Full-automatic transfer printing line body with cooperation of multiple robots

Abstract

The invention relates to the technical field of integrated transfer printing production lines, in particular to a multi-robot cooperative full-automatic transfer printing line body which comprises a feeding device, a transfer device, a transfer printing device and a detection device, and the feeding device is provided with a feeding mechanical arm and a feeding conveying mechanism; the transfer device is provided with a temporary storage mechanism, a transfer conveying belt, a transfer mechanical arm and a material taking mechanism, the transfer mechanical arm moves workpieces on the temporary storage mechanism to the transfer printing device for transfer printing operation, and the material taking mechanism moves the workpieces subjected to transfer printing to the transfer conveying belt; the detection device is provided with a detection mechanical arm and a detection system, the detection system detects the workpieces subjected to pad printing, and the detection mechanical arm conducts discharging operation on the workpieces subjected to detection. In conclusion, the multifunctional integrated transfer printing work station production line can be achieved, particularly, the multiple mechanical arms are arranged, the workpieces are fully automatically sucked and moved, and the production efficiency of the whole production line is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated pad printing production lines, and in particular to a multi-robot collaborative fully automatic pad printing line. Background Art

[0002] Pad printing machine is a kind of printing equipment, which is suitable for printing operations on plastics, toys, glass, metal, ceramics, electronics, IC seals, etc. Pad printing is an indirect printing technology with a concave rubber head, and has become a major method for printing and decorating the surfaces of various objects.

[0003] The process is very simple and is particularly suitable for printing on small-area, concave-convex products. It uses a steel or copper gravure and a curved pad head made of silicone rubber to first etch the designed pattern on the printing plate, apply ink to the etched plate, dip the ink on the gravure onto the surface of the pad head, and then press it against the desired surface to print text, patterns, etc.

[0004] It is a consensus in the industry that pad printing machines are developing towards automation, but conventional automated pad printing machines only have one robotic arm, which runs slowly and has long working hours. For example, when the workpiece is being printed, the robotic arm can only be in a waiting state, which takes a long time and has low work efficiency.

[0005] For example, a Chinese patent document with publication number CN108544843A discloses a pad printing machine, including a frame and an ink cup scraping device connected to the frame for applying ink, a print head lifting device for lifting and lowering a rubber head to absorb ink to print a printed matter, a print head moving device for driving the print head lifting device to move, and a glue cleaning device for cleaning the rubber head.

[0006] Therefore, how to improve the working efficiency of automated pad printing machines has become an urgent problem that researchers in this industry need to solve. Summary of the invention

[0007] In order to overcome the above-mentioned shortcomings, the present invention aims to provide a technical solution that can solve the above-mentioned problems.

[0008] The present invention provides a multi-robot collaborative fully automatic pad printing line, comprising a feeding device, a transfer device, a pad printing device and a detection device, wherein the feeding device is provided with a feeding mechanical arm and a feeding transmission mechanism, wherein the feeding transmission mechanism transmits a box body containing workpieces to the feeding mechanical arm, and the feeding mechanical arm moves the workpieces in the box body to the transfer device; the transfer device is provided with a temporary storage mechanism, a transfer conveyor belt, a transfer mechanical arm and a fetching mechanism, wherein the temporary storage mechanism is used to temporarily store the workpieces, the transfer mechanical arm moves the workpieces on the temporary storage mechanism to the pad printing device for pad printing operation, and the fetching mechanism moves the workpieces after pad printing to the transfer conveyor belt; the detection device is provided with a detection mechanical arm and a detection system, wherein the detection system detects the workpieces after pad printing, and the detection mechanical arm performs a material unloading operation on the workpieces after detection.

[0009] As a further solution of the present invention: the loading robot arm is provided with a box body suction cup, a box body cylinder and a workpiece suction cup, and the workpiece suction cup is provided with multiple groups of workpiece suction nozzles, so that multiple groups of workpieces can be sucked up at the same time, and moved to the temporary storage mechanism for placement through the loading robot arm; the box body cylinder is fixedly connected to the loading robot arm, and the box body suction cup is installed on the piston end of the box body cylinder.

