CN115043021A

CN115043021A - Automatic tray loading equipment for electronic seal label

Info

Publication number: CN115043021A
Application number: CN202210828050.3A
Authority: CN
Inventors: 平爱军; 杨宁; 王禹; 许振华; 郑建; 杨艳启; 夏立佳; 鲁剑杰; 张瑞; 牛阿强
Original assignee: Beijing Smartchip Microelectronics Technology Co Ltd
Current assignee: Beijing Smartchip Microelectronics Technology Co Ltd
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2022-09-13
Anticipated expiration: 2042-07-13
Also published as: CN115043021B

Abstract

The invention discloses automatic tray loading equipment for electronic seal labels. This automatic sabot equipment includes: the device comprises a bin tray mechanism, a turnover mechanical arm, a positioning mechanism, a vibration feeding mechanism, a distributing mechanism, a tray loading mechanical arm and a visual inspection mechanism. According to the automatic tray loading equipment provided by the embodiment of the invention, the electronic seal labels in the distributing groove are placed in the first material tray through the tray loading manipulator, the first material tray with the electronic seal labels is conveyed to the material tray blanking assembly through the turnover manipulator, so that the automatic tray loading of the electronic seal labels is realized, the manpower cost for loading the electronic seal labels is favorably reduced, the production efficiency for loading the electronic seal labels is improved, meanwhile, whether the tray loading is abnormal or not is judged through the visual inspection mechanism, the tray loading qualification rate of the automatic tray loading equipment is ensured, and the outflow of defective products is avoided.

Description

Automatic tray loading equipment for electronic seal label

Technical Field

The invention relates to the technical field of automatic tray loading equipment, in particular to automatic tray loading equipment for electronic seal labels.

Background

The electronic seal label adopts the RFID technology, and the embedded special encryption algorithm is mainly installed on equipment such as intelligent ammeter, batch meter (cabinet), acquisition terminal, mutual-inductor secondary terminal box, and the electronic seal label can prevent unauthorized personnel from opening equipment.

In the correlation technique, when the electronic seal label is produced, manual tray loading is needed before marking the electronic seal label, the manual tray loading is time-consuming and labor-consuming, and the problems of neglected loading, mixed loading, no in-place loading and the like easily occur, so that bad outflow is caused.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the invention provides automatic tray loading equipment which can realize automatic tray loading of electronic seal labels and avoid outflow of defective products.

The automatic tray loading equipment of the electronic seal label comprises the following components: the bin tray mechanism comprises a material tray supply assembly and a material tray blanking assembly, the material tray supply assembly is used for supplying a first material tray, and the material tray blanking assembly is used for conveying the first material tray loaded with the electronic seal label to a blanking position; the automatic tray loading equipment comprises a turnover mechanical arm and a positioning mechanism, wherein the turnover mechanical arm is used for conveying the first tray to the positioning mechanism, the automatic tray loading equipment is provided with a turnover position, and the positioning mechanism is suitable for centering, positioning and clamping the first tray at the turnover position; the vibration feeding mechanism is used for vibrating the electronic seal label to enable the marking surface of the electronic seal label to face upwards, and the vibration feeding mechanism is used for conveying the electronic seal label to a discharge hole of the vibration feeding mechanism; the material distributing mechanism is provided with a material distributing groove and can move relative to the vibration feeding mechanism so as to enable the electronic seal label moved out of the material outlet to move into the material distributing groove; the tray loading manipulator is used for placing the electronic seal labels in the distributing groove into the first material tray, and the turnover manipulator is also used for conveying the first material tray with the electronic seal labels to the material tray blanking assembly; and the visual inspection mechanism is used for acquiring the visual information of the first material tray provided with the electronic seal label so as to judge whether the material tray is abnormally loaded according to the visual information.

According to the automatic tray loading equipment provided by the embodiment of the invention, the electronic seal labels in the distributing groove are placed in the first material tray through the tray loading manipulator, the first material tray with the electronic seal labels is conveyed to the material tray blanking assembly through the turnover manipulator, so that the automatic tray loading of the electronic seal labels is realized, the manpower cost for loading the electronic seal labels is favorably reduced, the production efficiency for loading the electronic seal labels is improved, meanwhile, whether the tray loading is abnormal or not is judged through the visual inspection mechanism, the tray loading qualification rate of the automatic tray loading equipment is ensured, and the outflow of defective products is avoided.

According to some embodiments of the invention, the automatic tray loading device has a tray loading position, the positioning mechanism is adapted to drive the first tray to move to the tray loading position or the turnover position, the tray loading position and the turnover position are staggered, the tray loading manipulator is used for placing the electronic seal labels in the distributing groove in the first tray in the tray loading position, and the turnover manipulator is used for conveying the first tray with the electronic seal labels in the turnover position to the tray blanking assembly.

According to some embodiments of the invention, the vision inspection mechanism is provided at the epicyclic robot.

According to some embodiments of the invention, the tray supply assembly is further configured to supply a second tray loaded with the first tray, the turnaround robot is further configured to transport the second tray to the tray blanking assembly and place the first tray loaded with the electronic seal labels in the turnaround position within the second tray at the tray blanking assembly.

According to some embodiments of the invention, the vibratory feeding mechanism, the distributing mechanism, the tray loading position, the turnaround position, and the tray mechanism are arranged in sequence along a first direction of the automatic tray loading apparatus.

According to some embodiments of the invention, the palletizing robot moves between the distribution mechanism and the palletizing position, and the turnaround robot moves between the turnaround position and the magazine mechanism.

