CN115009770A - Soft bag feeding mechanism and soft bag lamp inspection machine - Google Patents
Soft bag feeding mechanism and soft bag lamp inspection machine Download PDFInfo
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- CN115009770A CN115009770A CN202210605875.9A CN202210605875A CN115009770A CN 115009770 A CN115009770 A CN 115009770A CN 202210605875 A CN202210605875 A CN 202210605875A CN 115009770 A CN115009770 A CN 115009770A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 145
- 238000007689 inspection Methods 0.000 title claims abstract description 34
- 230000007306 turnover Effects 0.000 claims description 15
- 238000007599 discharging Methods 0.000 claims description 11
- 241000239290 Araneae Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 5
- 238000012546 transfer Methods 0.000 abstract description 3
- 239000007788 liquid Substances 0.000 description 11
- 238000001514 detection method Methods 0.000 description 7
- 238000001802 infusion Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000001990 intravenous administration Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000001603 reducing effect Effects 0.000 description 1
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- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/12—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
- B65G17/123—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element arranged to keep the load-carriers horizontally during at least a part of the conveyor run
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/32—Individual load-carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/9018—Dirt detection in containers
- G01N21/9027—Dirt detection in containers in containers after filling
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
Abstract
The invention discloses a soft bag feeding mechanism and a soft bag light inspection machine, wherein the soft bag feeding mechanism comprises a feeding device, a first mechanical arm, an auxiliary conveying line, a soft bag overturning mechanism and a second mechanical arm which are sequentially arranged; the feeding device is used for inputting a soft bag to be tested; the first manipulator is used for flatly placing the soft bag on the feeding device to the auxiliary conveying line; the soft bag overturning mechanism is arranged between the auxiliary conveying line and the second manipulator and used for conveying the soft bags on the auxiliary conveying line to one side close to the second manipulator and adjusting the soft bags to be in a vertically suspended state; the second manipulator is used for transferring the soft bag to the light inspection mechanism. Through the mode that feedway, first manipulator, supplementary transfer chain, soft bag tilting mechanism and second manipulator combine, can be soft bag head for the centre gripping benchmark to the mechanism material loading is examined to the lamp, compare current material loading mode and fix a position more easily, and do not receive soft bag body to warp the influence, can guarantee the stability of material loading, do benefit to the operating efficiency who promotes the machine is examined to the lamp.
Description
Technical Field
The invention relates to the technical field of detection equipment, in particular to a soft bag feeding mechanism and a soft bag light inspection machine.
Background
The medical soft infusion bag is used for storing liquid medicine, but due to the production environment or the production process, some foreign matters with small particle size, such as aluminum scraps, glass scraps, rubber scraps, fibers or insoluble medicine substances, can be mixed in the finished infusion product. During the intravenous infusion, these foreign matters may enter the human body along with the liquid, thereby causing the blockage of blood vessels and seriously affecting the life and health of the patient. Therefore, the foreign matter inspection of the liquid medicine injected into the infusion soft bag is required to be carried out one by one in the production process of the infusion finished product.
At present, a soft bag intelligent light inspection machine is provided, the soft bag is transferred to a throwing mechanism through a turnover mechanism, the upper end and the lower end of the soft bag are clamped through the throwing mechanism, then the throwing mechanism is driven by a rotating support to rotate, the throwing mechanism stops rotating after reaching a shooting area, liquid in a transparent soft bag still continues to rotate under the action of inertia and is in a shaking state, if foreign bodies exist in the liquid, the foreign bodies can change positions along with the shaking of the liquid, and therefore if the positions of shadows on images at different time points change, the shadows can be judged to be the foreign bodies existing in the liquid. However, the turnover mechanism of the light inspection machine adsorbs the outer wall of the soft bag through the suction cup device, the soft bag is turned over by 90 degrees, the soft bag is changed from a horizontal orientation to a vertical orientation, and then the upper end and the lower end of the soft bag are clamped through the clamping jaws of the swinging mechanism. The soft bag is soft and easy to deform, and the position absorbed by the sucker device is easy to change, so that the turnover mechanism is easy to hang materials when the turnover mechanism turns over to hang the materials; if the bottoms of the soft bags and the bag receiving tray are not aligned, the soft bags may be thrown out from the side face of the bag receiving tray, and normal operation of the light inspection machine is affected.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a soft bag feeding mechanism.