[0010] As a further solution of the present invention: the feeding transmission mechanism is provided with a feeding conveyor belt, a horizontal pushing mechanism and a pushing mechanism, the feeding conveyor belt transmits the stacked box body group to the horizontal pushing mechanism; the horizontal pushing mechanism is provided with a horizontal pushing plate, a horizontal pushing slide rail and a horizontal pushing cylinder, the horizontal pushing plate is slidably connected to the horizontal pushing slide rail, and forms a fixed connection with the piston end of the horizontal pushing cylinder, so that the horizontal pushing cylinder is operated to drive the horizontal pushing plate to move horizontally, and push the box body group from the feeding conveyor belt into the pushing mechanism; the pushing mechanism is provided with a pushing plate, a pushing slide and a pushing motor, the pushing plate is fixedly connected to the driving end of the pushing slide, so that the pushing motor is operated to drive the driving end of the pushing slide to move upward, thereby driving the pushing plate to move upward synchronously, and then pushing the box body group upward.

[0011] As a further solution of the present invention: the temporary storage mechanism is provided with a temporary storage dividing plate, a temporary storage motor and a temporary storage turntable. The temporary storage dividing plate is transmission-connected to the temporary storage motor, and the temporary storage turntable is fixedly connected to the driving end of the temporary storage dividing plate. When the temporary storage motor is operated, the driving end of the temporary storage dividing plate is driven to rotate a certain angle, and at the same time, the temporary storage turntable is driven to rotate the same angle.

[0012] As a further solution of the present invention: an extension plate and a transfer suction cup are provided at the end of the wrist of the transfer robot arm, one end of the extension plate is fixedly connected to the wrist of the transfer robot arm, and the transfer suction cup is fixedly connected to the other end of the extension plate. The transfer suction cup is used to absorb the workpiece on the temporary storage turntable, and after the transfer movement of the transfer robot arm, it is placed on the pad printing device for corresponding pad printing operation.

[0013] As a further solution of the present invention: The material taking mechanism is provided with a U-shaped frame, a horizontal translation module, a vertical translation module, a material taking extension rod, a material taking cylinder and a material taking fixture. The two vertical beams of the U-shaped frame are respectively installed on both sides of the transfer conveyor belt. The horizontal translation module is installed on the cross beam of the U-shaped frame. The vertical translation module is installed on the driving end of the horizontal translation module. One end of the material taking extension rod is installed on the driving end of the vertical translation module, and the other end is installed with a material taking cylinder. The material taking fixture is installed on the piston end of the material taking cylinder.

[0014] As a further solution of the present invention: The temporary storage mechanism is provided with a first temporary storage part and a second temporary storage part. The transfer robotic arm is provided with a first robotic arm and a second robotic arm. The pad printing device is provided with a first pad printing part and a second pad printing part. The material taking mechanism is provided with a first material taking part and a second material taking part. The first temporary storage part, the first robotic arm, the first pad printing part and the first material taking part cooperate with each other to form a first operation part. The second temporary storage part, the second robotic arm, the second pad printing part and the second material taking part cooperate with each other to form a second operation part. The first operation part and the second operation part are sequentially installed on one side of the transfer conveyor belt. The loading transmission mechanism is installed on the other side of the transfer conveyor belt and sequentially performs the loading operation of workpieces on the first operation part and the second operation part.

[0015] As a further solution of the present invention: The detection device is further provided with a detection conveyor belt, a detection tray and a detection suction nozzle. The detection tray is installed at the wrist end of the detection robotic arm. The detection suction nozzle is fixedly connected to the detection tray. The detection system is provided with a detection lens, and the detection lens is fixedly connected to the detection tray.

[0016] As a further solution of the present invention: It further includes a dust removal device. The dust removal device is provided with a dust removal conveyor belt and a dust removal cover. The dust removal cover is installed above the dust removal conveyor belt and is communicated with the suction end of an external air extraction device, so as to perform negative pressure dust removal operation on the workpieces on the dust removal conveyor belt.