According to some embodiments of the present invention, the positioning mechanism, the tray loading position and the turnaround position are all plural, the plural tray loading positions are arranged along the second direction of the automatic tray loading apparatus, the plural turnaround positions are arranged along the second direction, the plural positioning mechanisms are arranged along the second direction, the plural tray loading positions and the plural turnaround positions are in one-to-one correspondence along the first direction of the automatic tray loading apparatus, and the first direction and the second direction are perpendicular.

According to some embodiments of the invention, the tray loading robot is adapted to move in the first direction, the second direction and a third direction of the automatic tray loading apparatus, wherein the first direction, the second direction and the third direction are perpendicular to each other.

According to some embodiments of the invention, the epicyclic robot is adapted to move in the first direction, the second direction and a third direction of the automatic tray loading apparatus, wherein the first direction, the second direction and the third direction are perpendicular to each other.

According to some embodiments of the invention, the positioning mechanism comprises: the first positioning clamping assembly is suitable for positioning and clamping the first material tray in the first direction, and the second positioning clamping assembly is suitable for positioning and clamping the first material tray in the second direction.

According to some embodiments of the invention, the first positioning clamping assembly comprises a first clamping portion and a second clamping portion which are oppositely arranged in the first direction, the first clamping portion or the second clamping portion is provided with a first elastic buffer piece which is suitable for elastically deforming along the first direction, and the first clamping portion and the second clamping portion are suitable for moving towards each other in the first direction to clamp the first tray; the second location centre gripping subassembly includes the relative third clamping part and the fourth clamping part that sets up of second direction, third clamping part or the fourth clamping part is equipped with and is suitable for along the second direction elastic deformation's second elastic buffer spare, the third clamping part with the fourth clamping part is suitable for the second direction relative motion is in order to centre gripping first charging tray.

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

Drawings

FIG. 1 is a schematic view of an electronic seal label and a first tray according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an automatic disc loading apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a part of the structure of an automatic disk loading device according to an embodiment of the present invention;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a first schematic view of a cartridge tray mechanism according to an embodiment of the present invention;

FIG. 6 is a second schematic view of a cartridge tray mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a part of an automatic disk loading apparatus according to another embodiment of the present invention;

FIG. 8 is a top view of FIG. 7;

FIG. 9 is a schematic diagram of a vibratory feeding mechanism and an automatic feeding mechanism according to an embodiment of the invention;

FIG. 10 is a schematic view of a vibratory loading mechanism and a material distribution mechanism according to an embodiment of the invention;

FIG. 11 is a schematic view of a feed mechanism according to an embodiment of the invention;

FIG. 12 is a schematic view of a palletizing robot in accordance with an embodiment of the present invention;

FIG. 13 is a schematic view of a feed mechanism, a palletizing robot and a positioning mechanism in accordance with an embodiment of the present invention;

FIG. 14 is a schematic view of a positioning mechanism according to an embodiment of the invention;

FIG. 15 is a schematic view of an epicyclic robot and vision inspection mechanism according to an embodiment of the present invention;

FIG. 16 is a top view of an epicyclic robot and vision inspection mechanism according to an embodiment of the present invention;

fig. 17 is a schematic view of a first tray and a second tray according to an embodiment of the invention.

Reference numerals:

the device comprises a warehouse disc mechanism 1, a material disc supply assembly 11, a first lifting assembly 111, a disc separating assembly 112, a first material disc supply assembly 113, a second material disc supply assembly 114, a material disc blanking assembly 12, a second lifting assembly 121, a limiting assembly 122, a turnover manipulator 2, a first suction disc 22, a first X-axis arm 23, a first Y-axis arm 24, a first Z-axis arm 25, a positioning mechanism 3, a tooling plate 31, a slide rail 32, a driving device 33, a centering and positioning clamping device 34, a first positioning and clamping assembly 341, a first clamping part 3411, a second clamping part 3412, a first elastic buffer 3413, a second positioning and clamping assembly 342, a third clamping part 3421, a fourth clamping part 3422, a second elastic buffer 3423, a position sensor 35, a vibration feeding mechanism 4, a discharge port 41, a discharge runner 42, a material separating mechanism 5, a material separating shuttle 51, a material separating groove 511, a servo driver 52, a screw rod motion platform 53, The automatic disc loading device comprises a disc loading manipulator 6, a second sucker 61, a second X-axis arm 62, a second Y-axis arm 63, a second Z-axis arm 64, a second air cylinder 65, a visual inspection mechanism 7, a camera 71, a lens 72, a light source 73, a first disc 81, a first mounting groove 811, a second disc 82, a second mounting groove 821, a rack 9, a first rack 91, a second rack 92, a third rack 93, an automatic disc supplementing mechanism 10, a disc supplementing bin 101, a turnover position 11, a disc loading position 12, an electronic seal label 13, a marking surface 131, an alarm 14 and an automatic disc loading device 100.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The automatic disc loading apparatus 100 of the electronic seal label 13 according to the embodiment of the present invention is described in detail below with reference to fig. 1 to 17.

Referring to fig. 1 to 17, the automatic disc loading apparatus 100 of the electronic seal label 13 includes: storehouse dish mechanism 1, turnover manipulator 2, positioning mechanism 3, vibration feed mechanism 4, feed mechanism 5, sabot manipulator 6 and visual inspection mechanism 7, wherein:

the tray mechanism 1 comprises a tray supply component 11 and a tray blanking component 12, wherein the tray supply component 11 is used for supplying a first tray 81, the tray blanking component 12 is used for conveying electronic seal labels 13 containing the electronic seal labels 13 to a blanking position, a plurality of first mounting grooves 811 can be arranged in the first tray 81, each first mounting groove 811 can be used for fixing one electronic seal label 13 in an oriented mode, when the electronic seal labels 13 are correctly placed in the first mounting grooves 811, the marking surfaces 131 of the electronic seal labels 13 face upwards, the tray supply component 11 can supply first trays 81 with empty first mounting grooves 811, the tray blanking component 12 can fill the first mounting grooves 811 with the first trays 81 containing the electronic seal labels 13 and convey the first trays 81 to the blanking position, the first trays 81 containing the electronic seal labels 13 can be taken away at the blanking position through manual work or other conveying devices, and then marking can be carried out on the electronic seal labels 13 in the first trays 81, Issue/check and factory check to enable manufacture of the electronic seal label 13.

