CN115043021B

CN115043021B - Automatic tray loading equipment for electronic seal labels

Info

Publication number: CN115043021B
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: 2023-04-25
Anticipated expiration: 2042-07-13
Also published as: CN115043021A

Abstract

The invention discloses automatic tray loading equipment for electronic seal labels. The automatic tray loading device includes: the device comprises a bin disc mechanism, a turnover manipulator, a positioning mechanism, a vibration feeding mechanism, a distributing mechanism, a tray loading manipulator 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 material distribution groove are placed in the first tray through the tray loading mechanical arm, the first tray filled with the electronic seal labels is conveyed to the tray unloading assembly through the turnover mechanical arm, so that the automatic tray loading of the electronic seal labels is realized, the labor cost of the tray loading of the electronic seal labels is reduced, the production efficiency of the tray loading of the electronic seal labels is improved, and meanwhile, whether the tray loading is abnormal or not is judged through the visual inspection mechanism, so that 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 labels

Technical Field

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

Background

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

In the related art, when an electronic seal label is produced, manual dishing is needed before marking the electronic seal label, the manual dishing is time-consuming and labor-consuming, and problems such as missing, mixed dishing, unfilling in place and the like easily occur, so that bad outflow is caused.

Disclosure of Invention

The present invention aims to solve, at least to some extent, one of the above technical 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 device of the electronic seal label according to the embodiment of the invention comprises: the bin disc mechanism comprises a tray supply assembly and a tray blanking assembly, the tray supply assembly is used for supplying a first tray, and the tray blanking assembly is used for conveying the first tray filled with the electronic seal label to a blanking position; the automatic tray loading device 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 device is provided with a turnover position, and the positioning mechanism is suitable for centering and positioning and clamping the first tray in the turnover position; the vibration feeding mechanism is used for vibrating the electronic seal label to enable the marking face of the electronic seal label to face upwards, and is used for conveying the electronic seal label to a discharge hole of the vibration feeding mechanism; the material distribution mechanism is provided with a material distribution groove and can move relative to the vibration feeding mechanism so as to enable the electronic seal label removed from the discharge hole to move into the material distribution groove; the tray loading manipulator is used for placing the electronic seal labels in the material dividing groove in the first material tray, and the turnover manipulator is also used for conveying the first material tray filled with the electronic seal labels to the material tray blanking assembly; the visual inspection mechanism is used for acquiring visual information of the first tray provided with the electronic seal label so as to judge whether the tray is abnormal 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 material distribution groove are placed in the first tray through the tray loading mechanical arm, the first tray filled with the electronic seal labels is conveyed to the tray unloading assembly through the turnover mechanical arm, so that the automatic tray loading of the electronic seal labels is realized, the labor cost of the tray loading of the electronic seal labels is reduced, the production efficiency of the tray loading of the electronic seal labels is improved, and meanwhile, whether the tray loading is abnormal or not is judged through the visual inspection mechanism, so that 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 suitable for driving 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 label in the material dividing groove in the first tray of the tray loading position, and the turnover manipulator is used for conveying the first tray with the electronic seal label at the turnover position to the tray blanking assembly.

According to some embodiments of the invention, the visual inspection mechanism is provided to the turn-around 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 transfer robot is further configured to transfer the second tray to the tray blanking assembly, and place the first tray loaded with the electronic seal label in the transfer position within the second tray at the tray blanking assembly.

According to some embodiments of the invention, the vibration feeding mechanism, the distributing mechanism, the loading position, the turnover position, and the bin tray mechanism are sequentially arranged along a first direction of the automatic loading device.

According to some embodiments of the invention, the palletizing robot moves between the dispensing mechanism and the palletizing position, and the turnaround robot moves between the turnaround position and the warehouse tray mechanism.

According to some embodiments of the invention, the positioning mechanism, the loading position and the turnover position are all multiple, the plurality of loading positions are arranged along a second direction of the automatic loading device, the plurality of turnover positions are arranged along the second direction, the plurality of positioning mechanisms are arranged along the second direction, the plurality of loading positions and the plurality of turnover positions are in one-to-one correspondence along a first direction of the automatic loading device, and the first direction and the second direction are perpendicular.

According to some embodiments of the invention, the palletizing robot is adapted to move in the first direction, the second direction and a third direction of the automatic palletizing 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 palletizing 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 tray in the first direction, and the second positioning clamping assembly is suitable for positioning and clamping the first tray in the second direction.