The invention also provides a soft bag light inspection machine.
In order to achieve the first object, the invention provides the following technical scheme:
a soft bag feeding mechanism comprises a feeding device, a first manipulator, an auxiliary conveying line, a soft bag overturning mechanism and a second manipulator which are arranged in sequence;
the feeding device is used for inputting a soft bag to be tested;
the first manipulator is used for flatly placing the soft bag on the feeding device to the auxiliary conveying line;
the soft bag turnover mechanism is arranged between the auxiliary conveying line and the second manipulator and used for conveying the soft bags on the auxiliary conveying line to one side close to the second manipulator and adjusting the soft bags to be in a vertical hanging state;
the second mechanical arm is used for clamping the head of the soft bag and transferring the soft bag to the light inspection mechanism.
As a preferred scheme, the soft bag overturning mechanism comprises a support, an annular conveying device, a plurality of hooks, a supporting plate and a guide plate;
the bracket is arranged on one side of the auxiliary conveying line;
the annular conveying device is horizontally and rotatably arranged on the bracket, the running speed of the annular conveying device is consistent with that of the auxiliary conveying line, and the annular conveying device is provided with a feeding side close to the auxiliary conveying line and a discharging side close to the second mechanical arm;
the hooks are distributed on the periphery of the annular conveying device at equal intervals, and each hook comprises a connecting piece and a hanging piece; the connecting piece is fixed on the outer side of the annular conveying device; the hanging piece is hinged with the connecting piece, a notch used for clamping the head of the soft bag is formed in one side, away from the connecting piece, of the hanging piece, and the hanging piece can swing between a vertical state and a flat state;
the guide plate is arranged on the feeding side of the annular conveying device, and the top surface of the guide plate is provided with a first inclined section, a horizontal section and a second inclined section which are sequentially arranged along the conveying direction of the auxiliary conveying line;
when the pendant abuts against the first inclined section, the pendant is gradually turned upwards; when the hanging piece is abutted against the horizontal section, the hanging piece is converted into a vertical state and is used for butting a soft bag on the auxiliary conveying line; when the lower side of the pendant abuts against the second inclined section, the pendant gradually swings downwards; when the lower side of the hanging piece is separated from the second inclined section, the hanging piece is in a flat-laying state, so that the soft bag is in a vertical hanging state.
As a preferable scheme, the soft bag overturning mechanism comprises a supporting plate arranged on the bracket, and a roller abutted against the supporting plate is arranged on the lower side of the connecting piece.
Preferably, the hanger is provided with a laterally extending convex column for abutting against the guide plate, and the end of the convex column is arc-shaped.
As a preferable scheme, the soft bag turnover mechanism further comprises an arc guardrail, and the arc guardrail is arranged on the support and surrounds one end, far away from the second manipulator, of the transmission belt.
As an optimal scheme, still include upset direction guardrail, the upset direction guardrail is installed just be located on the support the top of first slope section, the upset direction guardrail with the circular arc guardrail is close to the one end of supplementary transfer chain links to each other, the upset direction guardrail is equipped with an arc spigot surface towards one side of support for the butt soft bag.
As a preferred scheme, the feeding device is a feeding conveying line and is arranged side by side with the auxiliary conveying line.
Preferably, the first manipulator is a spider manipulator.
As a preferred scheme, the second manipulator comprises a base, a first linear driving mechanism, a second linear driving mechanism and a clamping mechanism which are connected in sequence; the first linear driving mechanism drives the two linear driving mechanisms to move between a discharging position of the soft bag overturning mechanism and a feeding position of the whipping mechanism, and the second linear driving mechanism drives the clamping mechanism to move transversely; the clamping mechanism comprises a mounting plate and a plurality of clamping jaws; the mounting plate is connected with the second linear driving mechanism, and the clamping jaws are arranged on the mounting plate and used for clamping the soft bag.
As a preferable scheme, the soft bag overturning mechanism further comprises a defoaming mechanism, and the defoaming mechanism is mounted on the support and located on the discharging side of the annular conveying device.
