CN217007962U

CN217007962U - Selenium drum location charging system

Info

Publication number: CN217007962U
Application number: CN202123280244.4U
Authority: CN
Inventors: 陈继军; 周洪杰
Original assignee: Zhuhai Gaona Intelligent Technology Co ltd
Current assignee: Zhuhai Gaona Intelligent Technology Co ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-07-19
Anticipated expiration: 2031-12-24

Abstract

The utility model discloses a selenium drum positioning and feeding system which is free of manual feeding, improves efficiency and is based on machine vision recognition. The technical problem to be solved by the utility model is realized by the following technical means: the utility model provides a selenium drum location charging system, it is including the delivery track that is used for carrying the selenium drum, successively be provided with the manipulator on the delivery track and snatch the station and irritate the black station, the manipulator snatchs the station and includes first CCD camera and grabs the material manipulator, irritate the black station and include second CCD camera and irritate the black head, first CCD camera with the second CCD camera is equallyd divide and is do not towards the below the delivery track, irritate the slope of black head and set up and go out the black mouth and be located under the second CCD camera, the selenium drum on the delivery track passes through it follows to grab the material manipulator and snatch the station and shift to irritate the black station. The utility model relates to the technical field of selenium drum production.

Description

Selenium drum location charging system

Technical Field

The utility model relates to the technical field of selenium drum production, in particular to a selenium drum positioning and feeding system.

Background

The selenium drum needs the step of dress china ink, and current irritate the black reinforced mode and mainly for the operator takes up empty selenium drum and pours the material to irritating the powder mouth, so reinforced inefficiency, and can lead to the workplace powder to pollute seriously, exist the injury to operator's health.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model provides the selenium drum positioning and feeding system which is free of manual feeding, improves the efficiency and is based on machine vision recognition.

The technical problem to be solved by the utility model is realized by the following technical means: the utility model provides a selenium drum location charging system, it is including the delivery track that is used for carrying the selenium drum, successively be provided with the manipulator on the delivery track and snatch the station and irritate the black station, the manipulator snatchs the station and includes first CCD camera and grabs the material manipulator, irritate the black station and include second CCD camera and irritate the black head, first CCD camera with the second CCD camera is equallyd divide and is do not towards the below the delivery track, irritate the slope of black head and set up and go out the black mouth and be located under the second CCD camera, the selenium drum on the delivery track passes through it follows to grab the material manipulator and snatch the station and shift to irritate the black station.

Further, the conveying track comprises a first track and a second track which are connected with each other, the first track and the second track are independently provided with a driving system, the first CCD camera is arranged at the tail end of the first track, and the second CCD camera is arranged at the initial end of the second track.

Furthermore, a stop plate is arranged at the tail end of the first rail, a telescopic motor is arranged at the rear part of the stop plate, and an output shaft of the telescopic motor is connected with the stop plate.

Furthermore, a loading platform is arranged on the second rail, a selenium drum packaging bottom box is placed on the loading platform, and a plurality of loading grooves matched with the selenium drum are formed in the upper portion of the selenium drum packaging bottom box.

Furthermore, the cartridge packaging bottom box is placed on the loading table, a weight sensor is arranged at the bottom of the loading groove of the cartridge packaging bottom box on the upper portion of the loading table, and an indicator light electrically connected with the weight sensor is arranged at the side portion of the loading groove of the cartridge packaging bottom box on the upper portion of the loading table.

Furthermore, selenium drum location charging system still includes display screen, control box and sets up the control panel of the preceding terminal surface of control box, first CCD camera with the picture that the second CCD camera was shot is carried to show on the display screen.

The utility model has the beneficial effects that: based on machine vision, the first CCD camera is used for capturing the position and the direction of the selenium drum, so that the material grabbing mechanical arm can identify the selenium drum to be positioned and grabbed, an operator only needs to place a basket of product selenium drums in a defined area, the first CCD camera is started to shoot and start the material grabbing mechanical arm, and other manual operations are not needed. The optical imaging technology is utilized to realize non-contact detection and identification, the position information of each toner filling port of the toner cartridge is calculated and given, the material grabbing mechanical arm is used for grabbing the toner cartridge and feeding the toner cartridge to the toner filling station, the toner cartridge positioning precision is high, and the ink feeding repeatability is stable.