The turnover manipulator 2 is used for conveying the first material tray 81 to the positioning mechanism 3, the turnover manipulator 2 can be provided with a first air cylinder and a first suction disc 22, the first air cylinder can control the negative pressure at the first suction disc 22, the turnover manipulator 2 can grab the first material tray 81 at the material tray supply assembly 11 through the first suction disc 22, and moves the first tray 81 to the positioning mechanism 3, the automatic tray loading apparatus 100 having a turnaround position 11, the positioning mechanism 3 being adapted to centrally position and hold the first tray 81 in the turnaround position 11, that is, the empty first tray 81 positioned at the tray supply assembly 11 is conveyed to the positioning mechanism 3 by the turnover manipulator 2, the positioning mechanism 3 can perform centering positioning on the empty first tray 81 and fix the first tray 81, so that the first tray 81 and the positioning mechanism 3 keep a preset relative position, and the position of the first tray 81 can be determined according to the position of the positioning mechanism 3. Alternatively, to ensure stability of the transferring robot 2 in gripping the first tray 81, the transferring robot 2 may be provided with a plurality of first suction cups 22.

Vibration feed mechanism 4 is used for vibrating electronic seal label 13 so that the mark face 131 that beats of electronic seal label 13 up, and vibration feed mechanism 4 is used for transporting electronic seal label 13 to vibration feed mechanism 4's discharge gate 41, vibration feed mechanism 4 can be the vibration dish, can hold a plurality of electronic seal labels 13 in the hopper of vibration dish, through the vibration of hopper, can make electronic seal label 13 move to discharge gate 41 along ejection of compact runner 42, and be under ejection of compact runner 42 screening and beat the state motion that mark face 131 up to discharge gate 41. Optionally, the vibration feeding mechanism 4 is provided with a photoelectric sensor, and the photoelectric sensor can control the blowing of the vibration disc, the linear vibrator and the discharging channel 42 to be started or stopped.

The distributing mechanism 5 is provided with a distributing groove 511, the distributing mechanism 5 is movable relative to the vibrating feeding mechanism 4 to move the electronic seal label 13 moved out from the discharging port 41 into the distributing groove 511, the distributing mechanism 5 can move back and forth in a direction perpendicular to the discharging direction of the discharging port 41, when the empty distributing groove 511 moves to the discharging port 41, the electronic seal label 13 at the discharging port 41 can move into the distributing groove 511, when the distributing groove 511 with the electronic seal label 13 moves to the discharging port 41, the electronic seal label 13 at the discharging port 41 cannot enter the distributing groove 511, and therefore, the electronic seal label 13 at the discharging port 41 can be continuously replenished into the empty distributing groove 511 through the back and forth movement of the distributing mechanism 5.

Alternatively, as shown in fig. 10 and 11, the material separating mechanism 5 includes a material separating shuttle 51, a servo driver 52, and a screw rod moving platform 53, the servo driver 52 can drive the material separating shuttle 51 to reciprocate at the material outlet 41 through the screw rod moving platform 53, and the material separating shuttle 51 can be sequentially arranged with a plurality of material separating slots 511 in the moving direction thereof, so as to improve the material separating efficiency. The material separating mechanism 5 may further include a first sensor, and the first sensor may be configured to detect whether there is an electronic seal label 13 in the material separating slot 511 opposite to the material outlet 41, so as to control the servo driver 52 to drive the material separating shuttle 51 to move, thereby achieving fast material separation.

The tray loading manipulator 6 is used for placing the electronic seal labels 13 in the distributing groove 511 in the first tray 81, the tray loading manipulator 6 can be provided with a second air cylinder 65 and a second sucking disc 61, the second air cylinder 65 can control negative pressure at the second sucking disc 61, the tray loading manipulator 6 can grab the electronic seal labels 13 in the distributing groove 511 through the second sucking discs 61 and place the electronic seal labels 13 in the first mounting groove 811 of the first tray 81 clamped by the positioning mechanism 3. It can be understood that the position of the material distribution mechanism 5 is determined, and the position of the first tray 81 clamped by the positioning mechanism 3 is determined, so that the accuracy of grabbing and placing the electronic seal labels 13 between the material distribution mechanism 5 and the first tray 81 by the tray loading manipulator 6 can be ensured, the electronic seal labels 13 in the material distribution groove 511 are prevented from not being taken out, and the electronic seal labels 13 are prevented from not being put in place in the first mounting groove 811.

Optionally, in order to improve the tray loading efficiency of the tray loading manipulator 6, the tray loading manipulator 6 may be provided with a plurality of second suction cups 61, each second suction cup 61 may capture one electronic seal label 13, the number of the first mounting grooves 811 in each row of the first tray 81 defined by the device software is automatically adjusted, the number of the electronic seal labels 13 captured by the tray loading manipulator 6 at a time is automatically adjusted, and flexible high-speed tray loading is realized. For example, the first tray 81 may have 7 first mounting grooves 811 in a row, or may have 9 first mounting grooves 811 in a row, and the tray loading robot 6 may capture 7 or 9 electronic seal labels 13 at a time, so as to meet the requirement that the tray loading robot 6 can fill a row of products of the first tray 81 in a single tray loading operation, thereby facilitating the improvement of the tray loading efficiency.

