CN115676383B - Zongzi leaf feeding control system and method based on symmetrical distribution - Google Patents
Zongzi leaf feeding control system and method based on symmetrical distribution Download PDFInfo
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- CN115676383B CN115676383B CN202211705883.7A CN202211705883A CN115676383B CN 115676383 B CN115676383 B CN 115676383B CN 202211705883 A CN202211705883 A CN 202211705883A CN 115676383 B CN115676383 B CN 115676383B
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Abstract
The invention relates to the technical field of reed leaf processing, and discloses a reed leaf feeding control system and method based on symmetric distribution so as to improve the feeding speed and the positioning precision. The method comprises the following steps: the reed leaves in the material frames on the left side and the right side are alternately fed onto the main conveying belt, so that the feeding speed is increased, and the utilization rate of the space and the main conveying belt is increased; moreover, the grabbing position and the aerial rotation angle of the sucker can be accurately positioned based on the operation of the central point and the central line of the reed leaves, so that the final postures of different initial postures caused by various reasons such as different reed leaf sizes, different shapes, irregular placement and the like in each material frame are finally placed on the main conveying belt and then are in a row are unified, and therefore accurate posture information is provided for linkage equipment for subsequent processing such as sorting and transferring and the like so as to perform cooperation.
Description
Technical Field
The invention relates to the technical field of traditional Chinese rice-pudding leaf processing, in particular to a system and a method for controlling the feeding of traditional Chinese rice-pudding leaves based on symmetrical distribution.
Background
The rice dumpling leaf is suitable for the fields of packaging, essence extraction, medicine and the like, and is widely applied.
In the processing process of the rice dumpling leaves, the rice dumpling leaves need to be classified and regulated based on different sizes. If manual grading screening is adopted, grading and inspection standards are judged manually, and the standards are difficult to quantify and unify; and because the amount of labor used is large, the production line occupies a large area, so that the working efficiency is low, and the grade screening precision is not good enough.
Disclosure of Invention
The invention aims to disclose a reed leaf feeding control system and method based on symmetrical distribution so as to improve the feeding speed and the positioning accuracy.
In order to achieve the above object, the present invention discloses a reed leaf feeding control system based on symmetric distribution, comprising:
the device comprises two feeding areas which are respectively arranged at the left side and the right side of a main conveying belt, wherein each feeding area is provided with a material frame group, at least one material frame is arranged in each material frame group, a connecting line between default central points of left and right opposite material frames is perpendicular to the central line of the main conveying belt, and each material frame is respectively provided with an independent first module for displacement adjustment based on a single reed leaf at the uppermost layer; the default central point of each material frame is a coordinate reference point which does not change along with the displacement of the material frame;
the grabbing and placing mechanisms correspond to the material frames in the feeding area one by one, and each grabbing and placing mechanism is provided with a rotating support, a sucking disc positioned at the bottom of the rotating support and a second module for lifting and rotating each rotating support;
the third module drives the main conveying belt to start and stop according to step length;
the main control module is connected with each of the first module, the second module and the third module and is used for realizing that: when the main conveying belt is in a first stop state, the single reed leaves on the uppermost layer of each material frame in the left feeding area are simultaneously grabbed by the left grabbing and releasing mechanism, and the reed leaves grabbed by the right grabbing and releasing mechanism are placed on the main conveying belt; then, the main conveying belt forwards conveys a step length and then switches to a second stop state, and in the second stop state, the right grabbing and releasing mechanism simultaneously grabs the single reed leaves on the uppermost layer of each material frame in the right feeding area, and meanwhile, the left grabbing and releasing mechanism places the grabbed reed leaves on the main conveying belt; the main conveying belt is switched to a first stop state after being conveyed forward by a step length, and the main conveying belt is circulated in sequence to realize the alternate feeding of the feeding areas on the left side and the right side;
the main control module comprises an acquisition unit and an image processing unit, wherein the acquisition unit is used for acquiring images of all material frames in the feeding area so as to execute the following steps:
under the first stop state, acquiring images of all material frames in the right feeding area to determine the central point and the central line of the uppermost single reed leaf, so as to calculate displacement adjustment vectors corresponding to all the material frames in the right feeding area under the second stop state and rotation vectors corresponding to the matched grabbing and releasing structure; under the second stop state, acquiring images of all material frames in the left feeding area to determine the central point and the central line of the uppermost single reed leaf, so as to calculate displacement adjustment vectors corresponding to all the material frames in the left feeding area under the first stop state and rotation vectors corresponding to the matched grabbing and releasing structure;
the distance between two rotating circle centers of the left and right opposite-position grabbing and releasing mechanisms is fixed and is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt, the displacement adjusting vector is used for displacing the central point of the single reed leaves at the uppermost layer of the material frame to the default central point of the material frame, so that the central point of the single reed leaves becomes the rotating circle center, and the rotating vector is used for rotating the central line of the single reed leaves to the target posture that the reed leaves are uniformly arranged on the main conveying belt; and when the main conveying belt advances according to the step length, the grabbing and releasing mechanisms with opposite left and right sides synchronously execute the sliding action vertical to the central line of the main conveying belt along the same direction, and the sliding distance is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt.