In order to achieve the second object, the invention provides the following technical scheme:
a soft bag light inspection machine comprises the soft bag feeding mechanism, the light inspection mechanism and the blanking mechanism; the lamp inspection mechanism is arranged between the second mechanical arm and the discharging mechanism and used for detecting foreign matters in the soft bag.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the soft bag feeding mechanism, the soft bag head can be used as a clamping reference to feed the lamp detection mechanism through the mode of combining the feeding device, the first mechanical arm, the auxiliary conveying line, the soft bag overturning mechanism and the second mechanical arm, so that the soft bag feeding mechanism is easier to position compared with the existing feeding mode, is not influenced by deformation of a soft bag body, can ensure the stability of feeding, and is favorable for improving the detection quality;
2. the soft bag light inspection machine provided by the invention can realize full-automatic loading and unloading and detection procedures of soft bags, and is beneficial to saving time and labor consumed by manual operation; in addition, the feeding device, the first mechanical arm, the auxiliary conveying line, the soft bag overturning mechanism, the second mechanical arm and the lamp inspection mechanism can synchronously operate, and the operation efficiency is favorably improved.
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 the structures shown in the drawings without creative efforts.
FIG. 1 is a perspective view of a soft bag light inspection machine of the present invention;
FIG. 2 is a top view of the soft bag light inspection machine of the present invention;
FIG. 3 is a perspective view of the flexible bag turnover mechanism of the present invention;
FIG. 4 is a perspective view of the flexible bag overturning mechanism and the auxiliary conveyor line of the present invention;
FIG. 5 is a side view of a flexible bag canting mechanism according to the present invention;
FIG. 6 is a perspective view of the present invention hook;
FIG. 7 is a side view of the hanger of the present invention;
FIG. 8 is a side view of the present invention showing the hanger in an upright position;
FIG. 9 is a perspective view of a second robot of the present invention;
FIG. 10 is a top view of a second robot of the present invention;
in the figure:
1. a feeding device; 2. a first manipulator; 3. an auxiliary conveying line; 4. a soft bag turnover mechanism; 41. a support; 42. a support plate; 43. hooking; 431. a connecting member; 432. hanging parts; 4321. a recess; 433. a roller; 434. a convex column; 44. turning over the guide fence; 441. an arc-shaped guide surface; 45. a circular arc guardrail; 46. an annular conveying device; 47. a guide plate; 471. a first inclined section; 472. a horizontal segment; 473. a second inclined section; 5. a second manipulator; 51. a base; 52. a first linear drive mechanism; 53. a second linear drive mechanism; 54. a clamping mechanism; 541. a clamping jaw; 542. a suction cup; 543. mounting a plate; 6. a light inspection mechanism; 61. swinging the clamp; 7. a blanking mechanism; 8. and (5) a discharging conveying line.
Detailed Description
For a better understanding of the objects, structure, features, and functions of the invention, reference should be made to the drawings and detailed description that follow. It should be noted that the features illustrated in the drawings are not necessarily drawn to scale. Moreover, the described embodiments are a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", "front", "rear", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Examples
Referring to fig. 1-2, the present embodiment provides a soft bag feeding mechanism for feeding a transparent infusion soft bag to a light inspection mechanism 6. The soft bag feeding mechanism comprises a feeding device 1, a first manipulator 2, an auxiliary conveying line 3, a soft bag overturning mechanism 4 and a second manipulator 5 which are sequentially arranged along the soft bag conveying direction. The feeding device 1 is used for inputting a soft bag to be tested. The first manipulator 2 is used for flatly placing the soft bags on the feeding device 1 to the auxiliary conveying line 3. The soft bag overturning mechanism 4 is arranged between the auxiliary conveying line 3 and the second manipulator 5 and used for clamping the head of the soft bag, conveying the soft bag on the auxiliary conveying line 3 to one side close to the second manipulator 5 and adjusting the soft bag to be in a vertical hanging state. The second manipulator 5 is used for transferring the soft bag to the light inspection mechanism 6 in a state of keeping the soft bag vertically suspended.
In this embodiment, the feeding device 1 is a feeding conveyor line for conveying the soft bags to be detected toward the light inspection mechanism 6. The auxiliary conveying lines 3 are arranged on the side edges of the feeding conveying lines side by side, and the conveying direction of the auxiliary conveying lines is opposite to that of the feeding conveying lines. So set up, the whole length of reducible mechanism saves occupation space. The first manipulator 2 is a spider manipulator, is arranged above the feeding conveying line and the auxiliary conveying line 3 through an installation frame, and is used for grabbing soft bags to be tested on the feeding device 1 and placing the soft bags to be tested at corresponding positions on the auxiliary conveying line 3.