The turnover manipulator 2 is further configured to transport the first tray 81 with the electronic seal labels 13 to the tray blanking assembly 12, that is, after the tray loading manipulator 6 fills the first tray 81 on the positioning mechanism 3 with the electronic seal labels 13, the turnover manipulator 2 can transport the first tray 81 with the electronic seal labels 13 to the tray blanking assembly 12, so that the positioning mechanism 3 can continue to center and position a new first tray 81.

The visual inspection mechanism 7 is used for acquiring visual information of the first material tray 81 provided with the electronic seal label 13, judging whether the material tray is abnormal according to the visual information, detecting whether the first material tray 81 provided with the electronic seal label 13 has the problems of missing loading, mixed loading and non-loading positions by the visual information, judging that the material tray is abnormal if at least one of the problems of missing loading, mixed loading and non-loading positions is detected, stopping the operation of the automatic material tray loading equipment 100, sending an alarm prompt through the alarm 14, ensuring the quality of the material tray loading and avoiding the outflow of defective products.

It can be understood that neglected loading is that the first tray 81 has the first mounting groove 811 where the electronic seal labels 13 are not placed, the electronic seal labels 13 that are not loaded in place and that the marking surface 131 of the first tray 81 is not upward or not completely located in the first mounting groove 811, and mixed loading is that more than two different types of electronic seal labels 13 exist in the first tray 81. Note that the mixed package can be identified by color, and the electronic seal labels 13 of different models have different appearance colors.

According to the automatic tray loading equipment 100 provided by the embodiment of the invention, the electronic seal labels 13 in the distributing groove 511 are placed in the first material tray 81 through the tray loading manipulator 6, the first material tray 81 with the electronic seal labels 13 is conveyed to the material tray blanking assembly 12 through the turnover manipulator 2, so that the automatic tray loading of the electronic seal labels 13 is realized, the manpower cost for loading the electronic seal labels 13 is reduced, the production efficiency for loading the electronic seal labels 13 is improved, and meanwhile, whether the tray loading is abnormal or not is judged through the visual inspection mechanism 7, so that the tray loading qualification rate of the automatic tray loading equipment 100 is ensured, and the outflow of defective products is avoided.

In some embodiments of the present invention, referring to fig. 2-4, the automatic tray loading device 100 further includes a frame 9, and the tray mechanism 1, the transferring robot 2, the positioning mechanism 3, the vibrating feeding mechanism 4, the distributing mechanism 5, and the tray loading robot 6 may be disposed on the frame 9.

In some embodiments of the present invention, as shown in fig. 2 to 4, the rack 9 includes a first rack 91, a second rack 92, and a third rack 93 arranged in a first direction, the vibration feeding mechanism 4 is provided on the first rack 91, the material separating mechanism 5, the tray loading robot 6, and the positioning mechanism 3 are provided on the second rack 92, and the tray mechanism 1 and the transferring robot 2 are provided on the third rack 93.

In some embodiments of the present invention, the automatic tray loading apparatus 100 further includes an automatic material supplementing mechanism 10, the automatic material supplementing mechanism 10 is disposed on the first frame 91, a material supplementing bin 101 is disposed in the automatic material supplementing mechanism 10, the material supplementing bin 101 may be configured with a plurality of electronic sealing labels 13, an outlet of the material supplementing bin 101 is disposed above a hopper of the vibration feeding mechanism 4, and an outlet of the material supplementing bin 101 may be opened every first preset time and closed after being opened for a second preset time, so that the electronic sealing labels 13 in the material supplementing bin 101 enter the vibration feeding mechanism 4 for automatic material supplementing, thereby facilitating to reduce labor cost of material supplementing.

In some embodiments of the present invention, referring to fig. 4, the automatic tray loading device 100 has a tray loading position 12, the positioning mechanism 3 is adapted to move the first tray 81 to the tray loading position 12 or the transferring position 11, the tray loading position 12 is offset from the transferring position 11, the tray loading robot 6 is adapted to place the electronic seal labels 13 in the sub-tanks 511 in the first tray 81 in the tray loading position 12, the transferring robot 2 is adapted to transfer the first tray 81 with the electronic seal labels 13 in the transferring position 11 to the tray blanking assembly 12, that is, the tray supply assembly 11 provides that the first tray 81 is transferred to the positioning mechanism 3 by the transferring robot 2, the first tray 81 is centered and positioned in the transferring position 11 by the positioning mechanism 3, the first tray 81 is moved to the tray loading position 12 by the positioning mechanism 3, and then the tray loading robot 6 places the electronic seal labels 13 in the sub-tanks 511 in the first tray 81 in the tray loading position 12, after the first tray 81 is filled with the electronic seal labels 13, the first tray 81 is moved to the circulation position 11 by the positioning mechanism 3, then the first tray 81 is conveyed to the tray blanking assembly 12 by the circulation manipulator 2, and finally the first tray 81 is conveyed to the blanking position by the tray blanking assembly 12. The staggered arrangement of the tray loading position 12 and the transferring position 11 can avoid the risk of interference between the tray loading manipulator 6 and the transferring manipulator 2.

Preferably, the palletization station 12 is close to the distribution mechanism 5 and the turnaround station 11 is close to the magazine mechanism 1, so as to facilitate reducing the action time of the palletization robot 6 and the turnaround robot 2.

In some embodiments of the invention, as illustrated with reference to fig. 13 and 14, the positioning mechanism 3 comprises: the tooling plate 31, the slide rail 32, the driving device 33 and the centering and positioning clamping device 34, wherein the slide rail 32 and the driving device 33 can be arranged on the frame 9, the tooling plate 31 is suitable for sliding fit with the slide rail 32, the centering and positioning clamping device 34 is arranged on the tooling plate 31, the centering and positioning clamping device 34 is used for centering and positioning the first material tray 81, and the driving device 33 is used for driving the tooling plate 31 to slide along the slide rail 32 so as to realize that the first material tray 81 on the tooling plate 31 moves to the material tray loading position 12 or the turnover position 11.