According to some embodiments of the invention, the first positioning clamping assembly comprises a first clamping part and a second clamping part which are oppositely arranged in the first direction, wherein the first clamping part or the second clamping part is provided with a first elastic buffer piece which is suitable for elastic deformation along the first direction, and the first clamping part and the second clamping part are suitable for opposite movement in the first direction so as to clamp the first material tray; the second positioning clamping assembly comprises a third clamping part and a fourth clamping part which are oppositely arranged in the second direction, a second elastic buffer piece which is suitable for elastic deformation along the second direction is arranged on the third clamping part or the fourth clamping part, and the third clamping part and the fourth clamping part are suitable for moving in the second direction in opposite directions so as to clamp the first material 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 illustration of an electronic seal label and a first tray according to an embodiment of the invention;

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

FIG. 3 is a schematic view of a portion of an automatic palletizing apparatus according to an embodiment of the present invention;

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

FIG. 5 is a schematic illustration of a cartridge pan mechanism according to an embodiment of the invention;

FIG. 6 is a schematic diagram II of a cartridge tray mechanism according to an embodiment of the invention;

FIG. 7 is a schematic view of a portion of an automatic palletizing 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 feeding mechanism and a dispensing mechanism according to an embodiment of the invention;

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

FIG. 12 is a schematic view of a palletizing robot according to an embodiment of the present invention;

FIG. 13 is a schematic view of a feed divider mechanism, a palletizing robot and a positioning mechanism according to 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 visual inspection mechanism according to embodiments of the present invention;

FIG. 16 is a top view of an epicyclic robot and visual inspection mechanism according to embodiments 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 tray mechanism 1, the tray supply assembly 11, the first lifting assembly 111, the tray separation assembly 112, the first tray supply assembly 113, the second tray supply assembly 114, the tray discharging assembly 12, the second lifting assembly 121, the limiting assembly 122, the turnover robot 2, the first suction cup 22, the first X-axis arm 23, the first Y-axis arm 24, the first Z-axis arm 25, the positioning mechanism 3, the tooling plate 31, the slide rail 32, the driving device, the centering and clamping device 34, the first positioning and clamping assembly 341, the first clamping part 3411, the second clamping part 3412, the first elastic buffer 3413, the second positioning and clamping assembly 342, the third clamping part 3421, the fourth clamping part 3422, the second elastic buffer 3423, the position sensor 35 the vibration feeding mechanism 4, the discharge port 41, the discharge flow channel 42, the distributing mechanism 5, the distributing shuttle 51, the distributing groove 511, the servo driver 52, the screw rod moving platform 53, the tray loading manipulator 6, the second sucking disc 61, the second X-axis arm 62, the second Y-axis arm 63, the second Z-axis arm 64, the second cylinder 65, the visual inspection mechanism 7, the camera 71, the lens 72, the light source 73, the first tray 81, the first mounting groove 811, the second tray 82, the second mounting groove 821, the rack 9, the first rack 91, the second rack 92, the third rack 93, the automatic feeding mechanism 10, the feeding bin 101, the turnover position 110, the tray loading position 120, the electronic seal label 13, the marking face 131, the alarm 14 and the automatic tray loading device 100.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

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

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

An automatic palletizing apparatus 100 of an electronic seal label 13 according to an 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 tray 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 divider 5, sabot manipulator 6 and visual inspection mechanism 7, wherein:

the tray mechanism 1 includes a tray supply assembly 11 and a tray discharging assembly 12, the tray supply assembly 11 is used for supplying the first tray 81, the tray discharging assembly 12 is used for conveying the electronic seal label 13 filled with the electronic seal label 13 to a discharging position, a plurality of first mounting grooves 811 can be formed 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 label 13 is correctly placed in the first mounting groove 811, the marking surface 131 of the electronic seal label 13 faces upwards, the tray supply assembly 11 can supply the first tray 81 with the first mounting groove 811 empty, the tray discharging assembly 12 can fill the first tray 81 filled with the electronic seal label 13 to the discharging position, the first tray 81 filled with the electronic seal label 13 can be taken away at the discharging position through manual or other conveying devices, and then the electronic seal label 13 in the first tray 81 can be marked, issued/checked and factory checked to realize manufacturing of the electronic seal label 13.