In order to achieve the purpose, the invention also discloses a reed leaf feeding control method based on symmetrical distribution, which comprises the following steps:
step S1, deploying a feeding control system, wherein the feeding control system comprises:
the device comprises two feeding areas which are respectively arranged at the left side and the right side of a main conveying belt, wherein each feeding area is provided with a material frame group, at least one material frame is arranged in each material frame group, a connecting line between default central points of left and right opposite material frames is perpendicular to the central line of the main conveying belt, and each material frame is respectively provided with an independent first module for displacement adjustment based on a single reed leaf at the uppermost layer; the default central point of each material frame is a coordinate reference point which does not change along with the displacement of the material frame;
the grabbing and placing mechanisms correspond to the material frames in the feeding area one by one, and each grabbing and placing mechanism is provided with a rotating support, a sucking disc positioned at the bottom of the rotating support and a second module for lifting and rotating each rotating support;
the third module drives the main conveying belt to start and stop according to step length;
the main control module is connected with each first module, each second module and each third module and comprises an acquisition unit and an image processing unit, wherein the acquisition unit is used for acquiring images of each material frame in the feeding area;
s2, simultaneously grabbing single reed leaves on the uppermost layer of each material frame in a left feeding area by a left grabbing and releasing mechanism under a first stop state of the main conveying belt, and simultaneously placing the reed leaves grabbed by the right grabbing and releasing mechanism on the main conveying belt; collecting images of all material frames in the right feeding area to determine the central point and the central line of the single reed leaf on the uppermost layer, and calculating displacement adjustment vectors corresponding to all the material frames in the right feeding area under a second stop state and rotation vectors corresponding to the matched grabbing and releasing structure;
s3, the main conveying belt forwards conveys a step length and then switches to a second stop state, and images of all material frames in the left feeding area are collected to determine the central point and the central line of the single reed leaf on the uppermost layer, so that displacement adjustment vectors corresponding to all the material frames in the left feeding area in the first stop state and rotation vectors corresponding to the matched grabbing and releasing structure are calculated;
s4, simultaneously grabbing the single reed leaves on the uppermost layer of each material frame in the right feeding area by the right grabbing and releasing mechanism in a second stop state, and simultaneously placing the reed leaves grabbed by the left grabbing and releasing mechanism on the main conveying belt; the main conveying belt is switched to a first stop state after being conveyed forward by a step length, and the main conveying belt is circulated in sequence to realize the alternate feeding of the feeding areas on the left side and the right side;
the distance between two rotating circle centers of the left and right opposite-position grabbing and releasing mechanisms is fixed and is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt, the displacement adjusting vector is used for displacing the central point of the single reed leaves at the uppermost layer of the material frame to the default central point of the material frame, so that the central point of the single reed leaves becomes the rotating circle center, and the rotating vector is used for rotating the central line of the single reed leaves to the target posture that the reed leaves are uniformly arranged on the main conveying belt; and when the main conveying belt advances according to the step length, the grabbing and releasing mechanisms with opposite left and right sides synchronously execute the sliding action vertical to the central line of the main conveying belt along the same direction, and the sliding distance is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt.