In some embodiments of the present invention, and with reference to fig. 14, the centering and clamping device 34 comprises: the first positioning and clamping assembly 341 is suitable for positioning and clamping the first tray 81 in a first direction, and the second positioning and clamping assembly 342 is suitable for positioning and clamping the first tray 81 in a second direction.

In some embodiments of the present invention, referring to fig. 14, the positioning mechanism 3 further includes a position sensor 35, the positioning mechanism 3 may be provided with a plurality of position sensors 35, and a plurality of position sensors 35 may be provided on the slide rail 32 and the tooling plate 31 for detecting the position of the tooling plate 31, so as to ensure that the tooling plate 31 can accurately move the first tray 81 thereon to the transferring position 11 and the loading position 12.

In some embodiments of the present invention, referring to fig. 15 and 16, the vision inspection mechanism 7 is disposed on the revolving robot 2, the vision inspection mechanism 7 can photograph the first tray 81 with the electronic seal labels 13 to obtain the vision information of the first tray 81 with the electronic seal labels 13, and the vision inspection mechanism 7 is disposed on the revolving robot 2 to reduce the occupied space of the vision inspection mechanism 7 and prevent the vision inspection mechanism 7 from being blocked by the revolving robot 2, thereby facilitating the improvement of the production efficiency.

It can be understood that, if vision inspection mechanism 7 locates other positions, when vision inspection mechanism 7 took a picture to the first charging tray 81 that is equipped with electronic seal label 13, need to have enough to meet the need manipulator 2 to shift out the top position of first charging tray 81, thereby influence the production beat, and locate turnover manipulator 2 with vision inspection mechanism 7, vision inspection mechanism 7 can be before turnover manipulator 2 transports first charging tray 81, in transporting, take a picture at the arbitrary moment after transporting, in order to acquire the visual information of the first charging tray 81 that is equipped with electronic seal label 13, thereby be favorable to promoting the production beat, improve production efficiency.

In some embodiments of the present invention, referring to fig. 15 and 16, the vision inspection mechanism 7 includes a camera 71, a lens 72, a light source 73 and a control module, wherein the camera 71 is a CCD color industrial camera with 2000 ten thousand pixels, the lens 72 is an industrial lens with a focal length of 12mm and a target surface of 2/3 inches, the light source 73 is a 24V annular light source, and the brightness is adjustable, so as to facilitate the accuracy of the vision inspection mechanism 7 in acquiring the vision information, the control module can check whether the electronic seal label 13 is loaded in the first tray 81 and then the loading conditions such as missing loading, not in place, popping up, dropping, color mixing and the like are abnormal through template comparison and a special algorithm, and when an abnormality is found, the control module can control the automatic loading device 100 to automatically stop and send an alarm prompt through the alarm 14.

In some embodiments of the invention, as shown with reference to fig. 4-6, the tray supply assembly 11 is also used to supply a second tray 82 loaded with a first tray 81, the epicyclic robot 2 is also used to transport the second tray 82 to the tray blanking assembly 12, and the first tray 81 provided with the electronic seal labels 13 at the turnover position 11 is placed in the second tray 82 at the tray blanking assembly 12, it can be understood that, be equipped with the second mounting groove 821 in the second charging tray 82, first charging tray 81 can be placed in the second mounting groove 821, second charging tray 82 that first charging tray 81 will be placed in the supply of charging tray supply subassembly 11, turnover manipulator 2 can be earlier with first charging tray 81 in the second charging tray 82 remove to positioning mechanism 3, again remove second charging tray 82 to charging tray unloading subassembly 12, will fill in at last that the first charging tray 81 of electron seal label 13 is removed by positioning mechanism 3 to the second charging tray 82 of 12 departments of charging tray unloading subassembly.

It should be noted that, as shown in fig. 17, a plurality of second mounting grooves 821 may be provided in the second tray 82, each second mounting groove 821 may be provided with a first tray 81, and after the circulation robot 2 can take out all the first trays 81 in the second tray 82 located at the tray supply assembly 11, the circulation robot 2 moves the second tray 82 to the tray blanking assembly 12. The number of second mounting grooves 821 in the second tray 82 may be the same as the number of positioning mechanisms 3 to reduce the waiting time of the epicyclic robot 2.

Referring to fig. 5 and 6, the tray supply assembly 11 is provided with a tray supply groove, a plurality of second trays 82 filled with the first trays 81 can be longitudinally stacked in the tray supply groove, a first lifting assembly 111 is arranged at the bottom of the tray supply groove, and the second trays 82 in the tray supply groove can be sequentially lifted to a first preset height by controlling the lifting of the first lifting assembly 111, so that the turnover manipulator 2 can grab the first trays 81 or the second trays 82 at the first preset height. The tray supply assembly 11 is further provided with a tray dividing assembly 112, the tray dividing assembly 112 is provided with at least one first limiting block, when each second tray 82 rises to a first preset height, the first limiting block can act in the tray supply groove, and the first limiting block can separate the second tray 82 at the first preset height from the second tray 82 below the first limiting block, so that the second tray 82 to be taken out is prevented from being adhered to the second tray 82 below the second tray 82.