The turnover manipulator 2 is used for conveying the first tray 81 to the positioning mechanism 3, the turnover manipulator 2 can be provided with a first air cylinder and a first suction cup 22, the first air cylinder can control the negative pressure at the first suction cup 22, the turnover manipulator 2 can grasp the first tray 81 at the tray supply assembly 11 through the first suction cup 22 and move the first tray 81 to the positioning mechanism 3, the automatic tray loading device 100 is provided with a turnover position 110, the positioning mechanism 3 is suitable for centering and clamping the first tray 81 at the turnover position 110, that is, the turnover manipulator 2 conveys the empty first tray 81 at the tray supply assembly 11 to the positioning mechanism 3, the positioning mechanism 3 can center and position the empty first tray 81, and the first tray 81 is fixed, so that the first tray 81 and the positioning mechanism 3 can 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 the stability of the transfer robot 2 gripping the first tray 81, the transfer robot 2 may be provided with a plurality of first suction cups 22.

The vibration feed mechanism 4 is used for vibrating the electronic seal label 13 so that the marking surface 131 of the electronic seal label 13 faces upwards, the vibration feed mechanism 4 is used for conveying the electronic seal label 13 to the discharge hole 41 of the vibration feed mechanism 4, the vibration feed mechanism 4 can be a vibration disc, a plurality of electronic seal labels 13 can be accommodated in a hopper of the vibration disc, the electronic seal label 13 can move to the discharge hole 41 along the discharge flow channel 42 through the vibration of the hopper, and the electronic seal label 13 moves to the discharge hole 41 in an upward state of the marking surface 131 under the screening of the discharge flow channel 42. Optionally, the vibration feeding mechanism 4 is provided with a photoelectric sensor, and the photoelectric sensor can control the starting and stopping of blowing of the vibration disc, the linear vibrator and the discharging flow channel 42.

The material distributing mechanism 5 is provided with a material distributing groove 511, the material distributing mechanism 5 can relatively vibrate the feeding mechanism 4 to enable the electronic seal label 13 moved out of the material outlet 41 to move into the material distributing groove 511, the material distributing mechanism 5 can reciprocate in the direction perpendicular to the material outlet 41, when the empty material distributing groove 511 moves to the material outlet 41, the electronic seal label 13 at the material outlet 41 can move into the material distributing groove 511, and when the material distributing groove 511 with the electronic seal label 13 moves to the material outlet 41, the electronic seal label 13 at the material outlet 41 cannot enter the material distributing groove 511, so that the electronic seal label 13 at the material outlet 41 can be continuously supplemented into the empty material distributing groove 511 through the reciprocating movement of the material distributing mechanism 5.

Alternatively, referring to fig. 10 and 11, the material distributing mechanism 5 includes a material distributing shuttle 51, a servo driver 52, and a screw moving platform 53, wherein the servo driver 52 may drive the material distributing shuttle 51 to reciprocate at the material outlet 41 through the screw moving platform 53, and the material distributing shuttle 51 may be sequentially provided with a plurality of material distributing grooves 511 in a moving direction thereof, so as to improve material distributing efficiency. The dispensing mechanism 5 may further include a first sensor, where the first sensor may be configured to detect whether the electronic seal label 13 is located in the dispensing chute 511 opposite to the discharge port 41, so as to control the servo driver 52 to drive the movement of the dispensing shuttle 51, so as to implement rapid dispensing.

The tray loading manipulator 6 is used for placing the electronic seal label 13 in the material dividing groove 511 in the first material 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 the negative pressure of the second sucking disc 61, the tray loading manipulator 6 can grasp the electronic seal label 13 in the material dividing groove 511 through the second sucking discs 61, and the electronic seal label 13 is placed in the first mounting groove 811 of the first material tray 81 clamped by the positioning mechanism 3. It will be appreciated that the positioning of the dispensing mechanism 5 and the positioning of the first tray 81 clamped by the positioning mechanism 3 ensure that the accuracy of the handling of the electronic seal label 13 by the loading manipulator 6 between the dispensing mechanism 5 and the first tray 81 is ensured, avoiding that the electronic seal label 13 in the dispensing chute 511 is not removed and that the electronic seal label 13 is not loaded in place in the first mounting groove 811.

Optionally, 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 grasp one electronic seal label 13, and according to the number of the first mounting grooves 811 of each row of the first tray 81 defined by the device software, the number of electronic seal labels 13 grasped by the tray loading manipulator 6 at a time is automatically adjusted, so as to realize flexible high-speed tray loading. For example, 7 first mounting grooves 811 may be formed in the

first tray

81, or 9 first mounting grooves 811 may be formed in one row, and the loading manipulator 6 may grasp 7 or 9 electronic seal labels 13 at a time, so as to achieve the requirement that the loading manipulator 6 can fill one row of products of the first tray 81 with a single loading operation, thereby being beneficial to improving the loading efficiency.