Referring to fig. 3-8, the soft bag overturning mechanism 4 comprises a support 41, an annular conveying device 46, a plurality of hooks 43, a supporting plate 42 and a guide plate 47. Wherein the support 41 is arranged at one side of the auxiliary conveyor line 3. An endless conveyor 46 is mounted horizontally rotatably on the support 41, the endless conveyor 46 having a loading side adjacent to the auxiliary conveyor line 3 and a discharge side adjacent to the second robot 5, the loading side corresponding to the direction of travel and the speed of travel of the auxiliary conveyor line 3. In this embodiment, the annular conveying device 46 is a synchronous belt structure, and in other embodiments, the annular conveying device 46 may also be driven by a chain or the like. A plurality of hooks 43 are equidistantly arranged on the periphery of the annular conveying device 46 and used for hanging soft bags. Each hook 43 includes a connecting member 431 and a hanging member 432. The connection 431 is fixed to the outside of the endless conveyor 46. The hanging member 432 is hinged with the connecting member 431, a notch 4321 for clamping the head of the soft bag is arranged on one side of the hanging member 432 away from the connecting member 431, and the hanging member 432 can swing between an upright state and a flat state. A guide plate 47 is installed on the feeding side of the endless conveyor 46 to guide the pendants to swing, and the top surface of the guide plate 47 has a first inclined section 471, a horizontal section 472, and a second inclined section 473 arranged in this order along the transport direction of the auxiliary transport line 3. The position of the horizontal section 472 corresponds to the position of the auxiliary conveyor line 3. When the pendant 432 abuts the first inclined section 471, the pendant 432 gradually turns upward along the first inclined section 471. When the hanging members 432 abut against the horizontal section 472, the hanging members 432 are switched to the vertical state for abutting the soft bags on the auxiliary conveyor line 3, and at the moment, the first manipulator 2 places the soft bags on the feeding device 1 on the auxiliary conveyor line 3, and the heads of the soft bags are falling into the notches 4321 of the hanging members 432. When the lower side of the hanger 432 abuts the second inclined section 473, the hook 43 gradually swings down along the second inclined section 473 while the soft bag gradually disengages from the auxiliary transfer line. When the lower side of the hanging member 432 is separated from the second inclined section 473, the hanging member 432 is in a flat state, so that the soft bag is in a vertical hanging state. The annular conveying device 46, the hook 43 and the guide plate are used for realizing the conversion of the soft bag from the horizontal state to the vertical suspension state, the head of the soft bag is taken as a reference, the influence of the deformation of the soft bag is avoided, and the subsequent feeding stability is improved. In addition, the hook angle is converted through the annular conveying device and the guide plate, a driving mechanism is not required to be arranged on each hook, and equipment cost is saved.
Referring to fig. 3-8, in this embodiment, the soft bag overturning mechanism 4 further comprises a supporting plate 42 mounted on the bracket 41, and a roller 433 abutting against the supporting plate 42 is mounted on the lower side of the connecting member 431. The supporting plate 42 is arranged on the lower side of the hook 43 and used for supporting the hook 43 upwards, so that the stable operation of the annular conveying device 46 is facilitated, and the friction reducing effect can be achieved through the cooperation of the roller 433 and the supporting plate 42. In addition, the supporting plate is provided with a track for limiting the roller chain and limiting the track of the roller wheel, so that the moving stability of the hook is enhanced, and the soft bag is prevented from falling. The hanging member 432 is provided with a laterally extending convex column 434 for abutting against the guide plate 47, and the end of the convex column 434 is arc-shaped, so that friction between the convex column 434 and the guide plate 47 can be reduced.
As shown in fig. 3-5, the soft bag overturning mechanism 4 further comprises a circular arc guardrail 45 and an overturning guide guardrail 44, wherein the circular arc guardrail 45 is installed on the bracket 41 and surrounds one end of the conveyor belt far away from the second manipulator 5. When the soft bag moves from the feeding side to the discharging side of the annular conveying device 46, the arc guardrail 45 can limit the soft bag body, and the soft bag is prevented from falling off due to centrifugal force. The overturning guide fence 44 is installed on the bracket 41 and located above the first inclined section 471, and the overturning guide fence 44 is connected with one end of the arc fence 45 close to the auxiliary conveying line 3. One side of the turnover guide guardrail 44 facing the support 41 is provided with an arc-shaped guide surface 441, when the soft bag is separated from the auxiliary conveying line 3 and then touches the arc-shaped guide surface 441, the arc-shaped guide surface 441 can play a buffering effect, so that the soft bag is gradually converted from a horizontal state to a vertical state, and the running stability of the equipment is improved.