[0017] As a further solution of the present invention: The loading transmission mechanism is further provided with a packaging material conveyor belt. The packaging material conveyor belt is installed on one side of the loading robotic arm and is used to receive the packaging materials moved over by the loading robotic arm.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting a set of loading devices and two sets of pad printing devices, the loading robotic arm can simultaneously perform the loading operation on the first pad printing part and the second pad printing part, improving the use efficiency of the loading robotic arm. At the same time, a transfer robotic arm and a temporary storage mechanism are also set up. The temporary storage turntable is used to temporarily store the workpieces, and then the transfer robotic arm is used to move the temporarily stored workpieces to the pad printing device for pad printing work, thereby improving the overall pad printing efficiency and further realizing a more efficient fully automatic pad printing production line.

[0019] 2. By setting up a feeding and conveying mechanism, a large number of workpieces can be fed and conveyed, realizing fully automatic feeding operation, simplifying the feeding process and reducing the labor intensity of workers.

[0020] 3. The material taking mechanism is also set up to take out the workpieces that have been printed and place them on the transfer conveyor belt below. In particular, the use of rodless cylinders as transverse and vertical moving modules can not only save production space, but also increase the material taking speed, further optimizing production efficiency.

[0021] Therefore, after the above-mentioned improvements, the present invention can provide a fully automatic pad printing line with multi-robot collaboration, which can realize automatic loading and unloading, automatic sorting of packaging materials, automatic dust removal, automatic pad printing, automatic detection of pad printing patterns and automatic sorting of defective products, thereby realizing a multifunctional integrated workstation. In particular, by setting up multiple robotic arms, the workpiece can be fully automatically sucked and moved, which greatly improves the production efficiency of the entire production line.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 It is a schematic diagram of the overall structure of the production line of the present invention; Figure 2 It is a structural schematic diagram of the feeding device of the present invention; Figure 3 It is a structural schematic diagram of the box body suction cup and the material suction cup of the present invention; Figure 4 It is a structural schematic diagram of the horizontal pushing mechanism and the top pushing mechanism of the present invention; Figure 5 It is a schematic diagram of the structure of the transfer device and the pad printing device of the present invention; Figure 6 It is a structural schematic diagram of the temporary storage mechanism of the present invention; Figure 7 It is a structural schematic diagram of the transfer robot arm of the present invention; Figure 8 It is a structural schematic diagram of the material taking mechanism of the present invention; Fig. 9 It is a schematic diagram of the structure of the detection device of the present invention; Fig.10 It is a structural schematic diagram of the dust removal device of the present invention.

[0025] The reference numerals and names in the figures are as follows: 10 feeding device; 11 feeding robot arm; 12 box body suction cup; 13 box body cylinder; 14 material suction cup; 15 material suction nozzle; 20 feeding transmission mechanism; 21 feeding conveyor belt; 22 horizontal push mechanism; 23 horizontal push plate; 24 horizontal push slide rail; 25 horizontal push cylinder; 26 push mechanism; 27 push plate; 28 push slide; 29 push motor; 30 transfer device; 31 transfer conveyor belt; 32 temporary storage mechanism; 33 temporary storage indexing plate; 34 temporary storage motor; 35 temporary storage turntable; 40 transfer Robotic arm; 41 extension plate; 42 transfer suction cup; 50 material picking mechanism; 51 shaped frame; 52 transverse movement module; 53 vertical movement module; 54 material picking extension rod; 55 material picking cylinder; 56 material picking fixture; 60 pad printing device; 61 first pad printing part; 62 second pad printing part; 70 detection device; 71 detection robot arm; 72 detection tray; 73 detection nozzle; 74 detection lens; 75 detection conveyor belt; 80 dust removal device; 81 dust removal conveyor belt; 82 dust removal hood; 90 packaging material conveyor belt. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figures 1 to 10 In an embodiment of the present invention, a multi-robot collaborative fully automatic pad printing line includes a loading device 10, a transfer device 30, a pad printing device 60 and a detection device 70. The loading device 10 is provided with a loading robot arm 11 and a loading transmission mechanism 20. The loading transmission mechanism 20 transmits a box body containing workpieces to the loading robot arm 11. The loading robot arm 11 moves the workpieces in the box body to the transfer device 30; the transfer device 30 is provided with a temporary storage mechanism 32, a transfer conveyor belt 31, a transfer robot arm 40 and a material picking mechanism 50. The temporary storage mechanism 32 is used to temporarily store the workpieces moved by the loading robot arm 11. The transfer robot arm 40 moves the workpieces on the temporary storage mechanism 32 to the pad printing device 60 for pad printing operation. The material picking mechanism 50 moves the workpieces that have been pad printed to the transfer conveyor belt 31, so that the transfer conveyor belt 31 conveys the workpieces to the detection device 70; the detection device 70 is provided with a detection robot arm 71 and a detection system. The detection system detects the workpieces that have been pad printed, and the detection robot arm 71 performs unloading operations on the workpieces after detection.