Preferably, two material frames are arranged in each material frame group, and the number of the grabbing and releasing mechanisms corresponding to the material frames is 4.
The invention has the following beneficial effects:
the reed leaves in the material frames on the left side and the right side are alternately fed onto the main conveying belt, so that the feeding speed is increased, and the utilization rate of the space and the main conveying belt is increased; moreover, the grabbing position and the aerial rotation angle of the grabbing and releasing mechanism can be accurately positioned based on the operation of the central point and the central line of the reed leaves, so that the consistency of different initial postures caused by various reasons such as different reed leaf sizes, different shapes, irregular placement and the like in each material frame after the reed leaves are finally placed on the main conveying belt is ensured, and accurate posture information is provided for linkage equipment for subsequently executing processing such as sorting transfer and the like so as to perform cooperation. And matched with alternative feeding, the image processing unit and the grabbing and releasing mechanism can alternately execute respective tasks for the same material frame, and the problem that the grabbing and releasing mechanism shields to influence the positioning precision of the reed leaf image is effectively avoided.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic block diagram of a spatial symmetry relationship of a feeding control system disclosed in an embodiment of the present invention.
Fig. 2 is a schematic flow chart of a zongzi leaf feeding control method disclosed by the embodiment of the invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Example 1
This embodiment discloses zongzi leaf material loading control system based on symmetric distribution, as shown in fig. 1, include:
the two material loading regions are respectively arranged at the left side and the right side of the main conveying belt, each material loading region is provided with a material frame group, at least one material frame (such as a material frame A and a material frame B in figure 1) is arranged in each material frame group, a connecting line (visible as an X axis) between default central points of the left material frame and the right material frame which are opposite to each other is vertical to the central line (visible as a Y axis representing the conveying direction) of the main conveying belt, and each material frame is respectively provided with an independent first module for displacement adjustment based on the single reed leaves at the uppermost layer. And the default central point of each material frame is a coordinate reference point which does not change along with the displacement of the material frame. Usually, the coordinate reference point preferably adopts a central point of the material frame in an initialization state; alternatively, the material frame may take a rectangular configuration.
The system of the embodiment further comprises grabbing and placing mechanisms which correspond to the material frames in the material loading area one by one, wherein each grabbing and placing mechanism is provided with a rotating support, a sucker positioned at the bottom of the rotating support and a second module for lifting and rotating each rotating support.
The system of the embodiment further comprises a third module for driving the main conveying belt to start and stop according to the step length, and a main control module connected with the first module, the second module and the third module.
The main control module is used for realizing the following functions in cooperation with other corresponding modules:
when the main conveying belt is in a first stop state, the single reed leaves on the uppermost layer of each material frame in the left feeding area are simultaneously grabbed by the left grabbing and releasing mechanism, and the reed leaves grabbed by the right grabbing and releasing mechanism are placed on the main conveying belt; then, the main conveying belt forwards conveys a step length and then switches to a second stop state, and in the second stop state, the right-side grabbing and releasing mechanism simultaneously grabs the single reed leaves on the uppermost layer of each material frame in the right-side feeding area, and meanwhile, the reed leaves grabbed by the left-side grabbing and releasing mechanism are placed on the main conveying belt; the main conveying belt is switched to a first stop state after being conveyed forward by a step length, and the operation is circulated in sequence, so that the alternate feeding of the feeding areas on the left side and the right side is realized.
In this embodiment, the main control module further includes an acquisition unit and an image processing unit, which are used for acquiring images of the material frames in the material loading area, so as to execute the following steps:
in the first stop state, acquiring images of all material frames in the right feeding area to determine the central point and the central line of the single reed leaf on the uppermost layer (preferably, in the process of determining the central point and the central line of each reed leaf, the edge characteristics of the reed leaf on the uppermost layer can be separated from the reed leaves below the uppermost layer based on a convolutional neural network, and then the characteristic information of the central line and the central point can be further identified and positioned in the extracted images in the edge, so that the positioning accuracy can be greatly improved), thereby calculating displacement calibration vectors respectively corresponding to all the material frames in the right feeding area in the second stop state and rotation vectors corresponding to the matched catching and releasing structure; and acquiring images of the material frames in the left feeding area in the second stop state to determine the central point and the central line of the single reed leaf on the uppermost layer, so as to calculate displacement adjustment vectors corresponding to the material frames in the left feeding area in the first stop state and rotation vectors corresponding to the matched grabbing and releasing structure.
In this embodiment, referring to fig. 1, the distance between the two rotating centers of the left and right opposite grabbing and releasing mechanisms is fixed and equal to the vertical distance between the default center point of each material frame and the center line of the main conveyor belt. The displacement adjusting vector is used for displacing the central point of the single reed leaves on the uppermost layer of the material frame to the default central point of the material frame, so that the central point of the single reed leaves is a rotation circle center, and the rotation vector is used for rotating the central line of the single reed leaves (extending along the length direction of the reed leaves) to a target posture that the reed leaves are uniformly arranged on the main conveying belt (preferably, when a grabbing and releasing mechanism slides to the upper part of the material frame from the main conveying belt, the central line of the grabbing mechanism is aligned with the central line of the currently grabbed reed leaves through rotation, and then the grabbing mechanism returns to the target posture that the reed leaves are uniformly arranged on the main conveying belt after being transferred to the upper part of the main conveying belt; when the main conveying belt advances according to the step length, the grabbing and releasing mechanisms opposite to the left side and the right side synchronously execute the sliding action vertical to the central line of the main conveying belt along the same direction, and the sliding distance is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt.
It is stated that: the center line of the reed leaf in this embodiment refers to a running line of the middle support, which extends along the length direction and has a color generally visible to naked eyes, different from the left and right sides of the middle support, and the center point can be defined as the midpoint of the center line.
Preferably, the number of the suction cups of the single gripping and releasing mechanism is two in the embodiment, so as to cooperatively output reliable gripping force. Further, a hollow air pipe for applying acting force in a release state is arranged at the top in each sucking disc (also called as a pneumatic sucking disc) so as to provide release acting force when the reed leaves are released to the main conveying belt; on the contrary, when a reliable gripping force is outputted, it is necessary to perform a vacuum process on the air tube in the suction plate.
In order to further improve the efficiency, two material frames are respectively arranged in each material frame group, and correspondingly, the number of the grabbing and releasing mechanisms corresponding to the material frames is 4. As a simplified design, the 4 pick and place mechanisms perform a sliding motion perpendicular to the main conveyor belt centerline based on the same slide bar.
Preferably, in this embodiment, material preparation areas may be disposed in the front-rear direction of each feeding area, and one material frame group for material preparation is disposed on each material preparation area. Therefore, when the image processing unit detects that all the reed leaves in any material frame in the material loading area are completely loaded, the main control module can automatically switch the material frame group on the material preparation area into the material loading area.
Correspondingly, the displacement direction of each material frame in the embodiment is a three-axis direction, and the X axis and the Y axis are jointly used for displacing the central point of the single reed leaf on the uppermost layer to the default central point of the material frame in the horizontal direction; and the material frame is switched to the working area from the material preparation area or the working area from the material preparation area, and the like, and the Z-axis direction is used for maintaining the height of the single reed leaves on the uppermost layer to be consistent with the height of the main conveying belt, so that the left and right grabbing mechanisms can perform synchronous lifting processing based on the same height to simplify the complexity of the system.
Example 2
Corresponding to the above embodiments, the present embodiment discloses a control method for feeding reed leaves based on symmetric distribution, as shown in fig. 2, including the following steps:
s1, deploying a feeding control system.
Like above-mentioned embodiment 1, this embodiment material loading control system includes:
the device comprises two feeding areas respectively arranged on the left side and the right side of a main conveying belt, wherein each feeding area is provided with a material frame group, at least one material frame is arranged in each material frame group, a connecting line between default central points of left and right opposite material frames is perpendicular to the central line of the main conveying belt, and each material frame is respectively provided with an independent first module for displacement adjustment based on a single uppermost layer of reed leaves; and the default central point of each material frame is a coordinate reference point which does not change along with the displacement of the material frame.
The grabbing and releasing mechanisms correspond to the material frames in the feeding area one by one, and each grabbing and releasing mechanism is provided with a rotating bracket, a sucker positioned at the bottom of the rotating bracket and a second module for lifting and rotating each rotating bracket;
and the third module is used for driving the main conveying belt to start and stop according to the step length.
The main control module is connected with the first module, the second module and the third module and comprises an acquisition unit and an image processing unit, wherein the acquisition unit is used for acquiring images of the material frames in the feeding area.
S2, simultaneously grabbing single reed leaves on the uppermost layer of each material frame in the left feeding area by the left grabbing and placing mechanism under the first stop state of the main conveyor belt, and simultaneously placing the reed leaves grabbed by the right grabbing and placing mechanism on the main conveyor belt; and acquiring images of all material frames in the right feeding area to determine the central point and the central line of the single reed leaf on the uppermost layer, thereby calculating displacement adjustment vectors respectively corresponding to all the material frames in the right feeding area in the second stop state and rotation vectors corresponding to the matched grabbing and releasing structure.
And S3, switching to a second stop state after the main conveying belt forwards conveys one step length, and acquiring images of all material frames in the left feeding area to determine the central point and the central line of the single reed leaf on the uppermost layer, so as to calculate displacement adjustment vectors corresponding to all the material frames in the left feeding area in the first stop state and rotation vectors corresponding to the matched grabbing and releasing structure.
In this step, the rotation vector before being grabbed by the grabbing and releasing mechanism can be regarded as a dynamic angle vector, and the rotation in the transfer process is regarded as rotating to a fixed angle direction so as to make the central line of each reed leaf consistent with the direction of a target central line uniformly arranged on the main conveying belt. In other words, the state of the gripping and releasing mechanism after finally rotating right above the main conveyor belt is uniform and fixed, and along with the difference of the center lines of the reed leaves to be gripped, before the corresponding reed leaves are gripped, differentiated rotation processing is carried out so that the connecting line direction of at least two force points in the linear direction of the gripping and releasing mechanism is aligned with the center line of the reed leaves.
And S4, simultaneously grabbing the single reed leaves on the uppermost layer of each material frame in the right feeding area by the right grabbing and releasing mechanism in a second stop state, and simultaneously placing the reed leaves grabbed by the left grabbing and releasing mechanism on the main conveying belt.
After the step, the main conveying belt is conveyed forward by one step length and then switched to the first stop state, and the steps are circulated in sequence to realize the alternate feeding of the feeding areas on the left side and the right side.
The distance between two rotating circle centers of the left and right opposite grabbing and releasing mechanisms is fixed and is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt, the displacement adjusting vector is used for displacing the central point of the single reed leaves at the uppermost layer of the material frame to the default central point of the material frame, so that the central point of the single reed leaves becomes the rotating circle center, and the rotating vector is used for rotating the central line of the single reed leaves to the target posture that the reed leaves are uniformly arranged on the main conveying belt; when the main conveying belt advances according to the step length, the grabbing and releasing mechanisms opposite to the left side and the right side synchronously execute the sliding action vertical to the central line of the main conveying belt along the same direction, and the sliding distance is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt.
Preferably, the method of the embodiment is used for two zongzi leaves on the same side. Further, the method of this embodiment further includes: when the image processing unit detects that all the reed leaves in any material frame in the feeding area are completely fed, the main control module automatically switches the material frame group on the material preparation area into the feeding area; as a complement, when the feeding control system is deployed, material preparation areas are arranged in the front-back direction of each feeding area, and a material frame group for preparing materials is arranged on each material preparation area.
In summary, the systems and methods disclosed in the above embodiments of the present invention have at least the following advantages:
the reed leaves in the material frames on the left side and the right side are alternately fed onto the main conveying belt, so that the feeding speed is increased, and the utilization rate of the space and the main conveying belt is increased; moreover, the grabbing position and the aerial rotation angle of the sucker can be accurately positioned based on the operation of the central point and the central line of the reed leaves, so that the final postures of different initial postures caused by various reasons such as different reed leaf sizes, different shapes, irregular placement and the like in each material frame are finally placed on the main conveying belt and then are in a row are unified, and therefore accurate posture information is provided for linkage equipment for subsequent processing such as sorting and transferring and the like so as to perform cooperation. And the image processing unit and the pick-and-place mechanism are matched with the alternative feeding, and the respective tasks are also executed alternately for the same material frame, so that the influence of the pick-and-place mechanism on the positioning precision of the reed leaf image due to shielding is effectively avoided.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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. The utility model provides a zongzi leaf material loading control system based on symmetric distribution which characterized in that includes:
the device comprises two feeding areas which are respectively arranged at the left side and the right side of a main conveying belt, wherein each feeding area is provided with a material frame group, at least one material frame is arranged in each material frame group, a connecting line between default central points of left and right opposite material frames is perpendicular to the central line of the main conveying belt, and each material frame is respectively provided with an independent first module for displacement adjustment based on a single reed leaf at the uppermost layer;
the grabbing and releasing mechanisms correspond to the material frames in the feeding area one by one, and each grabbing and releasing mechanism is provided with a rotating bracket, a sucker positioned at the bottom of the rotating bracket and a second module for lifting and rotating each rotating bracket;
the third module drives the main conveying belt to start and stop according to step length;
the main control module is connected with each of the first module, the second module and the third module and is used for realizing that: when the main conveying belt is in a first stop state, the single reed leaves on the uppermost layer of each material frame in the left feeding area are simultaneously grabbed by the left grabbing and releasing mechanism, and the reed leaves grabbed by the right grabbing and releasing mechanism are placed on the main conveying belt; then, the main conveying belt forwards conveys a step length and then switches to a second stop state, and in the second stop state, the right grabbing and releasing mechanism simultaneously grabs the single reed leaves on the uppermost layer of each material frame in the right feeding area, and meanwhile, the left grabbing and releasing mechanism places the grabbed reed leaves on the main conveying belt; the main conveying belt is switched to a first stop state after being conveyed forward by a step length, and the main conveying belt is circulated in sequence to realize the alternate feeding of the feeding areas on the left side and the right side;
the main control module comprises an acquisition unit and an image processing unit, wherein the acquisition unit is used for acquiring images of all material frames in the feeding area so as to execute the following steps:
under the first stop state, acquiring images of all material frames in the right feeding area to determine the central point and the central line of the uppermost single reed leaf, so as to calculate displacement adjustment vectors corresponding to all the material frames in the right feeding area under the second stop state and rotation vectors corresponding to the matched grabbing and releasing structure; and acquiring images of all material frames in the left feeding area under the second stop state to determine the central point and the central line of the uppermost single reed leaf, so as to calculate the displacement adjustment vector corresponding to each material frame in the left feeding area under the first stop state and the rotation vector corresponding to the matched grabbing and placing structure.
2. The zongzi leaf feeding control system based on symmetric distribution of claim 1, wherein the default central point of each material frame is a coordinate reference point that does not change with the displacement of the material frame; the distance between two rotating circle centers of the left and right opposite-position grabbing and releasing mechanisms is fixed and is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt, the displacement adjusting vector is used for displacing the central point of the single reed leaves at the uppermost layer of the material frame to the default central point of the material frame, so that the central point of the single reed leaves becomes the rotating circle center, and the rotating vector is used for rotating the central line of the single reed leaves to the target posture that the reed leaves are uniformly arranged on the main conveying belt; and when the main conveying belt advances according to the step length, the grabbing and releasing mechanisms with opposite left and right sides synchronously execute the sliding action vertical to the central line of the main conveying belt along the same direction, and the sliding distance is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt.
3. The system as claimed in claim 2, wherein there are two material frames in each material frame group, and the number of the pick-and-place mechanisms corresponding to the material frames is 4.
4. The system as claimed in claim 3, wherein 4 said pick-and-place mechanisms perform a sliding motion perpendicular to the center line of the main conveyor belt based on the same sliding rod.
5. The system as claimed in any one of claims 1 to 4, wherein stock preparation areas are provided in front and rear directions of each loading area, and a material frame group for stock preparation is provided in each stock preparation area.
6. The system of claim 5, wherein the main control module is further configured to automatically switch the material frame group on the material preparation area to the material loading area when the image processing unit detects that all the reed leaves in any material frame in the material loading area are completely loaded.
7. A zongzi leaf feeding control method based on symmetrical distribution is characterized by comprising the following steps:
s1, deploying a feeding control system, wherein the feeding control system comprises:
the device comprises two feeding areas which are respectively arranged at the left side and the right side of a main conveying belt, wherein each feeding area is provided with a material frame group, at least one material frame is arranged in each material frame group, a connecting line between default central points of left and right opposite material frames is perpendicular to the central line of the main conveying belt, and each material frame is respectively provided with an independent first module for displacement adjustment based on a single reed leaf at the uppermost layer;
the grabbing and placing mechanisms correspond to the material frames in the feeding area one by one, and each grabbing and placing mechanism is provided with a rotating support, a sucking disc positioned at the bottom of the rotating support and a second module for lifting and rotating each rotating support;
the third module drives the main conveying belt to start and stop according to step length;
the main control module is connected with each first module, each second module and each third module and comprises an acquisition unit and an image processing unit, wherein the acquisition unit is used for acquiring images of each material frame in the feeding area;
s2, simultaneously grabbing single reed leaves on the uppermost layer of each material frame in a left feeding area by a left grabbing and releasing mechanism under a first stop state of the main conveying belt, and simultaneously placing the reed leaves grabbed by the right grabbing and releasing mechanism on the main conveying belt; collecting images of all material frames in the right feeding area to determine the central point and the central line of the single reed leaf on the uppermost layer, and calculating displacement adjustment vectors corresponding to all the material frames in the right feeding area under a second stop state and rotation vectors corresponding to the matched grabbing and releasing structure;
s3, switching to a second stop state after the main conveying belt forwards conveys a step length, and acquiring images of all material frames in the left feeding area to determine the central point and the central line of the uppermost single reed leaf, so that displacement adjustment vectors corresponding to all the material frames in the left feeding area in the first stop state and rotation vectors corresponding to the matched grabbing and releasing structure are calculated;
s4, simultaneously grabbing the single reed leaves on the uppermost layer of each material frame in the right feeding area by the right grabbing and releasing mechanism in a second stop state, and simultaneously placing the reed leaves grabbed by the left grabbing and releasing mechanism on the main conveying belt; and the main conveying belt is switched to a first stop state after being conveyed forward by a step length, and the main conveying belt is circulated in sequence to realize the alternate feeding of the feeding areas on the left side and the right side.
8. The zongzi leaf feeding control method based on symmetric distribution of claim 7, wherein the default center point of each material frame is a coordinate reference point that does not change with the displacement of the material frame; the distance between two rotating circle centers of the left and right opposite-position grabbing and releasing mechanisms is fixed and is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt, the displacement adjusting vector is used for displacing the central point of the single reed leaves at the uppermost layer of the material frame to the default central point of the material frame, so that the central point of the single reed leaves becomes the rotating circle center, and the rotating vector is used for rotating the central line of the single reed leaves to the target posture that the reed leaves are uniformly arranged on the main conveying belt; and when the main conveying belt advances according to the step length, the grabbing and releasing mechanisms with opposite left and right sides synchronously execute the sliding action vertical to the central line of the main conveying belt along the same direction, and the sliding distance is equal to the vertical distance between the default central point of each material frame and the central line of the main conveying belt.
9. The method as claimed in claim 8, wherein each material frame group has two material frames, and the number of the pick-and-place mechanisms corresponding to the material frames is 4, so as to realize two rice dumpling leaves on the same side at the same time.
10. The method as claimed in claim 7, 8 or 9, characterized in that stock preparation areas are arranged in the front-rear direction of each feeding area, and a material frame group for stock preparation is arranged on each stock preparation area; the method further comprises the following steps:
and the main control module automatically switches the material frame group on the material preparation area into the material loading area when the image processing unit detects that all the reed leaves in any material frame in the material loading area are completely loaded.
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| CN202211705883.7A CN115676383B (en) | 2022-12-29 | 2022-12-29 | Zongzi leaf feeding control system and method based on symmetrical distribution |
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| CN115676383A (en) | 2023-02-03 |
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