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CN-117571939-B - Square ham online detection system and control method

CN117571939BCN 117571939 BCN117571939 BCN 117571939BCN-117571939-B

Abstract

The invention belongs to the field of packaging machinery detection equipment, in particular to a square ham online detection system and a control method, which are arranged on a square ham online detection device, wherein the control system comprises a PLC control system, a specification detection system, a driving system and a man-machine interaction system; the PLC control system is used for receiving instruction parameters of the man-machine interaction system, adjusting the matching form of the driving system to realize synchronization with the proportion of the electronic gear according to ham specifications fed back by the specification detection system, respectively displaying six outer surfaces of the square ham by the square ham on-line detection device to realize posture adjustment, solving physical problems such as centrifugation, penetrability, rebound and the like possibly encountered in the sorting and overturning processes, and providing support for subsequent visual detection and current non-contact detection respectively.

Inventors

  • WANG SHIQI
  • CHEN SHUAI
  • ZHAO YUE
  • LI XIAOLIANG
  • WEI XIAOXIAO

Assignees

  • 中国科学院沈阳自动化研究所

Dates

Publication Date
20260505
Application Date
20231120

Claims (10)

  1. 1. The square ham online detection system is characterized by being arranged on a square ham online detection device and comprising a PLC control system (20), a specification detection system (30), a driving system (40) and a man-machine interaction system (50); The square ham online detection device is used as execution equipment of a square ham online detection system, receives a control command of a PLC control system (20), and executes corresponding movement according to the control command of the PLC control system (20); The PLC control system (20) is used for receiving parameters of the square ham online detection device regulated by the man-machine interaction system (50), controlling the parameters to execute corresponding movements, obtaining the appearance specification and the calculated weight specification of the square ham according to the detection result obtained by the specification detection system (30), regulating the torque and the rotating speed of the servo motor, regulating the servo synchronization period and the synchronization proportion to obtain control commands, and sending the control commands to each servo motor on the square ham online detection device, and meanwhile, connecting the control commands with the man-machine interaction system (50) through a bus; the specification detection system (30) is used for calculating the motion gesture of the square ham, the specification of the detected square ham is identified through the specification detection system (30), the weight of the square ham is obtained through the average density of the square ham, and further the torque and rotation speed information of the motor in the running process are converted and fed back to the PLC control system (20) as a result; The driving system (40) is used for coordination among multiple motors, cooperates with accurate movement and positioning work of four servo motors through real-time communication and a control algorithm, is connected with the PLC control system (20) through a bus, and adjusts a control strategy according to the actual movement state so as to ensure that the servo motors can accurately execute preset movement tasks; and the man-machine interaction system (50) is used for displaying the detection result transmitted by the PLC control system (20).
  2. 2. The online detection system for square ham according to claim 1, wherein the PLC control system (20) comprises a PLC (2001), a servo motor limit and original point sensor (2002), an in-place detection sensor (2003) and a handover check sensor (2004) which are connected with the PLC; The PLC (2001) is connected with the driving system (40) through a bus and is used for sending an actual motion state adjustment control strategy to ensure that a servo can accurately perform a preset motion task to the driving system (40) to control the coordination among multiple motors; The servo motor limiting and original point sensor (2002) is a Hall sensor and is arranged on each servo motor belt wheel side on the main frame body (1) and used for acquiring the maximum and minimum strokes of the motor and positioning the initial position of the motor; The in-place detection sensor (2003) is a photoelectric sensor and is arranged on the main frame (101) and used for detecting the running state of the ham, and the feedback PLC control system (20) enables the driving system (40) to control the motor to act cooperatively; the delivery verification sensor (2004) is a laser sensor, is arranged on a side plate of the buffer acceleration conveyor belt (8), is used for verifying the state of square ham when the square ham is delivered by different mechanisms, detects the deviation information of the position of the square ham and feeds back the deviation information to the PLC control system (20) to enable the driving system (40) to correct the action.