[0028] Specifically, in order to further improve the working efficiency of the automated pad printing production line, the following settings can be made: the temporary storage mechanism 32 is provided with a first temporary storage part and a second temporary storage part, the transfer robot arm 40 is provided with a first robot arm and a second robot arm, the pad printing device 60 is provided with a first pad printing part 61 and a second pad printing part 62, and the material picking mechanism 50 is provided with a first material picking part and a second material picking part. The first temporary storage part, the first robot arm, the first pad printing part 61 and the first material picking part cooperate with each other to form a first working part; the second temporary storage part, the second robot arm, the second pad printing part 62 and the second material picking part cooperate with each other to form a second working part. The first working part and the second working part are installed on one side of the transfer conveyor belt 31 in sequence, and the loading and transmission mechanism 20 is installed on the other side of the transfer conveyor belt 31, and performs workpiece loading operations on the first working part and the second working part in sequence.

[0029] That is, by providing a set of loading devices 10 and two sets of pad printing working parts, the loading robot arm 11 can simultaneously perform loading operations on the first working part and the second working part, thereby improving the use efficiency of the loading robot arm 11. At the same time, a transfer robot arm 40 and a temporary storage mechanism 32 are also provided, and the temporary storage turntable 35 is used to temporarily store the workpiece, and then the transfer robot arm 40 is used to move the temporarily stored workpiece to the pad printing device 60 for pad printing, thereby improving the overall pad printing efficiency, and then realizing a more efficient fully automatic pad printing production line.

[0030] Secondly, when setting up the above-mentioned efficient pad printing production line, more technical problems will be encountered, which will be improved and solved one by one as follows.

[0031] like Figure 2 and Figure 3 As shown, preferably, a box body suction cup 12, a box body cylinder 13 and a workpiece suction cup 14 are provided at the wrist end of the loading robot arm 11, and the workpiece suction cup 14 is provided with multiple groups of workpiece suction nozzles 15, so that multiple groups of workpieces can be sucked at the same time, and moved to the temporary storage mechanism 32 for placement through the loading robot arm 11; the box body cylinder 13 is fixedly connected to the wrist end of the loading robot arm 11, and the box body suction cup 12 is installed on the piston end of the box body cylinder 13, so that the box body or the cover body is sucked under the drive of the box body cylinder 13.

[0032] Specifically, in order to simplify the process and optimize the structure of the equipment, the same loading robot arm 11 can be set to suck and move the box body, the cover body and the workpiece respectively, so it is preferred to separately set the box body suction cup 12 and the workpiece suction cup 14. In order to improve the loading efficiency, it is preferred to set multiple groups of workpiece suction nozzles 15 on the workpiece suction cup 14 so that it can suck multiple groups of workpieces at the same time.

[0033] For example, six groups of workpieces can be stored in a box at the same time, so six groups of workpiece suction nozzles 15 can be set, and six workpiece fixtures are also set on the temporary storage mechanism 32, so that the six groups of workpiece suction nozzles 15 can suck six groups of workpieces at a time and place them on the temporary storage mechanism 32 at the same time. Because the workpiece suction cup 14 is provided with multiple groups of workpiece suction nozzles 15, in order to make the multiple groups of workpiece suction cups 14 more stable during mobile work, it is preferred to directly install the workpiece suction cup 14 at the end wrist of the loading robot 11.

[0034] Secondly, in order to prevent the box body suction cup 12 from affecting the suction action of the workpiece suction cup 14, it is preferred to set another box body cylinder 13, and set the box body suction cup 12 at the piston end of the box body cylinder 13. The box body suction cup 12 can be extended and retracted by the operation of the box body cylinder 13. When the box body suction cup 12 is retracted, the workpiece suction cup 14 can directly suck and move the workpiece. When the box body suction cup 12 is extended, the box body suction cup 12 can be used to suck and move the box body or the cover.