Referring to fig. 5 and 6, the tray discharging assembly 12 is provided with a tray discharging slot, a plurality of second trays 82 filled with the first trays 81 can be longitudinally stacked in the tray discharging slot, wherein the first trays 81 are filled with the electronic sealing labels 13, a second lifting assembly 121 is arranged at the bottom of the tray discharging slot, and the height of the uppermost end of the second trays 82 longitudinally stacked in the tray discharging slot can be maintained at a second preset height by controlling the descending of the second lifting assembly 121, so that the first trays 81 or the second trays 82 can be conveniently placed at a third preset height by the turnover manipulator 2, wherein the third preset height is greater than the second preset height. Charging tray unloading subassembly 12 still is equipped with spacing subassembly 122, spacing subassembly 122 is equipped with at least one second stopper, place in the silo under the charging tray on every second charging tray 82 behind the manipulator 2 of having enough to meet the need, the second stopper can move to the silo under the charging tray, the second stopper can be fixed a position the second charging tray 82 of charging tray silo upper extreme, it is neat to pile up in the second charging tray 82 of silo under guaranteeing the charging tray, and position deviation appears in the second charging tray 82 of silo upper extreme under avoiding the charging tray, prevent to have enough to meet the need the manipulator 2 and appear the deviation when placing first charging tray 81 to the second charging tray 82 of silo under the charging tray.

In some embodiments of the present invention, the tray mechanism 1 may further determine the tray loading amount according to the height of the second tray 82 in the tray supply assembly 11 and/or the tray blanking assembly 12, and when the tray loading amount reaches a preset amount, the automatic tray loading device 100 may automatically stop and alert the staff to perform tray loading and tray unloading.

In other embodiments of the present invention, as shown with reference to fig. 7 and 8, the tray supply assembly 11 includes a first tray supply assembly 113 and a second tray supply assembly 114, the first tray supply assembly 113 can supply an empty first tray 81, and the second tray 82 supply assembly can supply an empty second tray 82.

In some embodiments of the present invention, as shown in fig. 3 and 4, the vibratory feeding mechanism 4, the material-separating mechanism 5, the tray-loading position 12, the turnaround position 11, and the tray mechanism 1 are arranged in order in a first direction of the automatic tray-loading apparatus 100, so as to realize the automatic tray loading of the electronic seal labels 13, specifically, the electronic seal labels 13 in the vibration feeding mechanism 4 can move to the distributing groove 511 of the distributing mechanism 5 at the discharging port 41 along the first direction, the tray loading manipulator 6 grabs the electronic seal labels 13 in the distributing groove 511, then the electronic seal label 13 is placed in the first tray 81 which is positioned at the tray loading position 12 on the positioning mechanism 3, after the first tray 81 is filled with the electronic seal label 13, the first material tray 81 is moved to the turnover position 11 by the positioning mechanism 3, then the first material tray 81 is conveyed to the material tray blanking assembly 12 by the turnover manipulator 2, and finally the first material tray 81 is conveyed to the blanking position by the material tray blanking assembly 12.

In some embodiments of the present invention, referring to fig. 4, the tray loading robot 6 moves between the distribution mechanism 5 and the tray loading position 12 to carry the electronic seal labels 13 in the first moving area, the transferring robot 2 moves between the transferring position 11 and the magazine mechanism 1 to carry the first tray 81 and the second tray 82 in the second moving area, and the tray loading position 12 and the transferring position 11 are arranged to be staggered in the first direction so that the first moving area and the second moving area do not overlap, whereby the interference of the movement of the tray loading robot 6 and the transferring robot 2 can be avoided.

In some embodiments of the present invention, referring to fig. 4, the positioning mechanism 3, the tray loading position 12, and the transferring position 11 are all plural, the plurality of tray loading positions 12 are arranged along the second direction of the automatic tray loading apparatus 100, the plurality of transferring positions 11 are arranged along the second direction, the plurality of positioning mechanisms 3 are arranged along the second direction, the plurality of tray loading positions 12 and the plurality of transferring positions 11 correspond one-to-one along the first direction of the automatic tray loading apparatus 100, wherein the first direction and the second direction are perpendicular, i.e. the automatic tray loading apparatus 100 comprises a plurality of positioning mechanisms 3 arranged along the second direction, each positioning mechanism 3 is movable between a respective tray loading position 12 and a turnaround position 11, at least one of the plurality of positioning mechanisms 3 is brought to its respective tray loading position 12, thereby ensuring that the tray loading manipulator 6 is always in a working state, and further improving the tray loading efficiency of the automatic tray loading equipment 100.

It can be understood that when the positioning mechanism 3 is in the transferring position 11 and there is no first tray 81 in the positioning mechanism 3, the transferring robot 2 can transfer the empty first tray 81 from the tray supply assembly 11 to the positioning mechanism 3, and then the positioning mechanism 3 drives the first tray 81 to move from the transferring position 11 to the tray loading position 12. When the first tray 81 is located at the circulation position 11 and the positioning mechanism 3 is provided with the first tray 81 containing the electronic seal labels 13, the circulation manipulator 2 can convey the first tray 81 containing the electronic seal labels 13 to the tray blanking assembly 12 through the positioning mechanism 3. When the first tray 81 is at the tray loading position 12 and the first tray 81 is not full of the electronic seal labels 13, the tray loading manipulator 6 places the electronic seal labels 13 in the distributing groove 511 into the first tray 81. When the first tray 81 is in the circulation position 11 and the first tray 81 is full of the electronic seal labels 13, the positioning mechanism 3 drives the first tray 81 to move from the tray loading position 12 to the circulation position 11.

In some embodiments of the present invention, the automatic disc loading apparatus 100 is provided with two positioning mechanisms 3, the two positioning mechanisms 3 are a first positioning mechanism and a second positioning mechanism, respectively, the first positioning mechanism and the second positioning mechanism are arranged side by side in a second direction, the automatic disc loading apparatus 100 further has two disc loading positions 12 and two transferring positions 11, the two disc loading positions 12 are a first disc loading position and a second disc loading position, respectively, the two transferring positions 11 are a first transferring position and a second transferring position, respectively, the first positioning mechanism can drive one first disc 81 to move between the first disc loading position and the first transferring position, the second positioning mechanism can drive the other first disc 81 to move between the second disc loading position and the second transferring position, the second positioning mechanism can drive the first disc 81 thereon to move from the second transferring position to the second disc loading position before the first positioning mechanism drives the first disc 81 thereon to move from the first disc loading position to the first transferring position, thereby ensuring that the tray loading manipulator 6 is always in a working state, and further improving the tray loading efficiency of the automatic tray loading equipment 100.