Drawings

FIG. 1 is a schematic view of a first CCD camera and a cartridge of the present invention in combination;

fig. 2 is a schematic structural diagram of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not to be construed as limiting the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

As shown in fig. 1 and 2, the utility model adopts the technical scheme that the selenium drum positioning and feeding system comprises a conveying rail 2 for conveying a selenium drum 1, a manipulator grabbing station and an ink filling station are sequentially arranged on the conveying rail 2, the manipulator grabbing station comprises a first CCD camera 5 and a grabbing manipulator 6, the ink filling station comprises a second CCD camera 7 and an ink filling head, the first CCD camera 5 and the second CCD camera 7 respectively face the conveying rail 2 right below, the ink filling head is obliquely arranged, an ink outlet is positioned right below the second CCD camera 7, and the selenium drum 1 on the conveying rail 2 is transferred from the manipulator grabbing station to the ink filling station through the grabbing manipulator 6. The selenium drums 1 are placed on the conveying rail 2 and conveyed to the area of the manipulator grabbing station, the first CCD camera 5 shoots the selenium drums 1, after images are collected through visual shooting, a selenium drum coordinate consistent with the original point of the grabbing manipulator 6 is output through a preprocessing algorithm and coordinate conversion, and the grabbing manipulator 6 can accurately grab the selenium drums 1 according to the coordinate; at the black station of irritating, utilize second CCD camera 7 to carry out the back of shooing grabbing material manipulator 6 vision, press from both sides selenium drum 1 on grabbing material manipulator 6's triaxial claw hand through the discernment, calculate current selenium drum 1's the clamp state of getting, the position and the gesture of powder inlet promptly, at this moment just can correct according to the position gesture of needs, irritate whitewashed speed and obtain improving, stability has also obtained the reinforcing, is favorable to the enterprise to automatic and intelligent orientation development. After the ink filling is finished, the toner cartridge 1 is put into the conveying track 2 again for outputting.

Further, the conveying track 2 includes a first track 8 and a second track 9 that are connected, the first track 8 and the second track 9 are independently configured with a driving system, the first CCD camera 5 is disposed at a tail end of the first track 8, and the second CCD camera 7 is disposed at an initial end of the second track 9. The first rail 8 and the second rail 9 are used for matching a manipulator grabbing station and an ink filling station, and the two rails are independent of each other and avoid interference.

Further, a stop plate 10 is arranged at the tail end of the first rail 8, a telescopic motor 11 is arranged at the rear part of the stop plate 10, and an output shaft of the telescopic motor 11 is connected with the stop plate 10. When filling black station at the during operation, need make the selenium drum 1 of first track 8 keep on first track 8 to set up backstop board 10 and carry out the backstop, in addition, design flexible motor 11 can promote the edge that makes them contactless first track 8 to the selenium drum 1 that is in the end of first track 8, conveniently grab grabbing of material manipulator 6.

Further, a loading platform 12 is arranged on the second rail 9, a selenium drum packaging bottom box 13 is placed on the loading platform 12, and a plurality of loading grooves 14 matched with the selenium drum 1 are formed in the upper portion of the selenium drum packaging bottom box 13. The selenium drum packaging bottom box 13 can position and fix the selenium drum 1 by utilizing the loading slot 14; the selenium drum 1 needs to be manually placed into the bottom box firstly, and then the bottom box is placed into the outer packaging box, so that the packaging method has two steps, the selenium drum packaging bottom box 13 can be used as the bottom box of the package of the selenium drum 1 product leaving a factory, namely the selenium drum packaging bottom box 13 is sleeved with a paper outer packaging box outside to form the selenium drum product which can flow into the market for sale, the selenium drum packaging bottom box 13 is directly used as the load on the conveying track 2, one step in the subsequent manual packaging process of the selenium drum 1 is omitted, and the production and delivery efficiency is improved. In addition, the loading table 12 is used for conveying the cartridge pack cases 13, and the loading table 12 itself is conveyed by the second rail 9. The selenium drum 1 that the material was accomplished can be grabbed by grabbing material manipulator 6 and place on the selenium drum packing end box 13, the follow-up packing of being convenient for.

Further, the cartridge packaging bottom box 13 is placed on the loading table 12, a weight sensor is arranged at the bottom of the loading slot 14 of the cartridge packaging bottom box 13 on the upper portion of the loading table 12, and an indicator light 15 electrically connected with the weight sensor is arranged at the side portion of the loading slot 14 of the cartridge packaging bottom box 13 on the upper portion of the loading table 12. The weight sensor can identify whether the selenium drum 1 is placed on the loading slot 14 corresponding to the selenium drum packaging bottom box 13, and if the selenium drum 1 is placed, the indicator lamp 15 is turned on to indicate an operator.