As shown in fig. 3, the soft bag turnover mechanism further includes a defoaming mechanism 48, which is mounted on the support and located on the discharging side of the annular conveying device, and is used for eliminating bubbles in the soft bag, thereby being beneficial to improving the accuracy of the soft bag detection.
As shown in fig. 9 to 10, the second robot 5 includes a base 51, a first linear driving mechanism 52, a second linear driving mechanism 53, and a gripping mechanism 54, which are connected in this order. The base 51 is installed at one side of the soft bag overturning mechanism. The first linear driving mechanism 52 is fixedly arranged on the base 51 and used for driving the second linear driving mechanism to move between the discharging position of the soft bag overturning mechanism and the feeding position of the whipping mechanism. The second linear drive mechanism 53 is mounted to drive the gripper mechanism 54 for lateral movement. The clamping mechanism 54 includes a mounting plate 543 and a plurality of clamping jaws 541. The mounting plate 543 is connected to the second linear driving mechanism 53, and a plurality of gripping jaws 541 are disposed on the mounting plate 543 for gripping the soft bag. The spacing of the jaws 541 corresponds to the spacing of the hooks 43 on the endless conveyor 46. The plurality of clamping jaws 541 are arranged to clamp a plurality of soft bags at one time, so that the working efficiency is improved. In addition, only a suction cup 542 is correspondingly arranged below each clamping jaw 541, and the suction cup 542 can absorb the soft bag body, so that the soft bag shaking is reduced, and the accurate butt joint of the second mechanical arm 5, the soft bag overturning mechanism and the lamp detection mechanism 6 is facilitated. When the soft bags move to the blanking side of the annular conveying device 46, the first linear driving mechanism 52 drives the clamping mechanism 54 to move backwards, the second linear driving mechanism 53 drives the clamping mechanism 54 to approach the annular conveying device 46, and after the clamping jaws 541 clamp the heads of the corresponding soft bags, the clamping mechanism 54 is reset to the side far away from the annular conveying device 46. Subsequently, the first linear driving mechanism 52 drives the clamping mechanism 54 to move forward, the second linear driving mechanism 53 drives the clamping mechanism 54 to approach to the loading position of the light inspection mechanism 6, and after the swing clamp 61 at the loading position of the light inspection mechanism 6 clamps the soft bags, the clamping mechanism 54 resets after releasing the soft bags, and the loading operation of the next group of soft bags is continued. In this embodiment, the first linear driving mechanism 52 is a linear module, the first linear driving mechanism 52 is a cylinder structure, and the clamping jaw 541 is a pneumatic finger.
As shown in fig. 1-2, the present embodiment further provides a soft bag light inspection machine, which includes the above soft bag feeding mechanism, the light inspection mechanism 6, and the blanking mechanism 7. The light inspection mechanism 6 is arranged between the second manipulator 5 and the blanking mechanism 7. The swing clamp 61 and the camera which can clamp the soft bag are arranged on the lamp inspection mechanism 6, and the swing clamp 61 of the lamp inspection mechanism 6 corresponds to the clamping jaws 541 of the clamping mechanism 54 in position and is used for clamping the upper end and the lower end of the soft bag. When the swing clamp 61 rotates to the shooting area, liquid in the transparent soft bag still continues to rotate under the action of inertia and is in a shaking state, at the moment, the camera shoots images of the soft bag for a plurality of times at different time points, the shot images are transmitted to the data processing and control unit, if foreign matters exist in the liquid, the foreign matters can change positions along with the shaking of the liquid, namely, the liquid in the transparent soft bag is shot in the shaking state, and a detection mechanism can shoot the foreign matters conveniently. The lamp inspection mechanism 6 in this embodiment adopts the prior art, and the detailed structure is not described in detail. The blanking mechanism 7 is a swinging manipulator and is used for grabbing soft bags at the blanking position and transferring the soft bags to a discharging conveying line.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A soft bag feeding mechanism is characterized by comprising a feeding device, a first manipulator, an auxiliary conveying line, a soft bag overturning mechanism and a second manipulator which are sequentially arranged;
the feeding device is used for inputting a soft bag to be tested;
the first manipulator is used for flatly placing the soft bag on the feeding device to the auxiliary conveying line;
the soft bag turnover mechanism is arranged between the auxiliary conveying line and the second manipulator and used for conveying the soft bags on the auxiliary conveying line to one side close to the second manipulator and adjusting the soft bags to be in a vertical hanging state;
the second manipulator is used for clamping the head of the soft bag and transferring the soft bag to the light inspection mechanism.