In some embodiments of the present invention, referring to fig. 12, the tray loading robot 6 is adapted to move in a first direction, a second direction and a third direction of the automatic tray loading apparatus 100, wherein the first direction, the second direction and the third direction are perpendicular to each other, that is, the tray loading robot 6 may be a three-axis robot, the tray loading robot 6 includes a second X-axis arm 62, a second Y-axis arm 63 and a second Z-axis arm 64, and the second air cylinder 65 and the second suction cup 61 may be provided on the second Z-axis arm 64, and the second suction cup 61 may be driven to move in the first direction, the second direction and the third direction by controlling the movement of the second X-axis arm 62, the second Y-axis arm 63 and the second Z-axis arm 64, so as to place the electronic seal label 13 in the dispensing slot 511 in the first tray 81.

Alternatively, the second X-axis arm 62, the second Y-axis arm 63, and the second Z-axis arm 64 may all adopt a transmission structure of a stepping motor, a lead screw, and a linear guide.

In some embodiments of the present invention, referring to fig. 15, the epicyclic robot 2 is adapted to move in a first direction, a second direction and a third direction of the automatic tray loading device 100, wherein the first direction, the second direction and the third direction are perpendicular to each other, that is, the epicyclic robot 2 may be a three-axis robot, the epicyclic robot 2 includes a first X-axis arm 23, a first Y-axis arm 24 and a first Z-axis arm 25, a suction cup support may be provided at the bottom of the first Z-axis arm 25, and a first suction cup 22 may be provided at the suction cup support, and by controlling the movement of the first X-axis arm 23, the first Y-axis arm 24 and the first Z-axis arm 25, the first suction cup 22 may be driven to move in the first direction, the second direction and the third direction, so as to realize that the first suction cup 22 moves the first tray 81 and the second tray 82.

In some embodiments of the invention, as shown with reference to fig. 15 and 16, the vision inspection mechanism 7 can be mounted on the first Z-axis arm 25 with the suction cup holder between the vision inspection mechanism 7 and the first tray 81, and the suction cup holder avoiding all of the first mounting slots 811 on the first tray 81.

Alternatively, the first X-axis arm 23, the first Y-axis arm 24, and the first Z-axis arm 25 may all adopt a transmission structure of a stepping motor, a lead screw, and a linear guide.

In some embodiments of the invention, the first direction is a front-back direction, the second direction is a left-right direction, and the third direction is an up-down direction.

In some embodiments of the present invention, as illustrated with reference to fig. 14, the positioning mechanism 3 comprises: the first positioning clamping assembly 341 and the second positioning clamping assembly 342, the first positioning clamping assembly 341 is suitable for positioning and clamping the first material tray 81 in the first direction, the second positioning clamping assembly 342 is suitable for positioning and clamping the first material tray 81 in the second direction, so that the first material tray 81 can be centered and positioned, the first material tray 81 and the positioning mechanism 3 keep a preset relative position, the position of the first material tray 81 can be determined according to the position of the positioning mechanism 3, the positioning accuracy of the first material tray 81 is improved, and the accuracy of the tray loading manipulator 6 when the electronic seal label 13 is placed in the first material tray 81 is ensured.

In some embodiments of the present invention, referring to fig. 14, the first positioning and clamping assembly 341 includes a first clamping portion 3411 and a second clamping portion 3412 oppositely disposed in a first direction, the first clamping portion 3411 or the second clamping portion 3412 is provided with a first elastic buffering member 3413 adapted to be elastically deformed in the first direction, the first clamping portion 3411 and the second clamping portion 3412 are adapted to be moved toward each other in the first direction to clamp the first tray 81, the second positioning and clamping assembly 342 includes a third clamping portion 3421 and a fourth clamping portion 3422 oppositely disposed in a second direction, the third clamping portion 3421 or the fourth clamping portion 3422 is provided with a second elastic buffering member 3423 adapted to be elastically deformed in the second direction, the third clamping portion 3421 and the fourth clamping portion 3422 are adapted to be moved toward each other in the second direction to clamp the first tray 81, the first elastic buffering member 3413 and the second elastic buffering member 3423 are disposed, so that the flexible centering and positioning of the first tray 81 can be realized, the first tray 81 is prevented from being pressed by the first clamping portion 3411 and the second clamping portion 3412 in the first direction, the first tray 81 is prevented from being pressed by the third clamping portion 3421 and the fourth clamping portion 3422 in the second direction, and the first tray 81 is prevented from being greatly deformed, so that the accuracy of the tray loading manipulator 6 in placing the electronic seal labels 13 into the first tray 81 is ensured.

In some embodiments of the present invention, first clamping portion 3411 includes a first positioning block, a first driving cylinder and a first elastic buffer 3413, the first elastic buffer 3413 may be configured as a spring, the first driving cylinder is adapted to push the first positioning block to move toward second clamping portion 3412 through first elastic buffer 3413, second clamping portion 3412 includes a second positioning block and a second driving cylinder, and the second driving cylinder is adapted to push the second positioning block to move toward first clamping portion 3411. The third clamping portion 3421 includes a third positioning block, a third driving cylinder and a second elastic buffer 3423, the second elastic buffer 3423 may be configured as a spring, the third driving cylinder is adapted to push the third positioning block to move toward the fourth clamping portion 3422 via the second elastic buffer 3423, the fourth clamping portion 3422 includes a fourth positioning block and a fourth driving cylinder, and the fourth driving cylinder is adapted to push the fourth positioning block to move toward the third clamping portion 3421.