The turnover manipulator 2 is further configured to transport the first tray 81 filled with the electronic seal label 13 to the tray discharging assembly 12, that is, when the tray loading manipulator 6 fills the first tray 81 on the positioning mechanism 3 with the electronic seal label 13, the turnover manipulator 2 may transport the first tray 81 filled with the electronic seal label 13 to the tray discharging assembly 12, so that the positioning mechanism 3 may continuously center and position the new first tray 81.

The visual inspection mechanism 7 is configured to obtain visual information of the first tray 81 provided with the electronic seal label 13, so as to determine whether the tray is abnormal according to the visual information, and the visual information can detect whether the first tray 81 provided with the electronic seal label 13 has problems of missing, mixed loading and unfilled positions, and if at least one of missing, mixed loading and unfilled positions is detected, the operation of the automatic tray loading device 100 can be stopped, and an alarm prompt is sent through the alarm 14, so that the tray loading quality is ensured, and the outflow of defective products is avoided.

It will be appreciated that the missing first tray 81 has a first mounting slot 811 in which the electronic seal label 13 is not placed, and that the missing first tray 81 has the electronic seal label 13 with the marking face 131 not facing upward or not fully positioned in the first mounting slot 811, and that more than two different types of electronic seal labels 13 are present in the missing first tray 81. The mixed package can be identified by color, and the external colors of the electronic seal labels 13 of different models are different.

According to the automatic tray loading equipment 100 provided by the embodiment of the invention, the electronic seal labels 13 in the distribution groove 511 are placed in the first tray 81 through the tray loading manipulator 6, the first tray 81 filled with the electronic seal labels 13 is conveyed to the tray discharging assembly 12 through the turnover manipulator 2, so that automatic tray loading of the electronic seal labels 13 is realized, the labor cost for loading the electronic seal labels 13 is reduced, the production efficiency of loading the electronic seal labels 13 is improved, and meanwhile, whether the tray loading is abnormal 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 apparatus 100 further includes a rack 9, and the tray mechanism 1, the turnover robot 2, the positioning mechanism 3, the vibration loading mechanism 4, the distributing mechanism 5, and the tray loading robot 6 may be disposed on the rack 9.

In some embodiments of the present invention, referring to fig. 2 to 4, the rack 9 includes a first rack 91, a second rack 92, and a third rack 93 arranged along a first direction, the vibration loading mechanism 4 is disposed on the first rack 91, the distributing mechanism 5, the tray loading robot 6, and the positioning mechanism 3 are disposed on the second rack 92, and the tray mechanism 1 and the turnover robot 2 are disposed on the third rack 93.

In some embodiments of the present invention, the automatic tray loading device 100 further includes an automatic feeding mechanism 10, where the automatic feeding mechanism 10 is disposed on the first rack 91, a feeding bin 101 is disposed in the automatic feeding mechanism 10, the feeding bin 101 may be provided with a plurality of electronic seal labels 13, an outlet of the feeding bin 101 is disposed above a hopper of the vibratory feeding mechanism 4, and an outlet of the feeding bin 101 may be opened every a first preset time and closed after the first preset time is opened, so that the electronic seal labels 13 in the feeding bin 101 enter the vibratory feeding mechanism 4 to perform automatic feeding, thereby being beneficial to reducing labor cost of feeding.

In some embodiments of the present invention, referring to fig. 4, the automatic tray loading apparatus 100 has a tray loading position 120, the positioning mechanism 3 is adapted to drive the first tray 81 to move to the tray loading position 120 or the turnover position 110, the tray loading position 120 and the turnover position 110 are staggered, the tray loading manipulator 6 is used for placing the electronic seal label 13 in the distribution chute 511 in the first tray 81 at the tray loading position 120, the turnover manipulator 2 is used for conveying the first tray 81 with the electronic seal label 13 at the turnover position 110 to the tray blanking assembly 12, that is, the tray supply assembly 11 provides that the first tray 81 is firstly conveyed to the positioning mechanism 3 by the turnover manipulator 2, the first tray 81 is positioned at the turnover position 110 by the positioning mechanism 3 after being centered, the first tray 81 is moved to the tray loading position 120 by the positioning mechanism 3, then the electronic seal label 13 in the distribution chute 511 is placed in the first tray 81 at the tray loading position 120, after the first tray 81 is filled with the electronic seal label 13, the first tray 81 is moved to the positioning mechanism 3, then to the first tray 81 is conveyed to the first tray blanking assembly 12, and finally conveyed to the tray blanking assembly 81 by the turnover manipulator 2 to the tray blanking assembly 12. Wherein, staggering the loading position 120 and the turnover position 110 can avoid the risk of interference between the loading manipulator 6 and the turnover manipulator 2.

Preferably, the loading position 120 is close to the distributing mechanism 5, and the turnover position 110 is close to the tray mechanism 1, so that the action time of the loading manipulator 6 and the turnover manipulator 2 is reduced.

In some embodiments of the present invention, referring to fig. 13 and 14, the positioning mechanism 3 includes: tooling plate 31, slide rail 32, drive arrangement 33 and centering clamping device 34, wherein, slide rail 32 and drive arrangement 33 can locate frame 9, and tooling plate 31 is suitable for with slide rail 32 sliding fit, and centering clamping device 34 locates tooling plate 31, and centering clamping device 34 is used for centering centre gripping first charging tray 81, and drive arrangement 33 is used for driving tooling plate 31 to slide along slide rail 32 to realize that first charging tray 81 on the tooling plate 31 removes to dishing position 120 or turnover position 110.

In some embodiments of the present invention, referring to fig. 14, the centering and clamping device 34 includes: a first positioning and clamping assembly 341 and a second positioning and clamping assembly 342, the first positioning and clamping assembly 341 is adapted to position and clamp the first tray 81 in a first direction, and the second positioning and clamping assembly 342 is adapted to position and clamp 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, and the positioning mechanism 3 may be provided with a plurality of position sensors 35, and the 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 turnover position 110 and the tray loading position 120.

In some embodiments of the present invention, referring to fig. 15 and 16, the visual inspection mechanism 7 is disposed on the turnover manipulator 2, and the visual inspection mechanism 7 can photograph the first tray 81 with the electronic seal label 13 to obtain visual information of the first tray 81 with the electronic seal label 13, and the visual inspection mechanism 7 is disposed on the turnover manipulator 2, so that the occupation space of the visual inspection mechanism 7 can be reduced, and the visual inspection mechanism 7 is prevented from being blocked by the turnover manipulator 2, thereby being beneficial to improving the production efficiency.

It will be appreciated that if the visual inspection mechanism 7 is located at another position, when the visual inspection mechanism 7 photographs the first tray 81 provided with the electronic seal label 13, the turnover manipulator 2 needs to be moved out of the position above the first tray 81, so as to affect the production takt, and the visual inspection mechanism 7 is located at the turnover manipulator 2, and the visual inspection mechanism 7 can photograph the first tray 81 before, during or after the transportation of the turnover manipulator 2, so as to obtain visual information of the first tray 81 provided with the electronic seal label 13, thereby being beneficial to improving the production takt and the production efficiency.

In some embodiments of the present invention, referring to fig. 15 and 16, the visual inspection mechanism 7 includes a camera 71, a lens 72, a light source 73 and a control module, where the camera 71 is a 2000 ten thousand pixel CCD color industrial camera, the lens 72 is a 12mm focal length, the 2/3 inch target surface industrial lens, the light source 73 is a 24V ring light source, and the brightness is adjustable, so as to facilitate the accuracy of the visual inspection mechanism 7 in acquiring visual information, the control module can check whether the electronic seal label 13 is in a missing, not in place, popped up, dropped, color mixed loading, and other abnormal conditions after being loaded into the first tray 81 through a template comparison and a special algorithm, and when the abnormal condition is found, the control module can control the automatic tray loading device 100 to stop automatically and send an alarm prompt through the alarm 14.

In some embodiments of the present invention, referring to fig. 4-6, the tray supply assembly 11 is further configured to supply a second tray 82 on which the first tray 81 is loaded, the turnover robot 2 is further configured to transport the second tray 82 to the tray discharging assembly 12, and place the first tray 81 with the electronic seal label 13 at the turnover position 110 in the second tray 82 at the tray discharging assembly 12, it is understood that the second tray 82 is provided with a second mounting groove 821, the first tray 81 may be placed in the second mounting groove 821, the tray supply assembly 11 may move the second tray 82 on which the first tray 81 is placed, the turnover robot 2 may first move the first tray 81 in the second tray 82 to the positioning mechanism 3, then move the second tray 82 to the tray discharging assembly 12, and finally move the first tray 81 filled with the electronic seal label 13 from the positioning mechanism 3 to the second tray 82 at the tray discharging assembly 12.

It should be noted that, referring to fig. 17, a plurality of second mounting grooves 821 may be provided in the second tray 82, each of the second mounting grooves 821 may be provided with one first tray 81, and after all of the first trays 81 in the second tray 82 located at the tray supply assembly 11 are taken out by the turnover manipulator 2, the turnover manipulator 2 moves the second tray 82 to the tray discharging assembly 12. The number of the second mounting grooves 821 in the second tray 82 may be the same as the number of the positioning mechanisms 3 to reduce the waiting time of the turn-around robot 2.

Referring to fig. 5 and 6, the tray supply assembly 11 is provided with a tray supply slot in which a plurality of second trays 82 filled with the first trays 81 can be longitudinally stacked, and a first lifting assembly 111 is provided at the bottom of the tray supply slot, and the second trays 82 in the tray supply slot can be sequentially lifted to a first preset height by controlling the lifting of the first lifting assembly 111 so that the transfer robot 2 can grasp 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 separating assembly 112, the tray separating 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 groove, a plurality of second trays 82 filled with the first trays 81 can be longitudinally stacked in the tray discharging groove, wherein the first trays 81 are filled with electronic seal labels 13, a second lifting assembly 121 is arranged at the bottom of the tray discharging groove, and the height of the uppermost end of the longitudinally stacked second trays 82 in the tray discharging groove can be maintained at a second preset height by controlling the descending of the second lifting assembly 121, so that the turnover manipulator 2 can put down the first trays 81 or the second trays 82 at a third preset height, wherein the third preset height is larger than the second preset height. The tray unloading subassembly 12 still is equipped with spacing subassembly 122, spacing subassembly 122 is equipped with at least one second stopper, is placed in the tray unloading inslot by turnover manipulator 2 on every second tray 82 after, the second stopper can be to the tray unloading inslot internal motion, the second stopper can be to the second tray 82 of tray unloading inslot uppermost to the second tray 82 in the assurance tray unloading inslot stacks neatly, and the second tray 82 of the inslot uppermost in avoiding the tray unloading inslot appears the position deviation, prevents that turnover manipulator 2 from appearing the deviation when placing first tray 81 to the second tray 82 of the inslot uppermost under the tray.

In some embodiments of the present invention, the tray deck 1 may further determine the number of trays according to the height of the second tray 82 in the tray supply assembly 11 and/or the tray discharging assembly 12, and when the number of trays reaches the preset number, the automatic tray loading device 100 may automatically stop and alert personnel to perform tray loading and tray unloading.

In other embodiments of the present invention, referring 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 may supply an empty first tray 81 and the second tray 82 supply assembly may supply an empty second tray 82.

In some embodiments of the present invention, referring to fig. 3 and 4, the vibration loading mechanism 4, the distributing mechanism 5, the loading position 120, the turnover position 110, and the tray mechanism 1 are sequentially arranged along the first direction of the automatic tray loading device 100, so as to implement automatic loading of the electronic seal label 13, specifically, the electronic seal label 13 in the vibration loading mechanism 4 may move along the first direction into the distributing groove 511 of the distributing mechanism 5 at the discharging hole 41, the tray loading manipulator 6 grabs the electronic seal label 13 in the distributing groove 511, then places the electronic seal label 13 in the first tray 81 located at the tray loading position 120 on the positioning mechanism 3, after the first tray 81 is filled with the electronic seal label 13, the first tray 81 is moved to the turnover position 110 by the positioning mechanism 3, then the first tray 81 is transported to the tray discharging assembly 12 by the turnover manipulator 2, and finally the first tray 81 is transported to the discharging assembly 12.

In some embodiments of the present invention, referring to fig. 4, the palletizing robot 6 moves between the dispensing mechanism 5 and the palletizing position 120 to carry the electronic seal label 13 in the first active area, the turnover robot 2 moves between the turnover position 110 and the tray mechanism 1 to carry the first and

second trays

81 and 82 in the second active area, and the palletizing position 120 and the turnover position 110 are staggered in the first direction so that the first active area and the second active area do not overlap, whereby the occurrence of motion interference of the palletizing robot 6 and the turnover robot 2 can be avoided.

In some embodiments of the present invention, referring to fig. 4, the positioning mechanism 3, the loading position 120 and the turnover position 110 are multiple, the plurality of loading positions 120 are arranged along the second direction of the automatic loading device 100, the plurality of turnover positions 110 are arranged along the second direction, the plurality of positioning mechanisms 3 are arranged along the second direction, the plurality of loading positions 120 and the plurality of turnover positions 110 are in one-to-one correspondence along the first direction of the automatic loading device 100, wherein the first direction and the second direction are perpendicular, that is, the automatic loading device 100 comprises the plurality of positioning mechanisms 3 arranged along the second direction, each positioning mechanism 3 can move between the corresponding loading position 120 and turnover position 110, so that at least one of the plurality of positioning mechanisms 3 can be located at the corresponding loading position 120, thereby ensuring that the loading manipulator 6 is always in an operating state, and further improving the loading efficiency of the automatic loading device 100.