Furthermore, selenium drum location charging system still includes display screen, control box and sets up the control panel of the preceding terminal surface of control box, first CCD camera 5 with the picture that second CCD camera 7 was shot is carried to show on the display screen.

The utility model has the beneficial effects that: according to the utility model, based on machine vision, the first CCD camera 5 is used for capturing the position and the direction of the selenium drum 1, so that the material grabbing mechanical arm 6 can identify the selenium drum positioning and grabbing, an operator only needs to place a basket of product selenium drums in a defined area, start the first CCD camera 5 for shooting and start the material grabbing mechanical arm 6, and other manual operations are not needed. The optical imaging technology is utilized to realize non-contact detection and identification, the position information of each toner filling port of the toner cartridge is calculated and given, the material grabbing mechanical arm 6 is used for grabbing the toner cartridge and arrives at the toner filling station for feeding, the toner cartridge positioning precision is high, and the ink feeding repeatability is stable.

In the utility model, the position of the selenium drum is accurately positioned by applying image preprocessing and an edge detection algorithm and a coordinate system conversion relation between a pixel coordinate and a mechanical coordinate, so that the powder filling is ensured to be in place, and the automatic and rapid completion of the powder filling of the selenium drum is realized. The utility model has the following advantages 1 and speeds. The machine can quickly detect and execute in place. 2. And (4) accuracy. Because people are easily limited by physical conditions, people can easily fill powder by hands, and the filling of powder by hands is easily influenced by personal factors to cause instability of operation, the machine has obvious advantages in the aspect of accuracy. 3. And (4) cost. Because the robot is faster than the people, the machine does not need to stop, can work in succession, improves production efficiency greatly. 4. Repeatability. The machine can be used for filling powder again and again without feeling fatigue, and can continuously and repeatedly work.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. The utility model provides a selenium drum location charging system, its characterized in that, is including delivery track (2) that are used for carrying selenium drum (1), successively be provided with the manipulator on delivery track (2) and snatch the station and irritate black station, the manipulator snatchs the station and includes first CCD camera (5) and grabs material manipulator (6), irritate black station and include second CCD camera (7) and irritate the black head, first CCD camera (5) and second CCD camera (7) are equallyd divide and do not are towards right below delivery track (2), irritate the slope of black head and set up and the ink outlet is located under second CCD camera (7), selenium drum (1) on delivery track (2) passes through it follows to grab material manipulator (6) the manipulator snatchs the station and shifts to irritate black station.

2. The cartridge positioning and feeding system of claim 1, wherein: the conveying track (2) comprises a first track (8) and a second track (9) which are connected with each other, the first track (8) and the second track (9) are independently provided with a driving system, the first CCD camera (5) is arranged at the tail end of the first track (8), and the second CCD camera (7) is arranged at the initial end of the second track (9).

3. The cartridge positioning and feeding system of claim 2, wherein: the tail end of the first rail (8) is provided with a stop plate (10), the rear portion of the stop plate (10) is provided with a telescopic motor (11), and an output shaft of the telescopic motor (11) is connected with the stop plate (10).

4. The cartridge positioning and feeding system of claim 2, wherein: the loading platform (12) is arranged on the second rail (9), the selenium drum packaging bottom box (13) is placed on the loading platform (12), and a plurality of loading grooves (14) matched with the selenium drum (1) are formed in the upper portion of the selenium drum packaging bottom box (13).

5. The cartridge positioning and feeding system of claim 4, wherein: the selenium drum packaging bottom box (13) is placed on the loading platform (12), a weight sensor is arranged at the bottom of the loading groove (14) of the selenium drum packaging bottom box (13) on the upper portion of the loading platform (12), and an indicator lamp (15) electrically connected with the weight sensor is arranged at the side portion of the loading groove (14) of the selenium drum packaging bottom box (13) on the upper portion of the loading platform (12).

6. The cartridge positioning and feeding system of claim 1, wherein: selenium drum location charging system still includes display screen, control box and sets up the control panel of the preceding terminal surface of control box, first CCD camera (5) with the picture of second CCD camera (7) shooting is carried extremely show on the display screen.