[0035] like Figure 4 As shown, preferably, the feeding transmission mechanism 20 is provided with a feeding conveyor belt 21, a horizontal pushing mechanism 22 and a pushing mechanism 26. The feeding conveyor belt 21 stacks a plurality of box bodies into a box body group of a certain height and transmits them to the horizontal pushing mechanism 22; the horizontal pushing mechanism 22 is provided with a horizontal pushing plate 23, a horizontal pushing slide rail 24 and a horizontal pushing cylinder 25. The horizontal pushing plate 23 is slidably connected to the horizontal pushing slide rail 24 and is fixedly connected to the piston end of the horizontal pushing cylinder 25, so that the horizontal pushing cylinder 25 is operated, with The movable horizontal push plate 23 moves horizontally to push the box body group from the feeding conveyor belt 21 into the pushing mechanism 26; the pushing mechanism 26 is provided with a pushing plate 27, a pushing slide 28 and a pushing motor 29, and the pushing plate 27 is fixedly connected to the driving end of the pushing slide 28, so that the pushing motor 29 is operated to drive the driving end of the pushing slide 28 to move upward, thereby driving the pushing plate 27 to move upward synchronously, and then pushing the box body group upward, so that the feeding robot arm 11 can suck the box body and the workpiece.

[0036] Specifically, in order to further improve production efficiency, the boxes processed by the previous station can be stacked and transported, and then the stacked box groups are placed on the loading conveyor 21 for movement. In order to facilitate the loading robot 11 to suck and move the workpiece inside the box, it is preferred to push the box upward, so a corresponding pushing mechanism 26 can be set for operation.

[0037] Secondly, in order to make the box body group on the loading conveyor belt 21 move to the pushing mechanism 26 more smoothly and prevent it from falling over, preferably, a transverse pushing mechanism 22 can be set up, and a group of box body groups can be pushed onto the pushing plate 27 at the same time by using the transverse pushing plate 23 to achieve smooth transfer.

[0038] Again, in order to reduce the volume of the horizontal push mechanism 22 and reduce its occupied space, the horizontal push cylinder 25 can be set as a rodless cylinder, such as a magnetic rodless cylinder (magnetic cylinder) or a mechanical rodless cylinder in the prior art, thereby saving the installation space required for the equipment. Since the push plate 27 of the push mechanism 26 needs to bear the weight of the entire box body group and move upward, it is preferred to use a combination structure of a push slide 28 and a push motor 29 to improve its load-bearing capacity. The push slide 28 preferably uses a screw slide with a certain vertical load-bearing capacity, and the push motor 29 preferably uses a 400-watt servo motor.

[0039] like Figure 1 and Figure 2 As shown, preferably, the feeding transmission mechanism 20 is further provided with a packaging material conveyor belt 90 , and the packaging material conveyor belt 90 is installed on one side of the feeding robot arm 11 for receiving the packaging materials moved by the feeding robot arm 11 .

[0040] Specifically, the packaging material mainly refers to the material for packaging and transporting the workpiece, such as the box body and cover body for loading the workpiece. In order to further improve the overall work efficiency, it is preferred to set up a loading robot arm 11 to automatically sort the packaging materials, that is, use the box body suction cup 12 to suck the corresponding box body or cover body, and then move it to the packaging material conveyor belt 90 for placement.

[0041] like Figure 5 and Figure 6 As shown, preferably, the temporary storage mechanism 32 is provided with a temporary storage dividing plate 33, a temporary storage motor 34 and a temporary storage turntable 35. The temporary storage dividing plate 33 is transmission-connected to the temporary storage motor 34, and the temporary storage turntable 35 is fixedly connected to the driving end of the temporary storage dividing plate 33, so that the temporary storage motor 34 is operated to drive the driving end of the temporary storage dividing plate 33 to rotate a certain angle, and at the same time drive the temporary storage turntable 35 to rotate the same angle; the same number of workpiece fixtures are respectively provided at both ends of the temporary storage turntable 35 to perform temporary storage operations on the workpieces.