It will be appreciated that with the positioning mechanism 3 in the turnaround position 110 and no first tray 81 in the positioning mechanism 3, the turnaround robot 2 may transport an empty first tray 81 from the tray supply assembly 11 to the positioning mechanism 3, and then the positioning mechanism 3 moves the first tray 81 from the turnaround position 110 to the loading position 120. With the first tray 81 in the turnaround position 110 and the first tray 81 with the electronic seal label 13 in the positioning mechanism 3, the turnaround robot 2 may transport the first tray 81 with the electronic seal label 13 to the tray discharging assembly 12 by the positioning mechanism 3. When the first tray 81 is at the tray loading position 120 and the first tray 81 is not full of the electronic seal label 13, the tray loading robot 6 places the electronic seal label 13 in the distribution chute 511 into the first tray 81. When the first tray 81 is at the turnover position 110 and the first tray 81 is full of the electronic seal label 13, the positioning mechanism 3 drives the first tray 81 to move from the tray loading position 120 to the turnover position 110.

In some embodiments of the present invention, the automatic tray 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 the second direction, the automatic tray loading apparatus 100 further has two tray loading positions 120 and two turnover positions 110, the two tray loading positions 120 are a first tray loading position and a second tray loading position respectively, the two turnover positions 110 are a first turnover position and a second turnover position respectively, the first positioning mechanism can drive one first tray 81 to move between the first tray loading position and the first turnover position, the second positioning mechanism can drive the other first tray 81 to move between the second tray loading position and the second turnover position, and before the first positioning mechanism drives the first tray 81 thereon to move from the first tray loading position to the first turnover position, the second positioning mechanism drives the first tray 81 thereon to move from the second turnover position to the second tray loading position, thereby ensuring that the tray loading manipulator 6 is always in an operating state, and the tray loading efficiency of the automatic tray loading apparatus 100 can be improved.

In some embodiments of the present invention, referring to fig. 12, the palletizing robot 6 is adapted to move in a first direction, a second direction, and a third direction of the automatic palletizing apparatus 100, wherein the first direction, the second direction, and the third direction are perpendicular to each other, that is, the palletizing robot 6 may be a three-axis robot, the palletizing robot 6 includes a second X-axis arm 62, a second Y-axis arm 63, and a second Z-axis arm 64, and a second cylinder 65 and a second suction cup 61 may be provided at 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 to place the electronic seal label 13 in the distribution chute 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 each employ a stepping motor, a screw, and a linear guide.

In some embodiments of the present invention, referring to fig. 15, the turnover robot 2 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 turnover robot 2 may be a three-axis robot, the turnover 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 a bottom of the first Z-axis arm 25, and a first suction cup 22 may be provided at the suction cup support, and the first suction cup 22 may be driven to move in the first direction, the second direction, and the third direction by controlling the movement of the first X-axis arm 23, the first Y-axis arm 24, and the first Z-axis arm 25, so as to implement the first suction cup 22 to move the first tray 81 and the second tray 82.

In some embodiments of the present invention, referring to fig. 15 and 16, the visual inspection mechanism 7 may be provided on the first Z-axis arm 25, the suction cup support is located between the visual inspection mechanism 7 and the first tray 81, and the suction cup support is kept away from all the first mounting grooves 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 each be a stepper motor, a screw, or a linear guide.

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

In some embodiments of the present invention, referring to fig. 14, the positioning mechanism 3 includes: 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 tray 81 in the first direction, the second positioning clamping assembly 342 is suitable for positioning and clamping the first tray 81 in the second direction, so that centering and positioning of the first tray 81 can be achieved, the first tray 81 and the positioning mechanism 3 can keep a preset relative position, the position of the first tray 81 can be determined according to the position of the positioning mechanism 3, the positioning accuracy of the first tray 81 is improved, and the accuracy of the tray loading manipulator 6 in placing the electronic seal label 13 into the first tray 81 is guaranteed.

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 that are oppositely disposed in a first direction, the first clamping portion 3411 or the second clamping portion 3412 is provided with a first elastic buffer 3413 adapted to elastically deform in the first direction, the first clamping portion 3411 and the second clamping portion 3412 are adapted to move in the first direction toward each other 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 that are oppositely disposed in the second direction, the third clamping portion 3421 or the fourth clamping portion 3422 is provided with a second elastic buffer 3423 adapted to elastically deform in the second direction, the third clamping portion 3421 and the fourth clamping portion 3422 are adapted to move in the second direction toward each other to clamp the first tray 81, and the first elastic buffer 343 and the second elastic buffer 3423 are disposed to realize flexible centering of the first tray 81 so as to prevent the first tray 81 from being pressed against the first tray 341 and the second tray 3412 in the first direction and to avoid the first tray 81 from being pressed against the first tray 81 and the second tray 3412, thereby ensuring that the first tray 81 is more accurately pressed against the first tray 81 and the second tray 3412 by the first clamping portion 3412.

In some embodiments of the present invention, the 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 the second clamping portion 3412 through the first elastic buffer 3413, the 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 the 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 through 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, automatic, high-speed and flexible tray loading of the electronic seal labels 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, turnover materials and the like is reduced. Meanwhile, the visual inspection mechanism 7 is integrated on the automatic tray loading equipment 100 to replace manual inspection, so that whether the electronic seal label 13 is loaded with the tray is abnormal, i.e. missed, not loaded in place, mixed, and the like, and the alarm prompt is popped up according to specific conditions, and the machine is stopped, thereby effectively ensuring the tray loading quality and the production of the whole tray marking process of the post process.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily directed 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. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. An automatic palletizing device of electronic seal labels, comprising:

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

The automatic tray loading device 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 device is provided with a turnover position, and the positioning mechanism is suitable for centering and positioning and clamping the first tray in the turnover position;

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

the material distribution mechanism is provided with a material distribution groove and can move relative to the vibration feeding mechanism so as to enable the electronic seal label removed from the discharge hole to move into the material distribution groove;

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

the visual inspection mechanism is arranged on the turnover manipulator, and is used for acquiring visual information of the first tray provided with the electronic seal tag at any time before, during and after the turnover manipulator conveys the first tray so as to judge whether the tray is abnormal according to the visual information;

The automatic tray loading equipment is provided with a tray loading position, the vibration feeding mechanism, the material distributing mechanism, the tray loading position, the turnover position and the tray storage mechanism are sequentially arranged along a first direction of the automatic tray loading equipment, the positioning mechanism is suitable for driving 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 moves between the material distributing mechanism and the tray loading position, the tray loading manipulator is used for placing the electronic seal labels in the material distributing groove in the first tray at the tray loading position, the turnover manipulator moves between the turnover position and the tray storage mechanism, and the turnover manipulator is used for conveying the first tray with the electronic seal labels at the turnover position to the tray discharging assembly;

the tray supply assembly is further used for supplying a second tray loaded with the first tray, the turnover manipulator is further used for conveying the second tray to the tray blanking assembly, and the first tray with the electronic seal label at the turnover position is placed in the second tray at the tray blanking assembly;

The plurality of positioning mechanisms, the plurality of dishing positions and the plurality of turnover positions are all multiple, the plurality of dishing positions are arranged along the second direction of the automatic dishing device, the plurality of turnover positions are arranged along the second direction, the plurality of positioning mechanisms are arranged along the second direction, the plurality of dishing positions and the plurality of turnover positions are in one-to-one correspondence along the first direction of the automatic dishing device, each positioning mechanism moves between the respective corresponding dishing position and turnover position, and at least one of the plurality of positioning mechanisms is positioned at the corresponding dishing position so that the dishing manipulator is always in a working state;

the palletizing manipulator is suitable for moving along the first direction, the second direction and the third direction of the automatic palletizing device, and the turnover manipulator is suitable for moving along the first direction, the second direction and the third direction of the automatic palletizing device, wherein the first direction, the second direction and the third direction are mutually perpendicular.

2. The automatic tray filling apparatus for electronic seal labels according to claim 1, wherein the positioning mechanism comprises: the first positioning clamping assembly is suitable for positioning and clamping the first tray in the first direction, and the second positioning clamping assembly is suitable for positioning and clamping the first tray in the second direction.

3. The automatic tray loading device of an electronic seal label according to claim 2, wherein 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 member which is suitable for elastic deformation along the first direction, and the first clamping portion and the second clamping portion are suitable for opposite movement in the first direction so as to clamp the first tray;

the second positioning clamping assembly comprises a third clamping part and a fourth clamping part which are oppositely arranged in the second direction, a second elastic buffer piece which is suitable for elastic deformation along the second direction is arranged on the third clamping part or the fourth clamping part, and the third clamping part and the fourth clamping part are suitable for moving in the second direction in opposite directions so as to clamp the first material tray.