelligent storehouse outbound device used for sheet material production line and method thereof | |
| CN210192498U (en) | Material conveying device suitable for automatic stacking system | |
| CN107186851A (en) | A kind of new wood composite pallet fully-automatic production machine | |
| CN109110366B (en) | Automatic inventory method for warehouse system | |
| CN107776958B (en) | Full-automatic spindle automatic overturning and sequencing equipment | |
| CN104828627A (en) | Intelligent storehouse inbound device used for sheet material production line and method thereof | |
| CN215964957U (en) | Quick sorting device of traditional chinese medicine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |