CN114955122B

CN114955122B - Automatic detection and packaging equipment and automatic detection and packaging method

Info

Publication number: CN114955122B
Application number: CN202210804187.5A
Authority: CN
Inventors: 李伟; 谢华辉
Original assignee: Guangdong Xini Technology Co ltd
Current assignee: Guangdong Xini Technology Co ltd
Priority date: 2022-07-07
Filing date: 2022-07-07
Publication date: 2023-03-14
Anticipated expiration: 2042-07-07
Also published as: CN114955122A

Abstract

The invention provides automatic detection and packaging equipment and an automatic detection and packaging method, wherein the automatic detection and packaging equipment comprises a feeding mechanism, a turntable mechanism, a visual detection mechanism, a first recovery mechanism, a flatness detection mechanism, a second recovery mechanism and a packaging mechanism, the feeding mechanism is used for conveying products onto the turntable mechanism, the turntable mechanism is used for driving the products to move circularly, the visual detection mechanism is distributed along the edge of the turntable mechanism and is respectively used for detecting the products along different angles, the first recovery mechanism is used for recovering the products with the appearance defects, the flatness detection mechanism is used for detecting the flatness of the products, the second recovery mechanism is used for recovering the products with the flatness defects, and the packaging mechanism is used for packaging the qualified products. The automatic detection and packaging equipment provided by the invention can improve the detection precision, is convenient for manual reinspection, has simple and compact structure and effectively improves the detection and packaging efficiency of products, and all mechanisms are mutually cooperated to operate.

Description

Automatic detection and packaging equipment and automatic detection and packaging method

Technical Field

The invention relates to the technical field of product detection and packaging, in particular to automatic detection and packaging equipment and an automatic detection and packaging method adopting the automatic detection and packaging equipment.

Background

At present, the detection and the packing operation to sheet parts such as shield cover mainly rely on manual operation, need operating personnel to utilize measuring tool to carry out the precision measurement to characteristics such as appearance and plane degree of product to whether there is spot or damaged on the product surface through the naked eye observation, not only extravagant a large amount of manpower physics, the testing result also can't be guaranteed, the probability of lou examining, false retrieval is higher, and packaging efficiency is lower, leads to the qualification rate of the product of packing completion to be difficult to satisfy the requirement.

In contrast, patent document No. cn202020130095.X discloses a shield detection packaging apparatus, which can automatically complete visual detection, flatness detection and packaging operations of a shield, but it only simply combines an automatic feeding system, a visual detection system, a flatness detection system, a tape winding packaging system and the like to implement different functions, and does not involve cooperative operations among the systems, so that product detection and packaging efficiency is not high, classification and recovery cannot be performed according to defect types of products, and products with slight defects may be mistakenly detected and wasted.

Disclosure of Invention

The invention aims to provide automatic detection and packaging equipment which is high in product detection and packaging efficiency, accurate in detection and capable of being classified and recycled.

Another objective of the present invention is to provide an automatic detecting and packaging method, which employs the above automatic detecting and packaging apparatus.

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

as a first aspect, the present invention provides an automatic detection and packaging apparatus, comprising a feeding mechanism, a turntable mechanism, a visual detection mechanism, a first recovery mechanism, a flatness detection mechanism, a second recovery mechanism and a packaging mechanism, which are sequentially arranged;

the feeding mechanism is used for sequentially conveying a plurality of products to the turntable mechanism;

the rotary table mechanism is used for driving the products to move circularly;

the plurality of visual detection mechanisms are arranged at intervals along the edge of the turntable mechanism and are respectively used for detecting products on the turntable mechanism along different angles;

the first recovery mechanism is used for recovering the products with appearance defects detected by the visual detection mechanism;

the flatness detection mechanism is used for detecting the flatness of the product qualified by the detection of the visual detection mechanism;

the second recovery mechanism is used for recovering the products with flatness defects detected by the flatness detection mechanism;

the packaging mechanism is used for packaging products qualified by the detection of the flatness detection mechanism.

Preferably, the automatic detection and packaging equipment further comprises a first conveying mechanism, a second conveying mechanism and a detection manipulator;

the input end of the first conveying mechanism is connected with the turntable mechanism, and the output end of the first conveying mechanism is arranged on one side of the flatness detection mechanism;

the input end of the second conveying mechanism is arranged on the other side of the flatness detection mechanism, and the output end of the second conveying mechanism is connected with the packaging mechanism;

the detection manipulator comprises a driving assembly, a first clamp and a second clamp, the driving assembly is used for driving the first clamp and the second clamp to move synchronously, the first clamp is used for transferring products on the output end of the first conveying mechanism to the flatness detection mechanism, and the second clamp is used for transferring qualified products detected on the flatness detection mechanism to the second conveying mechanism.

Preferably, the second recycling mechanism is arranged between the flatness detecting mechanism and the second conveying mechanism, and the second clamp is further used for transferring the products with flatness defects on the flatness detecting mechanism to the second recycling mechanism.

Further, the flatness detection mechanism comprises a plurality of flatness detection stations;

the second recovery mechanism comprises a recovery container, a slide way and a plurality of guide cylinders, the slide way is arranged on one side of the recovery container and is inclined downwards along the direction towards the recovery container, the guide cylinders are vertically erected on the slide way, and the guide cylinders and the flatness detection stations are arranged in a one-to-one correspondence manner;

the second clamp is used for transferring the products with flatness defects on the flatness detection mechanism to the upper end of the guide cylinder, so that the products with flatness defects are guided to fall onto the slide way through the guide cylinder and slide along the slide way into the recovery container.

Furthermore, a plurality of groups of suction nozzles are arranged on the first clamp and the second clamp, and the suction nozzles on the first clamp and the suction nozzles on the second clamp are arranged in one-to-one correspondence with the flatness detection stations.

Preferably, the automatic detection and packaging equipment further comprises a second conveying mechanism and a packaging manipulator;

the input end of the second conveying mechanism is connected with the flatness detection mechanism, and the output end of the second conveying mechanism is arranged on one side of the packaging mechanism;

the packaging manipulator comprises a rotating assembly, a limiting assembly and a third clamp, the rotating assembly is connected with the third clamp and used for driving the third clamp to swing back and forth along a circular arc-shaped track, so that the third clamp is driven to move back and forth between the output end of the second conveying mechanism and the packaging mechanism, and the limiting assembly is connected with the third clamp and used for limiting the third clamp to keep a vertical state in the swinging process.

Furthermore, the rotating assembly comprises a rotating driving part, a driving wheel connected with the rotating driving part, driven wheels vertically arranged opposite to the driving wheel at intervals, and flexible transmission parts respectively wound on the driving wheel and the driven wheels;

the limiting assembly comprises a first swing arm, a second swing arm and a limiting arm, the first swing arm and the second swing arm are arranged in parallel, the first end of the first swing arm is connected with the driving wheel, the second end of the first swing arm is hinged to the first end of the limiting arm, the first end of the second swing arm is connected with the driven wheel, the second end of the second swing arm is hinged to the second end of the limiting arm, and the third clamp is installed on the limiting arm.

Preferably, the packaging manipulator further comprises a sector disc connected with the driven wheel and a positioning assembly arranged on one side of the sector disc and electrically connected with the rotary driving piece, the central angle of the sector disc corresponds to the reciprocating swing angle of the third clamp, and the positioning assembly is used for being triggered and controlling the rotary driving piece to rotate reversely when the edge of the sector disc rotates to a preset position.

Preferably, the automatic detection and packaging equipment further comprises a guiding mechanism and a position recognition mechanism, wherein the guiding mechanism and the position recognition mechanism are arranged between the feeding mechanism and the visual detection mechanism, the guiding mechanism is used for guiding a product in the feeding mechanism to enter the turntable mechanism in a preset posture, and the position recognition mechanism is used for detecting position information of the product on the turntable mechanism and feeding the position information back to the visual detection mechanism.

As a second aspect, the present invention further provides an automatic detection and packaging method, using the above automatic detection and packaging apparatus, the automatic detection and packaging method including the steps of:

conveying a plurality of products to the turntable mechanism in sequence through the feeding mechanism;

the rotary table mechanism drives the product to move circularly;

detecting products on the turntable mechanism along different angles through a plurality of visual detection mechanisms respectively;

the product with appearance defects detected by the visual detection mechanism is recovered by a first recovery mechanism;

carrying out flatness detection on the products qualified by the detection of the visual detection mechanism through a flatness detection mechanism;

recovering the products with flatness defects detected by the flatness detection mechanism through a second recovery mechanism;

and packaging the qualified product detected by the flatness detection mechanism through a packaging mechanism.

Compared with the prior art, the scheme of the invention has the following advantages:

1. according to the automatic detection and packaging equipment, batch products are sequentially conveyed to the turntable mechanism through the feeding mechanism and are driven to move in an annular mode by the turntable mechanism, different characteristic information of the products is detected along different angles through the plurality of visual detection mechanisms arranged at intervals along the edge of the turntable mechanism, detection steps are refined, different types of detection operations are independently performed, so that the first recovery mechanism can perform classified recovery according to the types of appearance defects of the products, the detection accuracy is effectively improved, manual re-detection is facilitated, then the flatness detection is performed on the qualified products detected by the visual detection mechanism through the flatness detection mechanism, the second recovery mechanism can accurately recover the products only with flatness defects, the recovery types are further refined, re-detection and rework are facilitated, finally the qualified products are automatically packaged and detected through the packaging mechanism, the mechanisms are cooperatively operated with each other, the structure is simple and compact, the detection and packaging efficiency of the products is effectively improved, and the qualification rate of the products is ensured to meet requirements.

2. In the automatic detection and packaging equipment provided by the invention, the detection manipulator is provided with the first clamp and the second clamp which move synchronously, the first clamp is used for transferring the product on the first conveying mechanism to the flatness detection mechanism, and meanwhile, the second clamp is used for transferring the qualified product detected on the flatness detection mechanism to the second conveying mechanism, so that the product can be transferred among the first conveying mechanism, the flatness detection mechanism and the second conveying mechanism in order through one detection manipulator, the structure is simple, the cost is low, and the flatness detection efficiency of the product is improved in order.

3. In the automatic detection and packaging equipment provided by the invention, the packaging manipulator limits the third clamp to keep a vertical state in the moving process through the limiting component, and then drives the third clamp to swing back and forth along the arc-shaped track through the rotating component, so that the third clamp can be driven to move along the longitudinal direction and the transverse direction through one rotating component, and then products on the second conveying mechanism are quickly transferred to the packaging mechanism in sequence through the back and forth swinging action of the third clamp, and the automatic detection and packaging equipment is simple and compact in structure and high in efficiency.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a perspective view of an automatic inspection and packaging apparatus according to an embodiment of the present invention;

FIG. 2 is a top view of the automated inspection and packaging apparatus of FIG. 1;

FIG. 3 is an assembly structure view of the flatness detecting mechanism, the second recycling mechanism, the first conveying mechanism, the second conveying mechanism and the detecting robot in the automatic detecting and packaging apparatus shown in FIG. 1;

FIG. 4 is a perspective view of the inspection robot shown in FIG. 3;

FIG. 5 is a perspective view of the second recovery mechanism shown in FIG. 3;

FIG. 6 is a perspective view of a packaging robot in the automated inspection and packaging equipment shown in FIG. 1;

FIG. 7 is a perspective view of the packaging robot shown in FIG. 6 from another angle;

fig. 8 is an exploded view of the first recovery mechanism shown in fig. 1.

Illustration of the drawings:

1000. automatic detection and packaging equipment; 1. a feeding mechanism; 11. a storage bin; 12. a vibrating pan; 2. a turntable mechanism; 21. a turntable; 3. a visual detection mechanism; 4. a first recovery mechanism; 41. a screening component; 42. a recovery box; 5. a flatness detection mechanism; 51. a flatness detection station; 6. a second recovery mechanism; 61. a recovery vessel; 62. a slideway; 63. a guide cylinder; 7. a packaging mechanism; 71. carrying a tape unwinding assembly; 72. a material detection assembly; 73. the packaging film unwinding assembly; 74. a heat seal assembly; 75. a finished product winding component; 81. a first conveying mechanism; 82. a second conveying mechanism; 83. detecting a mechanical arm; 831. a drive assembly; 8311. a lateral drive assembly; 8312. a longitudinal drive assembly; 832. a first clamp; 833. a second clamp; 834. a suction nozzle; 84. a packaging manipulator; 841. a rotating assembly; 8411. a rotary drive member; 8412. a driving wheel; 8413. a driven wheel; 8414. a flexible drive member; 842. a limiting component; 8421. a first swing arm; 8422. a second swing arm; 8423. a limiting arm; 843. a third clamp; 844. a sector disc; 845. a positioning assembly; 91. a guide mechanism; 92. a position recognition mechanism.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.

It will be understood by those within the art that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.

Fig. 1 to 8 collectively illustrate the automatic detection and packaging apparatus provided by the embodiment of the present invention, which is used for automatically completing the processes of shape detection, flatness detection and packaging of sheet-shaped parts such as shielding cases, effectively improving the efficiency of product detection and packaging, ensuring accurate detection, and being capable of sorting and recycling.

Referring to fig. 1 and 2, the automatic detecting and packaging apparatus 1000 includes a feeding mechanism 1, a turntable mechanism 2, a visual detection mechanism 3, a first recovery mechanism 4, a flatness detection mechanism 5, a second recovery mechanism 6, and a packaging mechanism 7, which are sequentially disposed, where the feeding mechanism 1 is configured to place a batch of products and sequentially transport a plurality of products to the turntable mechanism 2, the turntable mechanism 2 is configured to drive the products transported by the feeding mechanism 2 to circularly move along a circumferential direction of the turntable mechanism 2, the visual detection mechanism 3 is provided with a plurality of visual detection mechanisms 3, the visual detection mechanisms 3 are arranged at intervals along an edge of the turntable mechanism 2 and are respectively configured to detect the products on the turntable mechanism 2 at different angles, the first recovery mechanism 4 is configured to recover the products detected by the visual detection mechanism 3 to have a shape defect, the flatness detection mechanism 5 is configured to perform flatness detection on the products detected by the visual detection mechanism 3, the second recovery mechanism 6 is configured to recover the products detected by the flatness detection mechanism 5 to have a flatness defect, and the packaging mechanism 7 is configured to detect the products detected by the flatness detection mechanism 5.

The automatic detection and packaging equipment 1000 sequentially conveys batch products to the turntable mechanism 2 through the feeding mechanism 1, the products are driven by the turntable mechanism 2 to move in an annular mode, different characteristic information of the products, such as plane characteristics, edge characteristics, overall characteristics, local characteristics and other characteristic information, is detected through the plurality of visual detection mechanisms 3 arranged at intervals along the edge of the turntable mechanism 2 along different angles, detection steps are refined, different types of detection operations are independently performed, detection precision is improved for some parts, the first recovery mechanism 4 can classify and recover the products according to the appearance defect types of the products, manual reinspection is facilitated, flatness detection is performed on the products qualified through the visual detection mechanisms 3 through the flatness detection mechanisms 5, so that the second recovery mechanism 6 can accurately recover the products only with flatness defects, the recovery types are further refined, reinspection and rework are facilitated on the products only with flatness defects, and finally the packaging mechanisms 7 automatically package the qualified products, the mechanisms are mutually matched, the structure is compact, the effective packaging efficiency is ensured, and the qualified product detection rate is improved.

Further, feed mechanism 1 include feed bin 11 and with the vibration dish 12 that feed bin 11 is connected, carousel mechanism 2 includes the carousel 21 of rotatable setting, feed bin 11 be used for depositing the product and according to preset flow to vibration dish 12 is continuous or the product of intermittent type carry, vibration dish 12 is located the edge of carousel 21 is used for carrying out directional sequencing to the product to make a plurality of products can keep standard gesture and get into in proper order carousel 21 detects.

Referring to fig. 3, the automatic detecting and packaging apparatus 1000 further includes a first conveying mechanism 81, a second conveying mechanism 82, and a detecting manipulator 83, an input end of the first conveying mechanism 81 is connected to the turntable mechanism 2, and an output end of the first conveying mechanism 81 is disposed at one side of the flatness detecting mechanism 5, so that the first conveying mechanism 81 conveys the qualified products detected by the vision detecting mechanism 3 on the turntable 21 to one side of the flatness detecting mechanism 5. The input end of the second conveying mechanism 82 is arranged on the other side of the flatness detection mechanism 5, and the output end of the second conveying mechanism 82 is connected with the packaging mechanism 7, so that the qualified product detected by the flatness detection mechanism 5 is conveyed to the packaging mechanism 7 through the second conveying mechanism 81. The detection robot 83 is configured to transfer the product on the first conveying mechanism 81 to the flatness detection mechanism 5, and the detection robot 83 is further configured to transfer the product on the flatness detection mechanism 5 to the second conveying mechanism 82.

As shown in fig. 4, specifically, the detection robot 83 includes a driving assembly 831, and a first clamp 832 and a second clamp 833 both connected to the driving assembly 831, the first conveying mechanism 81 and the second conveying mechanism 82 are respectively disposed on two opposite sides of the flatness detection mechanism 5, and the output end of the first conveying mechanism 81, the input ends of the flatness detection mechanism 5 and the second conveying mechanism 82 are arranged along a straight line direction, the first clamp 832 and the second clamp 833 are arranged on the driving assembly 831 at intervals along the straight line direction, the driving assembly 831 is configured to drive the first clamp 832 and the second clamp 833 to move synchronously, the first clamp 832 is configured to transfer a product on the output end of the first conveying mechanism 81 to the flatness detection mechanism 5, and the second clamp 833 is configured to transfer a product qualified for detection on the flatness detection mechanism 5 to the second conveying mechanism 82.

Because the detection manipulator 83 is provided with the first clamp 832 and the second clamp 833 which move synchronously, in the process that the first clamp 832 transfers the product on the first conveying mechanism 81 to the flatness detection mechanism 5, the qualified product detected on the flatness detection mechanism 5 can be transferred to the second conveying mechanism 82 through the second clamp 833 at the same time, and the product can be transferred among the first conveying mechanism 81, the flatness detection mechanism 5 and the second conveying mechanism 82 in order through one detection manipulator 83, so that the structure is simple, the cost is low, and the flatness detection efficiency of the product is improved in order.

Further, the driving assembly 831 includes a transverse driving assembly 8311 and a longitudinal driving assembly 8312, the transverse driving assembly 8311 is connected to the longitudinal driving assembly 8312 and is configured to drive the longitudinal driving assembly 8312 to move transversely, and the longitudinal driving assembly 8312 is connected to the first clamp 832 and the second clamp 833 and is configured to drive the first clamp 832 and the second clamp 833 to move longitudinally.

As shown in fig. 3, the second recovery unit 6 is provided between the flatness detection unit 5 and the second conveying unit 82, and the second gripper 833 is further used to transfer a product having a defective flatness on the flatness detection unit 5 to the second recovery unit 6. That is, in the process that the driving assembly 831 drives the second clamp 833 to move from the flatness detection mechanism 5 to the second conveying mechanism 82, when the flatness defect of the product on the second clamp 833 is detected by the flatness detection mechanism 5, the second clamp 833 can release the corresponding product in the middle of the movement to enable the product with the flatness defect to automatically fall into the second recovery mechanism 6, and one detection manipulator 83 can simultaneously satisfy multiple transferring and recovering processes of the product without additionally providing a recovery manipulator, thereby effectively simplifying the equipment structure, reducing the cost and improving the stability.

Referring to fig. 5, the flatness detecting mechanism 5 includes a plurality of flatness detecting stations 51, and a single flatness detecting station 51 is used for detecting the flatness of one or more products. Mechanism 6 is retrieved to second includes recovery container 61, slide 62 and guide cylinder 63, recovery container 61 detachably install with flatness detection mechanism 5's side, slide 62 is located one side of recovery container 61 and along the orientation the direction downward sloping setting of recovery container 61, so that product on the slide 62 can slide by oneself extremely in the recovery container 61, guide cylinder 63 is equipped with a plurality ofly, and is a plurality of guide cylinder 63 all erects along vertical in slide 62's top, guide cylinder 63 with flatness detection station 51 one-to-one sets up.

Further, the second clamp 833 is used for transferring the product with flatness defect on the flatness detecting mechanism 5 to the upper end of the guide cylinder 63, so that the product with flatness defect is guided to fall onto the slide way 62 through the guide cylinder 63 and slides along the slide way 62 into the recovery container 61

In order to facilitate the transfer of the second clamp 833 and ensure the transfer efficiency of the product, the gap between the flatness detecting mechanism 5 and the second conveying mechanism 82 should not be too large, so that the installation direction of the slide 62 can only be set along the arrangement direction of the plurality of flatness detecting stations 51, and the heights of the positions of the slide 62 corresponding to each flatness detecting station 51 are different, so that the installation height of the slide 62 cannot be adapted to the plurality of flatness detecting stations 51 at the same time, and the product on at least one flatness detecting station 51 is easily flicked when being transferred onto the slide 62, and the product is damaged or flicked to other positions. Therefore, the second recovery mechanism 6 guides and limits the falling direction and the position of the product through the guide cylinder 63 which is vertically arranged, so that the product on each flatness detection station 51 can be guided and limited through the guide cylinder 63 when being transferred to the slide way 62, and the product is effectively prevented from being damaged by bouncing.

Preferably, the inner wall of the guide cylinder 63 and/or the upper surface of the slide way 62 are provided with a flexible buffer layer, and the flexible buffer layer is used for buffering the product to further protect the product.

In this embodiment, two longitudinal driving assemblies 8312 are provided, the first clamp 832 and the second clamp 833 are mounted on the two longitudinal driving assemblies 8312 in a one-to-one correspondence manner, and the two longitudinal driving assemblies 8312 respectively drive the first clamp 832 and the second clamp 833 to move longitudinally, so that the movement of the first clamp 832 and the second clamp 833 moving longitudinally can be performed independently, and a product with a flatness defect is conveniently lowered into the guide cylinder 63 in the process of moving the second clamp 833 transversely.

In other embodiments, only one longitudinal driving assembly 8312 may be provided, and the first clamp 832 and the second clamp 833 are synchronously driven by one longitudinal driving assembly 8312 to move in the longitudinal direction, so that multiple transferring and recovering processes of the product can be completed, the overall structure can be further simplified, the cost can be reduced, and the stability can be improved.

As shown in fig. 4, further, a plurality of sets of suction nozzles 834 are respectively disposed on the first clamp 832 and the second clamp 833, the suction nozzles 834 are used for sucking products, the suction nozzles 834 on the first clamp 832 and the suction nozzles 834 on the second clamp 833 are respectively disposed in one-to-one correspondence with the flatness detection stations 51, so that the first clamp 832 can transfer a plurality of products on the first conveying mechanism 81 to a plurality of flatness detection mechanisms 5 through the plurality of sets of suction nozzles 834, and the second clamp 833 can transfer products on the plurality of flatness detection mechanisms 5 to the second conveying mechanism 82 and/or the second recovery mechanism 6 through the plurality of sets of suction nozzles 834, thereby achieving batch transfer of the products.

It should be understood that, in other embodiments, the output end of the first conveying mechanism 81 and the input end of the second conveying mechanism 82 may also be directly butted, so that the first conveying mechanism 81 and the second conveying mechanism 82 are arranged along a straight line, and at this time, the detection robot 83 is replaced by a multi-axis robot, and multiple transferring and recovering processes of products can also be realized through multi-axis movement of the multi-axis robot, and the conveying mechanisms are more conveniently arranged, the equipment structure is simplified, and the miniaturization design of the automatic detecting and packaging equipment 1000 is facilitated.

Referring to fig. 1 and 6, the automatic detecting and packaging apparatus 1000 further includes a packaging robot 84 disposed between the second conveying mechanism 82 and the packaging mechanism 7, and the packaging robot 84 is configured to sequentially transfer the products on the output end of the second conveying mechanism 82 to the packaging mechanism 7 for packaging.

Preferably, the packaging robot 84 includes a rotating assembly 841, a limiting assembly 842 and a third clamp 843, the rotating assembly 841 is connected to the third clamp 843 and is configured to drive the third clamp 843 to swing back and forth along a circular arc track, so as to drive the third clamp 843 to move back and forth between the output end of the second conveying mechanism 82 and the packaging mechanism 7, and the limiting assembly 842 is connected to the third clamp 843 and is configured to limit the third clamp 843 to maintain a vertical state during the swinging process.

Specifically, the packaging manipulator 84 limits the third clamp 843 to keep a vertical state in the moving process through the limiting component 842, and then drives the third clamp 843 to swing back and forth along the arc-shaped track through the rotating component 841, so that the third clamp 843 can be driven to move along the longitudinal direction and the transverse direction through one rotating component 841 equivalently because the arc-shaped track comprises the movement in the longitudinal direction and the transverse direction, and a plurality of driving components are not required to be arranged, so that the products on the second conveying mechanism 82 can be quickly transferred to the packaging mechanism 7 in sequence through the back and forth swinging action of the third clamp 843, the structure is simple and compact, and the product transfer efficiency is high.

Further, the rotating assembly 841 comprises a rotating driving part 8411, a driving wheel 8412 connected with the rotating driving part 8411, driven wheels 8413 vertically arranged opposite to the driving wheel 8412 at intervals, and flexible transmission parts 8414 respectively wound on the driving wheel 8412 and the driven wheels 8413, wherein the flexible transmission parts 8414 are used for driving the driven wheels 8413 to synchronously rotate relative to the driving wheel 8412.

More closely, the limiting assembly 842 comprises a first swing arm 8421, a second swing arm 8422 and a limiting arm 8423, the first swing arm 8421 and the second swing arm 8422 are arranged in parallel, the first end of the first swing arm 8421 is connected with the driving wheel 8412, the second end of the first swing arm 8421 is hinged to the first end of the limiting arm 8423, the first end of the second swing arm 8422 is connected with the driven wheel 8413, the second end of the second swing arm 8422 is hinged to the second end of the limiting arm 8423, the limiting arm 8423 keeps a vertical state under the common limiting effect of the first swing arm 8421 and the second swing arm 8422, and the third clamp 843 is mounted at the bottom end of the limiting arm 8422.

The driving wheel 8412 and the driven wheel 8413 respectively drive the first swing arm 8421 and the second swing arm 8422 to synchronously swing when synchronously rotating, so that the distance between the second end of the first swing arm 8421 and the second end of the second swing arm 8422 is kept unchanged, the limiting arm 8423 is driven to swing, meanwhile, the limiting arm 8423 is kept in a vertical state, accordingly, the third clamp 843 is kept in a vertical state in the swinging process, and the product transferring efficiency and stability are ensured.

Further, the driving wheel 8412 and the driven wheel 8413 adopt a belt wheel, a chain wheel or a rope wheel, and correspondingly, the flexible transmission element 8414 adopts a belt, a chain or a transmission rope which are matched with each other, so that the flexible transmission element 8414 can be tightly matched with the driving wheel 8412 and the driven wheel 8413 and drive the driven wheel 8413 to synchronously rotate relative to the driving wheel 8412.

Referring to fig. 7, the packaging robot 84 further includes a sector disk 844 connected to the driven wheel 8413, and a positioning assembly 845 disposed on one side of the sector disk 844 and electrically connected to the rotary driving member 8411, wherein a central angle of the sector disk 844 is set corresponding to a preset reciprocating swing angle of the third clamp 843, and the positioning assembly 845 is configured to detect a state of the sector disk 844, so as to be triggered when an edge of the sector disk 844 rotates to a preset position and control the rotary driving member 8411 to rotate reversely, so that the rotary driving member 8411 is controlled to rotate reversely when two radial edges of the sector disk 844 rotate to the preset position, and thus the third clamp 843 is accurately positioned and swings in a circular arc track.

Further, the positioning assembly 845 includes a laser emitter for emitting laser toward one surface of the sector disc 844 and a laser receiver disposed on the other surface of the sector disc 844, and when the sector disc 844 rotates to a state of being separated from the laser emitter, the laser receiver may receive detection laser emitted by the laser emitter, determine that the third clamp 843 has rotated to the limit position, and immediately suspend the rotation driving element 8411 or control the rotation driving element 8411 to rotate reversely.

As shown in fig. 2, the packaging mechanism 7 includes a carrier tape unwinding assembly 71, a material detection assembly 72, a packaging film unwinding assembly 73, a heat-sealing assembly 74 and a finished product winding assembly 75, which are sequentially arranged, the carrier tape unwinding assembly 71 is used for outputting a carrier tape, so that the packaging manipulator 84 sequentially transfers the products on the second conveying mechanism 82 to the carrier tape, the material detection assembly 72 is used for detecting whether the product on the carrier tape is loaded and/or detected, whether the product on the carrier tape is reversely loaded, so as to timely alarm and stop and remind manual processing when abnormal detection occurs, the packaging film unwinding assembly 73 is used for outputting the packaging film above the carrier tape which is loaded with the product, the heat-sealing assembly 74 is used for heat-sealing the packaging film in the carrier tape to realize automatic packaging of the product, and the finished product winding assembly 75 is used for winding the carrier tape which is packaged, thereby realizing automatic packaging of the product.

As shown in fig. 1 and 2, the automatic detecting and packaging apparatus 1000 further includes a guiding mechanism 91 and a position identifying mechanism 92, the guiding mechanism 91 and the position identifying mechanism 92 are sequentially disposed between the feeding mechanism 1 and the visual detecting mechanism 3, and the guiding mechanism 91 is configured to guide the product in the feeding mechanism 1 to enter the turntable mechanism 2 in a preset posture, so as to improve the positioning accuracy of the product relative to the turntable mechanism 2. The position recognition mechanism 92 is used for detecting the position information of the product on the turntable mechanism 2 and feeding the position information back to the visual detection mechanism 3, so that the visual detection mechanism 3 can predict the actual position of the product in advance before the product enters the detection station of the visual detection mechanism 3, the visual detection mechanism 3 can adjust the shooting parameters according to the actual position of the product, and accurate detection is realized.

Further, lead positive mechanism 91 including set up side by side two limiting plates and with limiting plate connection is used for adjusting two the adjusting part of the relative position of limiting plate, two clearance between the limiting plate is used for guiding the product gets into with predetermineeing the gesture carousel mechanism 2, through adjusting part adjusts two the relative position of limiting plate makes two clearance between the limiting plate can be adjusted to the product of the different specifications of adaptation in a flexible way, satisfies diversified and leads positive demand.

Further, the position recognition mechanism 92 includes an arch-shaped positioning frame and a laser positioning module disposed on the arch-shaped positioning frame, and when the product on the turntable mechanism 2 is driven by the turntable 21 to pass through the arch-shaped positioning frame, the product is scanned and positioned by the laser positioning module.

As shown in fig. 8, the first recycling mechanism 4 includes a plurality of screening assemblies 41 and a plurality of recycling boxes 42, the screening assemblies 41 and the recycling boxes 42 are arranged in a one-to-one correspondence manner, and the plurality of screening assemblies 41 are respectively used for screening products with different shape defects into the corresponding recycling boxes 42, that is, the screening assemblies 41 can screen different defects into the corresponding recycling boxes 42 according to the detection result of the visual detection mechanism 3, so as to achieve more subdivided classification recycling, separate products with slight defects from products with serious defects, and facilitate manual review and related recycling.

Preferably, the recycling box 42 is of a drawer type structure, so that the product can be conveniently drawn out for rechecking or recycling.

As a second aspect, an embodiment of the present invention further provides an automatic detecting and packaging method, where the automatic detecting and packaging apparatus 1000 is adopted, and the automatic detecting and packaging method includes the following steps:

step S100: a plurality of products are sequentially conveyed to the turntable mechanism 2 through the feeding mechanism 1.

Step S200: the rotary table mechanism 2 drives the products to move circularly.

Step S300: the products on the turntable mechanism 2 are detected along different angles by a plurality of visual detection mechanisms 3.

Step S400: and the product with the appearance defect detected by the visual detection mechanism 3 is recovered by a first recovery mechanism 4.

Step S500: and detecting the flatness of the qualified product detected by the visual detection mechanism 3 through a flatness detection mechanism 5.

Step S600: and recovering the products with flatness defects detected by the flatness detection mechanism 5 through a second recovery mechanism 6.

Step S700: and packaging the qualified products detected by the flatness detection mechanism 5 by a packaging mechanism 7.

According to the automatic detection and packaging method, firstly, batch products are sequentially conveyed to the turntable mechanism 2 through the feeding mechanism 1, the products are driven by the turntable mechanism 2 to move in an annular mode, then different characteristic information of the products is detected along different angles through the plurality of visual detection mechanisms 3 which are arranged at intervals along the edge of the turntable mechanism 2, detection steps are refined, different types of detection operations are independently performed, detection precision is improved for a few products, the first recovery mechanism 4 can classify and recover the products according to the types of the appearance defects of the products, manual reinspection is facilitated, then flatness detection is performed on the products qualified through the visual detection mechanisms 3 through the flatness detection mechanisms 5, so that the second recovery mechanism 6 can accurately recover the products only with flatness defects, the recovery types are further refined, reinspection and reworking are facilitated for the products only with flatness defects, and finally the qualified products are automatically packaged and detected through the packaging mechanism 7, and the working procedures are cooperated with each other, so that the detection and packaging efficiency of the products are effectively improved, and the qualification rate of the packaged finished products meets requirements.

The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An automatic detection and packaging device is characterized by comprising a feeding mechanism (1), a turntable mechanism (2), a visual detection mechanism (3), a first recovery mechanism (4), a flatness detection mechanism (5), a second recovery mechanism (6) and a packaging mechanism (7) which are arranged in sequence;

the feeding mechanism (1) is used for sequentially conveying a plurality of products to the turntable mechanism (2);

the turntable mechanism (2) is used for driving the product to move circularly;

the visual detection mechanisms (3) are arranged in a plurality, and the visual detection mechanisms (3) are arranged at intervals along the edge of the turntable mechanism (2) and are respectively used for detecting products on the turntable mechanism (2) along different angles;

the first recovery mechanism (4) is used for recovering the products with appearance defects detected by the visual detection mechanism (3);

the flatness detection mechanism (5) is used for detecting the flatness of the qualified product detected by the vision detection mechanism (3);

the second recovery mechanism (6) is used for recovering the products with flatness defects detected by the flatness detection mechanism (5);

the packaging mechanism (7) is used for packaging the qualified products detected by the flatness detection mechanism (5);

the automatic detection and packaging equipment further comprises a second conveying mechanism (82) and a packaging manipulator (84);

the input end of the second conveying mechanism (82) is connected with the flatness detection mechanism (5), and the output end of the second conveying mechanism (82) is arranged on one side of the packaging mechanism (7);

the packaging manipulator (84) comprises a rotating assembly (841), a limiting assembly (842) and a third clamp (843), wherein the rotating assembly (841) is connected with the third clamp (843) and is used for driving the third clamp (843) to swing in a reciprocating manner along an arc-shaped track, so that the third clamp (843) is driven to move in a reciprocating manner between the output end of the second conveying mechanism (82) and the packaging mechanism (7), and the limiting assembly (842) is connected with the third clamp (843) and is used for limiting the third clamp (843) to keep a vertical state in the swinging process;

the rotating assembly (841) comprises a rotating driving part (8411), a driving wheel (8412) connected with the rotating driving part (8411), driven wheels (8413) which are vertically arranged opposite to the driving wheel (8412) at intervals, and flexible transmission parts (8414) which are respectively wound on the driving wheel (8412) and the driven wheels (8413);

the limiting assembly (842) comprises a first swing arm (8421), a second swing arm (8422) and a limiting arm (8423), the first swing arm (8421) and the second swing arm (8422) are arranged in parallel, the first end of the first swing arm (8421) is connected with the driving wheel (8412), the second end of the first swing arm (8421) is hinged to the first end of the limiting arm (8423), the first end of the second swing arm (8422) is connected with the driven wheel (8413), the second end of the second swing arm (8422) is hinged to the second end of the limiting arm (8423), and the third clamp (843) is mounted on the limiting arm (8423);

the packaging manipulator (84) further comprises a sector disc (844) connected with the driven wheel (8413) and a positioning assembly (845) arranged on one side of the sector disc (844) and electrically connected with the rotary driving piece (8411), wherein the central angle of the sector disc (844) corresponds to the reciprocating swing angle of the third clamp (843), and the positioning assembly (845) is used for being triggered and controlling the rotary driving piece (8411) to rotate reversely when the edge of the sector disc (844) rotates to a preset position.

2. The automatic detection and packaging apparatus according to claim 1, characterized in that it further comprises a first conveying mechanism (81), a second conveying mechanism (82) and a detection robot (83);

the input end of the first conveying mechanism (81) is connected with the turntable mechanism (2), and the output end of the first conveying mechanism (81) is arranged on one side of the flatness detection mechanism (5);

the input end of the second conveying mechanism (82) is arranged on the other side of the flatness detection mechanism (5), and the output end of the second conveying mechanism (82) is connected with the packaging mechanism (7);

the detection manipulator (83) comprises a driving assembly (831), a first clamp (832) and a second clamp (833), wherein the driving assembly (831) is used for driving the first clamp (832) and the second clamp (833) to move synchronously, the first clamp (832) is used for transferring products on the output end of the first conveying mechanism (81) to the flatness detection mechanism (5), and the second clamp (833) is used for transferring qualified products detected on the flatness detection mechanism (5) to the second conveying mechanism (82).

3. The automatic inspection and packaging plant according to claim 2, characterized in that said second recovery means (6) are arranged between said flatness detection means (5) and said second conveying means (82), said second gripper (833) being also adapted to transfer the products with flatness defects on said flatness detection means (5) to said second recovery means (6).

4. The automatic detection and packaging plant according to claim 3, characterized in that said flatness detection means (5) comprise a plurality of flatness detection stations (51);

the second recovery mechanism (6) comprises a recovery container (61), a slide way (62) which is arranged on one side of the recovery container (61) and is inclined downwards along the direction facing the recovery container (61), and a plurality of guide cylinders (63) which are vertically erected on the slide way (62), wherein the guide cylinders (63) and the flatness detection stations (51) are arranged in a one-to-one correspondence manner;

the second clamp (833) is used for transferring the products with flatness defects on the flatness detecting mechanism (5) to the upper end of the guide cylinder (63) so as to guide the products with flatness defects through the guide cylinder (63), fall onto the slide way (62) and slide along the slide way (62) into the recovery container (61).

5. The automatic detecting and packaging equipment according to claim 4, characterized in that a plurality of groups of suction nozzles (834) are arranged on the first clamp (832) and the second clamp (833), and the suction nozzles (834) on the first clamp (832) and the suction nozzles (834) on the second clamp (833) are arranged in one-to-one correspondence with the flatness detection stations (51).

6. The automatic detecting and packaging device according to claim 1, further comprising a guiding mechanism (91) and a position recognition mechanism (92) arranged between the feeding mechanism (1) and the visual detection mechanism (3), wherein the guiding mechanism (91) is used for guiding the product in the feeding mechanism (1) to enter the turntable mechanism (2) in a preset posture, and the position recognition mechanism (92) is used for detecting the position information of the product on the turntable mechanism (2) and feeding the position information back to the visual detection mechanism (3).

7. An automatic inspection and packaging method using the automatic inspection and packaging apparatus according to any one of claims 1 to 6, the automatic inspection and packaging method comprising the steps of:

a plurality of products are sequentially conveyed to the turntable mechanism (2) through the feeding mechanism (1);

the rotary table mechanism (2) drives the product to move circularly;

products on the turntable mechanism (2) are detected along different angles through a plurality of visual detection mechanisms (3);

the products with appearance defects detected by the visual detection mechanism (3) are recovered by a first recovery mechanism (4);

carrying out flatness detection on the qualified product detected by the visual detection mechanism (3) through a flatness detection mechanism (5);

recovering the products with flatness defects detected by the flatness detection mechanism (5) through a second recovery mechanism (6);

and packaging the qualified products detected by the flatness detection mechanism (5) by a packaging mechanism (7).