[0042] Specifically, for example, six workpiece fixtures can be set at both ends of the temporary storage turntable 35, so that the loading robot arm 11 can suck six workpieces at a time and place them on one end of the temporary storage turntable 35, and the transfer robot arm 40 can take the workpiece from the other end of the temporary storage turntable 35. After the workpieces at the other end are taken, the temporary storage turntable 35 can be rotated 180 degrees, and the two ends of the temporary storage turntable 35 are exchanged, so that the transfer robot arm 40 can take the workpiece from the end full of workpieces again, and the loading robot arm 11 can load the workpiece to the idle workpiece fixture again.

[0043] like Figure 5 and Figure 7As shown, preferably, an extension plate 41 and a transfer suction cup 42 are provided at the end of the wrist of the transfer robot arm 40, one end of the extension plate 41 is fixedly connected to the wrist of the transfer robot arm 40, and the transfer suction cup 42 is fixedly connected to the other end of the extension plate 41, and the transfer suction cup 42 is used to absorb the workpiece on the temporary storage turntable 35, and after the transfer movement of the transfer robot arm 40, it is placed on the pad printing device 60 for corresponding pad printing operation.

[0044] Specifically, in order to absorb the workpiece on the workpiece fixture on the temporary storage turntable 35 and move it to the corresponding pad printing device 60 for pad printing processing, preferably, an extension plate 41 can also be provided, and a corresponding transfer suction cup 42 can be provided on the extension plate 41 to absorb the workpiece that needs to be transferred and moved, and then transfer it using the transfer robot arm 40.

[0045] like Figure 5 and Figure 8 As shown, preferably, the material picking mechanism 50 is provided with a zigzag frame 51, a transverse movement module 52, a vertical movement module 53, a material picking extension rod 54, a material picking cylinder 55 and a material picking fixture 56, the two vertical beams of the zigzag frame 51 are respectively installed on both sides of the transfer conveyor belt 31, the transverse movement module 52 is installed on the cross beam of the zigzag frame 51, the vertical movement module 53 is installed on the driving end of the transverse movement module 52, one end of the material picking extension rod 54 is installed on the driving end of the vertical movement module 53, and the other end thereof is installed with a material picking cylinder 55, and the material picking fixture 56 is installed on the piston end of the material picking cylinder 55.

[0046] Specifically, the transverse movement module 52 drives the vertical movement module 53 to move laterally above the transfer conveyor belt 31, and the vertical movement module 53 drives the material picking extension rod 54 to move vertically. The material picking cylinder 55 drives the material picking clamp 56 to pick up the workpiece that has been pad printed, so that the material picking clamp 56 clamps the workpiece and is then moved to the transfer conveyor belt 31 for placement, so that the transfer conveyor belt 31 transports the workpiece that has been pad printed to the detection device 70.

[0047] Secondly, since the pad printing device 60 has just completed the pad printing operation on the workpiece, the ink on the workpiece may not be completely dry, so it is not suitable to use a suction nozzle to suck and move it. Therefore, the material picking fixture 56 can be set as a finger cylinder and a corresponding anti-slip finger, so that the driving end of the finger cylinder can be used for relative movement, driving the anti-slip finger to clamp the pad printing parts on both sides of the workpiece, and then move it. In order to reduce the volume of the lateral movement module 52 and the vertical movement module 53 and reduce the space they occupy, the lateral movement module 52 and the vertical movement module 53 can be set as a rodless cylinder, such as a magnetic rodless cylinder (magnetic cylinder) and a mechanical rodless cylinder in the prior art, thereby saving the installation space required for the equipment.

[0048] like Figure 1 and Fig. 9 As shown, preferably, the detection device 70 is also provided with a detection conveyor belt 75, a detection tray 72 and a detection nozzle 73, the detection tray 72 is installed at the end of the wrist of the detection robot 71, and the detection nozzle 73 is fixedly connected to the detection tray 72; the detection system is provided with a detection lens 74, and the detection lens 74 is fixedly connected to the detection tray 72 and is located above the detection nozzle 73.

[0049] Specifically, in order to improve the accuracy of detection, a manual inspection station can be set between the transfer conveyor belt 31 and the detection conveyor belt 75. Workers take the workpieces on the transfer conveyor belt 31 for manual inspection. If they meet the production requirements, the workpieces are placed on the detection conveyor belt 75; if they do not meet the production requirements, the workpieces are placed in a defective product recovery container (not shown in the figure).