According to the automatic tray loading equipment 100 provided by the embodiment of the invention, the automatic, high-speed and flexible tray loading of the electronic seal label 13 can be realized, a manual operation mode is replaced, the manual input is reduced, the production efficiency is improved, and the cost of manpower, material turnover and the like is reduced. Meanwhile, the visual inspection mechanism 7 is integrated on the automatic tray loading equipment 100 to replace manual inspection, whether the electronic seal label 13 has loading abnormity such as missing loading, not loading in place, mixed loading and the like can be automatically inspected, an alarm prompt is popped up according to specific conditions, the machine is stopped, and the tray loading quality and the production of the whole tray marking process of the subsequent process are effectively guaranteed.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. An automatic tray loading device for electronic seal labels, comprising:

the bin tray mechanism comprises a material tray supply assembly and a material tray blanking assembly, the material tray supply assembly is used for supplying a first material tray, and the material tray blanking assembly is used for conveying the first material tray loaded with the electronic seal label to a blanking position;

the automatic tray loading equipment comprises a turnover manipulator and a positioning mechanism, wherein the turnover manipulator is used for conveying the first tray to the positioning mechanism, the automatic tray loading equipment is provided with a turnover position, and the positioning mechanism is suitable for centering, positioning and clamping the first tray at the turnover position;

the vibration feeding mechanism is used for vibrating the electronic seal label to enable the marking surface of the electronic seal label to face upwards, and the vibration feeding mechanism is used for conveying the electronic seal label to a discharge hole of the vibration feeding mechanism;

the material distributing mechanism is provided with a material distributing groove and can move relative to the vibration feeding mechanism so as to enable the electronic seal label moved out of the material outlet to move into the material distributing groove;

the tray loading manipulator is used for placing the electronic seal labels in the distributing groove into the first material tray, and the turnover manipulator is also used for conveying the first material tray with the electronic seal labels to the material tray blanking assembly;

and the visual inspection mechanism is used for acquiring the visual information of the first material tray provided with the electronic seal label so as to judge whether the material tray is abnormally loaded according to the visual information.

2. The automatic tray loading device for electronic seal labels according to claim 1, wherein the automatic tray loading device has a tray loading position, the positioning mechanism is adapted to drive the first tray to move to the tray loading position or the turnaround position, the tray loading position and the turnaround position are staggered, the tray loading manipulator is configured to place the electronic seal labels in the distributing chute in the first tray of the tray loading position, and the turnaround manipulator is configured to transport the first tray of the turnaround position, which is loaded with the electronic seal labels, to the tray blanking assembly.

3. An apparatus for automatically palletizing electronic seal labels according to claim 1, wherein said visual inspection mechanism is provided to said epicyclic robot.

4. The automatic tray filling apparatus for electronic seal labels according to claim 2, wherein the tray supply assembly is further configured to supply a second tray for loading the first tray, the turnaround robot is further configured to transport the second tray to the tray blanking assembly, and place the first tray loaded with the electronic seal labels in the turnaround position in the second tray at the tray blanking assembly.

5. The automatic tray filling apparatus of electronic seal labels according to claim 2, wherein the vibration feeding mechanism, the material distributing mechanism, the tray filling position, the transferring position, and the tray mechanism are arranged in sequence along a first direction of the automatic tray filling apparatus.

6. The automatic palletizing apparatus for electronic seal labels as in claim 5, wherein the palletizing robot moves between the distribution mechanism and the palletizing position, and the turnaround robot moves between the turnaround position and the magazine mechanism.

7. The apparatus of claim 2, wherein the positioning mechanism, the tray loading position, and the turnaround position are all plural, a plurality of the tray loading positions are arranged along a second direction of the apparatus, a plurality of the turnaround positions are arranged along the second direction, a plurality of the positioning mechanism are arranged along the second direction, a plurality of the tray loading positions and a plurality of the turnaround positions are in one-to-one correspondence along a first direction of the apparatus, and wherein the first direction is perpendicular to the second direction.

8. The automated electronic seal label palletizing device according to claim 7, wherein the palletizing robot is adapted to move in the first direction, the second direction, and a third direction of the automated palletizing device, wherein the first direction, the second direction, and the third direction are perpendicular to each other.

9. The automatic disc loading apparatus of electronic seal labels of claim 7, wherein the epicyclic robot is adapted to move in the first direction, the second direction, and a third direction of the automatic disc loading apparatus, wherein the first direction, the second direction, and the third direction are perpendicular to each other.

10. The automatic disc loading apparatus of electronic seal labels of claim 7, wherein the positioning mechanism comprises: the first positioning clamping assembly is suitable for positioning and clamping the first material tray in the first direction, and the second positioning clamping assembly is suitable for positioning and clamping the first material tray in the second direction.

11. The automatic disc loading device for electronic seal labels according to claim 10, wherein the first positioning and clamping assembly comprises a first clamping portion and a second clamping portion which are oppositely arranged in the first direction, the first clamping portion or the second clamping portion is provided with a first elastic buffer piece which is suitable for elastic deformation along the first direction, and the first clamping portion and the second clamping portion are suitable for moving towards each other in the first direction to clamp the first tray;

the second location centre gripping subassembly includes the relative third clamping part and the fourth clamping part that sets up of second direction, third clamping part or the fourth clamping part is equipped with and is suitable for along the second direction elastic deformation's second elastic buffer spare, the third clamping part with the fourth clamping part is suitable for the second direction relative motion is in order to centre gripping first charging tray.