  3. 3. The online detection system for square ham according to claim 1, wherein the specification detection system (30) comprises an industrial personal computer (3001), a specification detection camera (3002) and a laser sensor group (3003) connected with the industrial personal computer; The specification detection camera (3002) is arranged on a side plate of a buffer conveyer belt body (802) of a buffer acceleration conveyer belt (8) of the square ham online detection device and is used for acquiring plane information such as length, width and the like of the square ham and sending the plane information to an industrial personal computer (3001); The laser sensor group (3003) is arranged on a side plate of a buffer acceleration conveyor belt (8) of the square ham online detection device and is used for acquiring plane information such as length, width and the like of the square ham and sending the plane information to an industrial personal computer (3001); The industrial personal computer (3001) is connected with the PLC (2001) and is used for summarizing length, width and height information obtained by the specification detection camera (3002) and the laser sensor group (3003) and inputting the result into the PLC (2001).
  4. 4. The online detection system for square ham according to claim 1, wherein the driving system (40) comprises a servo mounting plate (4001), a servo driver group (4002) arranged on the servo mounting plate (4001), and a servo motor (4003) connected with the servo mounting plate; the servo driver group (4002) is connected with a PLC (2001) of the PLC control system (20) through a bus; The servo motor (4003) is arranged on the main frame body (1) and drives the square ham online detection device to operate.
  5. 5. The online detection system for square ham according to claim 1, wherein the man-machine interaction system (50) comprises a structural box (5001), a touch screen (5002), a start button (5003), a stop button (5004), a reset button (5005) and a scram button (5006) which are arranged on the structural box (5001); The touch screen (5002), the start button (5003), the stop button (5004), the reset button (5005) and the emergency stop button (5006) are respectively embedded on one side surface of the structural box; the touch screen (5002), the start button (5003), the stop button (5004), the reset button (5005) and the emergency stop button (5006) are connected with a PLC (2001) of the PLC control system (20) through buses.
  6. 6. The online detection system for the square ham is characterized by comprising a main frame body (1) of the defect detection device, a horizontal and rotary detection mechanism (2), a primary overturning clamping detection mechanism (3), a secondary conveying detection mechanism (4), a secondary overturning clamping detection mechanism (14) and a rejection mechanism (7) which are sequentially arranged on the main frame body (1) of the defect detection device, wherein the horizontal and rotary detection mechanism (2) is used for detecting defects of the top surface and the left side surface and the right side surface of the square ham, the overturning clamping detection mechanism (3) is used for detecting defects of the front side surface of the square ham and overturning the overturning surface, an up-down feeding clamping mechanism (5) and a handover conveying mechanism (6) which are arranged up and down are arranged between the overturning clamping detection mechanism (3) and the secondary conveying detection mechanism (4), the smooth transition of the square ham to the secondary conveying detection mechanism (4) is realized under the synergistic effect of the up-down feeding clamping mechanism (5) and the handover conveying mechanism (6), the secondary conveying detection mechanism (4) is used for detecting defects of the rear side surface of the square ham, and the secondary conveying detection mechanism (4) is used for rejecting defects of the square ham, and the defect detection mechanism (14) is used for detecting defects of the square ham.
  7. 7. The online detection system for square ham according to claim 6, wherein the horizontal and rotary detection mechanism (2) comprises a detection mechanism main frame (201), a rotary electrode detection mechanism (202), a detection conveying mechanism (203), a pressing clamping mechanism (205), a horizontal electrode detection mechanism (206) and an image detection mechanism I (207), wherein the detection mechanism main frame (201) is arranged on the defect detection device main frame (1), the detection conveying mechanism (203) is arranged on the detection mechanism main frame (201) and is used for conveying square ham, the image detection mechanism I (207), the horizontal electrode detection mechanism (206), the rotary electrode detection mechanism (202) and the pressing clamping mechanism (205) are sequentially arranged on the detection mechanism main frame (201) along the conveying direction of the detection conveying mechanism (203), the image detection mechanism I (207) is used for collecting image information of the square ham, the horizontal electrode detection mechanism (206) is used for detecting defects of the top surface of the square ham, the rotary electrode detection mechanism (202) is used for detecting defects of the left and right sides of the square ham, the pressing clamping mechanism (205) is arranged at the end part of the detection conveying mechanism (203) and is matched with the conveying mechanism (203); The secondary conveying detection mechanism (4) comprises a conveying detection mechanism main frame (401), a secondary electrode detection mechanism (402), a secondary conveying mechanism (403), an image detection mechanism III (405) and a clamping conveying mechanism (407), wherein the conveying detection mechanism main frame (401) is arranged on the defect detection device main frame body (1), feeding guide plates (406) are arranged on two sides of one end, close to the primary overturning clamping detection mechanism (3), of the main frame, the image detection mechanism III (405), the secondary electrode detection mechanism (402) and the clamping conveying mechanism (407) are sequentially arranged on the conveying detection mechanism main frame (401) along the conveying direction, the image detection mechanism III (405) is used for collecting square ham image information, the secondary electrode detection mechanism (402) is used for detecting defects of the rear side face of the square ham, the clamping conveying mechanism (407) is arranged at the discharging end of the conveying detection mechanism main frame (401), and the clamping conveying mechanism (407) and the secondary conveying mechanism (403) are used for cooperatively clamping and conveying the square ham.