[0050] Secondly, the detection lens 74 is used to take a picture of the workpiece and upload the corresponding image to the detection system. The detection system analyzes the received image through an image processing program to detect whether the pad printing pattern on the workpiece meets the production requirements. If it meets the requirements, the corresponding workpiece is transferred to the rear end for the next operation. If the pad printing pattern does not meet the requirements, the corresponding workpiece is transferred to the defective product recovery container for defective product processing.

[0051] like Figure 1 and Fig.10 As shown, preferably, it also includes a dust removal device 80, which is provided with a dust removal conveyor belt 81 and a dust removal hood 82. The dust removal hood 82 is installed above the dust removal conveyor belt 81 and is connected to the exhaust end of an external exhaust device, so as to perform negative pressure dust removal operation on the workpiece on the dust removal conveyor belt 81.

[0052] Specifically, the dust hood 82 is provided with raised blank areas on both sides of the running direction of the dust conveyor belt 81, close to the dust conveyor belt 81, so that the workpiece can pass through the dust hood 82 from the raised blank areas, be driven by the dust conveyor belt 81, and be transferred to the next workstation for corresponding unloading operations.

[0053] Secondly, driven by the negative pressure of the external exhaust device, flowing air can enter from the elevated blank space and remove dust on the workpiece. The other two sides of the dust removal cover 82 can also be provided with corresponding through holes so that air can also enter, and flowing air can enter from multiple angles to better remove dust on the workpiece.

[0054] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

Claims

1. A multi-robot collaborative fully automatic pad printing line, characterized in that: The invention comprises a loading device (10), a transfer device (30), a pad printing device (60) and a detection device (70); the loading device (10) is provided with a loading robot arm (11) and a loading transmission mechanism (20); the loading transmission mechanism (20) transmits a box body containing workpieces to the loading robot arm (11); the loading robot arm (11) moves the workpieces in the box body to the transfer device (30); the transfer device (30) is provided with a temporary storage mechanism (32), a transfer conveyor belt (31), a transfer robot arm (40) and a detection device (70); and a material taking mechanism (50), the temporary storage mechanism (32) being used to temporarily store workpieces, the transfer robot arm (40) moving the workpieces on the temporary storage mechanism (32) to the pad printing device (60) for pad printing, and the material taking mechanism (50) moving the workpieces after pad printing to the transfer conveyor belt (31); the detection device (70) being provided with a detection robot arm (71) and a detection system, the detection system detecting the workpieces after pad printing, and the detection robot arm (71) performing a material unloading operation on the workpieces after detection.

2. The multi-robot collaborative fully automatic pad printing line according to claim 1, characterized in that: The loading robot arm (11) is provided with a box body suction cup (12), a box body cylinder (13) and a workpiece suction cup (14); the workpiece suction cup (14) is provided with a plurality of groups of workpiece suction nozzles (15), so that a plurality of groups of workpieces can be sucked up simultaneously and moved to a temporary storage mechanism (32) for placement through the loading robot arm (11); the box body cylinder (13) is fixedly connected to the loading robot arm (11), and the box body suction cup (12) is installed on the piston end of the box body cylinder (13).

3. The multi-robot collaborative fully automatic pad printing line according to claim 1, characterized in that: The feeding transmission mechanism (20) is provided with a feeding conveyor belt (21), a transverse pushing mechanism (22) and a pushing mechanism (26); the feeding conveyor belt (21) conveys the stacked box body group to the transverse pushing mechanism (22); the transverse pushing mechanism (22) is provided with a transverse pushing plate (23), a transverse pushing slide rail (24) and a transverse pushing cylinder (25); the transverse pushing plate (23) is slidably connected to the transverse pushing slide rail (24) and is fixedly connected to the piston end of the transverse pushing cylinder (25), so that the transverse pushing cylinder (25) ) operates, driving the horizontal push plate (23) to move horizontally, pushing the box body group from the feeding conveyor belt (21) into the push mechanism (26); the push mechanism (26) is provided with a push plate (27), a push slide (28) and a push motor (29), the push plate (27) is fixedly connected to the driving end of the push slide (28), so that the push motor (29) operates, driving the driving end of the push slide (28) to move upward, thereby driving the push plate (27) to move upward synchronously, and then pushing the box body group upward.