2. The soft bag loading mechanism according to claim 1, wherein the soft bag overturning mechanism comprises a support, an annular conveying device, a plurality of hooks, a supporting plate and a guide plate;
the bracket is arranged on one side of the auxiliary conveying line;
the annular conveying device is horizontally and rotatably arranged on the bracket, and is provided with a feeding side close to the auxiliary conveying line and a discharging side close to the second mechanical arm;
the hooks are distributed on the periphery of the annular conveying device at equal intervals, and each hook comprises a connecting piece and a hanging piece; the connecting piece is fixed on the outer side of the annular conveying device; the hanging piece is hinged with the connecting piece, a notch used for clamping the head of the soft bag is formed in one side, away from the connecting piece, of the hanging piece, and the hanging piece can swing between a vertical state and a flat state;
the guide plate is arranged on the feeding side of the annular conveying device, and the top surface of the guide plate is provided with a first inclined section, a horizontal section and a second inclined section which are sequentially arranged along the conveying direction of the auxiliary conveying line;
when the pendant abuts against the first inclined section, the pendant is gradually turned upwards; when the hanging piece is abutted against the horizontal section, the hanging piece is converted into a vertical state and is used for butting a soft bag on the auxiliary conveying line; when the lower side of the pendant abuts against the second inclined section, the pendant gradually swings downwards; when the lower side of the hanging piece is separated from the second inclined section, the hanging piece is in a flat-laying state, so that the soft bag is in a vertical hanging state.
3. The soft bag loading mechanism according to claim 2, wherein the soft bag overturning mechanism comprises a support plate mounted on the bracket, and rollers mounted on the underside of the connecting member and abutting against the support plate.
4. The soft bag loading mechanism according to claim 2, wherein the hanging member is provided with a laterally extending projection for abutting against the guide plate, the projection having an arcuate end.
5. The soft bag loading mechanism according to claim 1, wherein the soft bag overturning mechanism further comprises a circular arc guardrail, and the circular arc guardrail is mounted on the support and surrounds an end of the transmission belt away from the second manipulator.
6. The soft bag feeding mechanism according to claim 5, further comprising a turnover guide fence, wherein the turnover guide fence is mounted on the support and located above the first inclined section, the turnover guide fence is connected to an end of the arc fence close to the auxiliary conveying line, and an arc guide surface for abutting against a soft bag is arranged on a side of the turnover guide fence facing the support.
7. The flexible bag loading mechanism according to claim 1, wherein the feeder is a feed line and is positioned alongside the auxiliary feed line.
8. The flexible bag loading mechanism of claim 1, wherein the first robot is a spider robot.
9. The soft bag loading mechanism according to claim 1, wherein the second manipulator comprises a base, a first linear driving mechanism, a second linear driving mechanism and a clamping mechanism which are connected in sequence; the first linear driving mechanism drives the two linear driving mechanisms to move between a discharging position of the soft bag overturning mechanism and a feeding position of the whipping mechanism, and the second linear driving mechanism drives the clamping mechanism to move transversely; the clamping mechanism comprises a mounting plate and a plurality of clamping jaws; the mounting plate is connected with the second linear driving mechanism, a plurality of clamping jaws are arranged on the mounting plate, and the clamping jaws are used for clamping a soft bag.
10. A soft bag light inspection machine, comprising a soft bag loading mechanism, a light inspection mechanism and a blanking mechanism according to any one of claims 1 to 9; the light inspection mechanism is arranged between the second mechanical arm and the blanking mechanism so as to detect foreign matters in the soft bag.
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| CN202210605875.9A CN115009770B (en) | 2022-05-31 | 2022-05-31 | Soft bag feeding mechanism and soft bag lamp inspection machine |
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| CN115009770B (en) | 2024-04-16 |
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