  8. 8. The control method of the square ham online detection system according to claim 1, comprising the following steps: 1) The PLC (2001) controls the return-to-zero motion of each component of the square ham online detection device, detects the origin positioning and overload limiting of the servo motor through a servo motor limiting and origin sensor (2002) and feeds back the PLC (2001); 2) The specification detection system (30) obtains appearance and weight information of the ham, and feeds back the appearance and weight information to the PLC (2001) through an industrial personal computer (3001) to form a ham stack column; 3) The square ham enters a detection conveying mechanism (203), and a PLC (2001) controls a servo motor (4003) to execute a synchronous control method through a driving system (40) according to the square ham stack column; 4) The square ham is respectively passed through a horizontal electrode detection mechanism (206) and an image detection mechanism I (207) to complete visual detection and non-contact detection of current, and the result is filled into the corresponding ham stack column.
  9. 9. The method for controlling a square ham online detection system according to claim 8, wherein in step 2), the specification detection system (30) obtains appearance and weight information of the square ham, specifically: the detection system (30) obtains appearance and weight information of square ham through a specification detection method, and comprises the following steps: 1-1) triggering a square ham in-place detection sensor (2003), photographing by a specification detection camera (3002) and obtaining plane data, namely width W and length L; 1-2) triggering a square ham in-place detection sensor (2003), acquiring multi-point height information by a laser sensor group (3003), and acquiring height information H by fitting; 1-3) integrating width W, length L and height information H to obtain volume information V of the square ham, and obtaining weight information M of the square ham according to production information to obtain an array (W, L, H, M); 1-4) sending data to a stack column to obtain a ham stack column { (W, L, H, M...) }.
  10. 10. The method according to claim 9, wherein in step 3), the driving system (40) controls the servo motor (4003) to perform a synchronous control method, specifically: 2-1) triggering an in-place detection sensor (2003) on a buffer acceleration conveyor belt (8) by a square ham, acquiring information from a ham stack row { (W, L, H, M.) }, acquiring a bit signal by a servo motor, and moving according to a given electronic gear ratio (1, alpha, beta, gamma); 2-2) the top surface A of the square ham is upward, visual detection and current non-contact results of the top surface A, the side surface B and the side surface C are obtained through a horizontal and rotary detection mechanism (2), and the results are recorded in a ham stack column; 2-3) triggering a handover check sensor (2004) arranged at the joint of the horizontal and rotary detection mechanism (2) and the turnover clamping detection mechanism (3) of the detection device, correcting deviation of the square ham due to centrifugal force and inertia through laser displacement information detected by the handover check sensor (2004), and calculating to obtain ham early contact time t1; 2-4) obtaining the weight M of square ham and the speed of a servo motor according to the ham stack column, calculating to obtain the rebound distance of the square ham, and calculating to obtain the rebound influence time t2 according to the line speed of the engaging procedure; 2-5) calculating the correction time Deltat by t1 and t2, and correcting according to the line speed of the engagement procedure to obtain the electronic gear ratio ; 2-6) After passing through a horizontal and rotary detection mechanism (2), the front surface D is downward, a visual detection and current non-contact result of the rear surface E is obtained through a detection conveying mechanism (203), and the ham stack is recorded, and the electronic gear ratio is obtained by repeating 2-3) -2-5) ; 2-7) The square ham turns over the clamping detection mechanism (3) through the detection device, the top surface A is downward, the visual detection and the current non-contact result of the bottom surface F are obtained through the secondary conveying detection mechanism (4), the ham stack is recorded, and the electronic gear ratio is obtained by repeating 2-3) -2-5 ; 2-8) The square ham passes through the rear front surface D of the device upwards, visual detection and non-contact detection of current on the front surface D are obtained through a secondary conveying mechanism (403), and the ham stack columns are recorded; 2-9) an adjusted electronic gear ratio (1, , , ) And further obtaining detection information of six faces corresponding to the adjusted electronic gear ratio, namely (A, B, C, D, E and F).