4. The multi-robot collaborative fully automatic pad printing line according to claim 1, characterized in that: The temporary storage mechanism (32) is provided with a temporary storage indexing plate (33), a temporary storage motor (34) and a temporary storage turntable (35); the temporary storage indexing plate (33) is transmission-connected to the temporary storage motor (34); the temporary storage turntable (35) is fixedly connected to the driving end of the temporary storage indexing plate (33); when the temporary storage motor (34) is turned on, the driving end of the temporary storage indexing plate (33) is driven to rotate by a certain angle, and the temporary storage turntable (35) is driven to rotate by the same angle at the same time.

5. The multi-robot collaborative fully automatic pad printing line according to claim 4, characterized in that: An extension plate (41) and a transfer suction cup (42) are provided at the end of the wrist of the transfer robot arm (40); one end of the extension plate (41) is fixedly connected to the wrist of the transfer robot arm (40); the transfer suction cup (42) is fixedly connected to the other end of the extension plate (41); the transfer suction cup (42) is used to absorb the workpiece on the temporary storage turntable (35), and after the transfer movement of the transfer robot arm (40), the workpiece is placed on the pad printing device (60) for corresponding pad printing operation.

6. The multi-robot collaborative fully automatic pad printing line according to claim 1, characterized in that: The material picking mechanism (50) is provided with a cam frame (51), a transverse shift module (52), a vertical shift module (53), a material picking extension rod (54), a material picking cylinder (55) and a material picking fixture (56); the two vertical beams of the cam frame (51) are respectively mounted on two sides of the transfer conveyor belt (31); the transverse shift module (52) is mounted on the horizontal beam of the cam frame (51); the vertical shift module (53) is mounted on the driving end of the transverse shift module (52); one end of the material picking extension rod (54) is mounted on the driving end of the vertical shift module (53); the other end of the material picking extension rod (54) is mounted on the material picking cylinder (55); and the material picking fixture (56) is mounted on the piston end of the material picking cylinder (55).

7. The multi-robot collaborative fully automatic pad printing line according to claim 1, characterized in that: The temporary storage mechanism (32) is provided with a first temporary storage part and a second temporary storage part, the transfer robot arm (40) is provided with a first robot arm and a second robot arm, the pad printing device (60) is provided with a first pad printing part (61) and a second pad printing part (62), and the material picking mechanism (50) is provided with a first material picking part and a second material picking part. The first temporary storage part, the first robot arm first pad printing part (61) and the first material picking part cooperate with each other to form a first working part; the second temporary storage part, the second robot arm, the second pad printing part (62) and the second material picking part cooperate with each other to form a second working part. The first working part and the second working part are installed on one side of the transfer conveyor belt (31) in sequence, and the loading and transmission mechanism (20) is installed on the other side of the transfer conveyor belt (31) and performs workpiece loading operations on the first working part and the second working part in sequence.

8. The multi-robot collaborative fully automatic pad printing line according to claim 1, characterized in that: The detection device (70) is further provided with a detection conveyor belt (75), a detection tray (72) and a detection nozzle (73); the detection tray (72) is mounted on the end of the wrist of the detection robot arm (71); the detection nozzle (73) is fixedly connected to the detection tray (72); the detection system is provided with a detection lens (74); the detection lens (74) is fixedly connected to the detection tray (72).

9. The multi-robot collaborative fully automatic pad printing line according to claim 1, characterized in that: It also includes a dust removal device (80), the dust removal device (80) being provided with a dust removal conveyor belt (81) and a dust removal hood (82), the dust removal hood (82) being installed above the dust removal conveyor belt (81) and being connected to an exhaust end of an external exhaust device, thereby performing a negative pressure dust removal operation on the workpieces on the dust removal conveyor belt (81).

10. The multi-robot collaborative fully automatic pad printing line according to claim 3, characterized in that: The feeding transmission mechanism (20) is further provided with a packaging material conveyor belt (90), and the packaging material conveyor belt (90) is installed on one side of the feeding robot arm (11) and is used to receive the packaging material moved by the feeding robot arm (11).

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