Description

Square ham online detection system and control method Technical Field The invention belongs to the field of packaging machinery detection equipment, and particularly relates to a square ham online detection system and a control method. Background Square ham (also known as spanish ham) is popular with consumers due to its unique mouthfeel and flavor. In view of its complex production process, there is an inevitable disadvantage in the outer packaging. The traditional manual visual inspection mode can only identify larger appearance defects, and has few detection means for small defects which are difficult to identify by naked eyes, such as puncture, laceration and the like. The product is introduced into the market, which not only strikes the brand image and the competitiveness of enterprises, but also seriously influences the quality of square ham and the health of consumers. Non-contact detection means such as visual sense and micro-current are common appearance detection methods. However, how to realize online detection on the sorting, overturning and the like of square ham is a key factor for restricting the automation level of the industry and influencing the production efficiency of enterprises, and meanwhile, physical problems such as centrifugation, penetrability, rebound and the like possibly encountered in the sorting and overturning processes of square ham are also needed to be avoided through precise control. Disclosure of Invention The invention aims to provide a high-automation, high-intelligence and high-efficiency square ham online detection device and a control method which are mutually matched through visual, mechanical and non-contact sensors so as to overcome the defects of equipment in the industry. The technical scheme adopted by the invention for realizing the purposes is that the square ham online detection system is arranged on a square ham online detection device and comprises a PLC control system, a specification detection system, a driving system and a man-machine interaction system; the square ham online detection device is used as execution equipment of a square ham online detection system, receives a control command of a PLC control system and executes corresponding movement according to the control command of the PLC control system; The PLC control system is used for receiving parameters of the square ham online detection device regulated by the human-computer interaction system, controlling the parameters to execute corresponding movements, obtaining the appearance specification and the calculated weight specification of the square ham according to the detection result obtained by the specification detection system, regulating the torque and the rotating speed of the servo motor, regulating the servo synchronization period and the synchronization proportion to obtain control commands, and sending the control commands to each servo motor on the square ham online detection device and simultaneously connecting the servo motors with the human-computer interaction system through a bus; The specification detection system is used for calculating the motion gesture of the square ham, the specification of the square ham to be detected is identified through the specification detection system, the weight of the square ham is obtained through the average density of the square ham, and further the torque and rotation speed information of the motor in the running process is converted and fed back to the PLC control system as a result; The driving system is used for coordination among multiple motors, cooperates with accurate movement and positioning work of four servo motors through real-time communication and a control algorithm, is connected with the PLC control system through a bus, and adjusts a control strategy according to an actual movement state so as to ensure that the servo motors can accurately execute preset movement tasks; and the man-machine interaction system is used for displaying the detection result received from the PLC control system. The PLC control system comprises a PLC, a servo motor limiting and original point sensor, an in-place detection sensor and a handover verification sensor which are connected with the PLC; The PLC is connected with the driving system through a bus and is used for sending an actual motion state adjustment control strategy to ensure that a servo motor can accurately execute a preset motion task to the driving system to control the coordination among multiple motors; the servo motor limiting and original point sensors are Hall sensors which are arranged on the belt pulley sides of each servo motor on the main frame body and are used for acquiring the maximum and minimum strokes of the motor and positioning the initial position of the motor; The in-place detection sensor is a photoelectric sensor and is arranged on the main frame and used for detecting the running state of the ham, and the feedback PLC control system enables the driving system