Automatic feeding equipment

Abstract

The present invention relates to the technical field of packaging equipment, and discloses an automatic loading equipment. The automatic loading equipment is used to load workpieces, and multiple workpieces are arranged in a material box. The automatic loading equipment includes a conveying mechanism, a first robot, a detection mechanism, and a second robot. The conveying mechanism is sequentially provided with a discharge position, a detection position, and a material fetching position along its conveying direction. The first robot can grab the material box from the stacking area and place it at the discharge position. The detection mechanism includes a detection camera, which can detect whether the placement of the workpiece in the material box moved to the detection position is qualified. The second robot can grab the workpiece in the material box moved to the material fetching position. The automatic loading equipment of the present invention can automatically realize the loading of materials in the material box, and has good accuracy and high efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging equipment, and in particular to an automatic feeding equipment. Background Art

[0002] At present, the formed cigarette boxes are regularly stacked in the material box, and the filled material boxes are stacked in the stacking area. When feeding the cigarette boxes to the tobacco packaging equipment, it depends on manual operation, that is, the worker takes out the filled material box from the stacking area according to the operation of the machine, and then takes out each column of cigarette boxes in the material box in turn, and places them on the feeding channel of the tobacco packaging equipment in the correct direction. When the tobacco packaging equipment runs at a low speed and has a low production capacity, 2-3 employees can feed the materials continuously to meet the production needs, but the manual feeding needs to ensure the accuracy of the number of cigarette boxes and the placement direction, which has low work efficiency, high work intensity, and low degree of automation, making it difficult to meet the requirements of speeding up and increasing production of tobacco packaging equipment.

[0003] Therefore, an automatic feeding device is urgently needed to solve the above technical problems. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic feeding device which can automatically feed materials in a material box with good accuracy and high efficiency.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] An automatic loading device is used for loading workpieces, wherein a plurality of the workpieces are arranged in a material box, and the automatic loading device comprises:

[0007] The conveying mechanism is provided with a material discharge position, a detection position and a material taking position in sequence along its conveying direction;

[0008] A first robot capable of grabbing a material box from the stacking area and placing it at the material placement position;

[0009] The detection mechanism includes a detection camera, which can detect whether the placement of the workpiece in the material box moved to the detection position is qualified;

[0010] The second robot is capable of grabbing the workpiece in the material box and moving to the material picking position.

[0011] Optionally, the automatic feeding equipment further comprises a wrong material recovery mechanism, which is arranged on the side of the detection position, and the wrong material recovery mechanism can take away and collect the material boxes detected as unqualified by the detection mechanism.

[0012] Optionally, the wrong material recovery mechanism comprises:

[0013] A recovery rack is arranged at one side of the detection position, and the recovery rack includes a plurality of bins arranged in sequence along the up-down direction;

[0014] A first lifting drive assembly, capable of driving the recovery rack to move upward and downward so that one of the material bins is opposite to the material box at the detection position;

[0015] A material pushing assembly is arranged at the other side of the detection position, and the material pushing assembly can push the material box at the detection position into the material bin.

[0016] Optionally, the automatic loading equipment also includes a recycling box, the second robot includes a second robotic arm and a suction cup, the second robotic arm can drive the suction cup to move, a plurality of first suction ports are arranged on the suction cup, when at least one of the first suction ports fails to adsorb the workpiece, the second robot puts the grasped workpiece into the recycling box.

[0017] Optionally, the automatic feeding equipment further comprises:

[0018] A limiting mechanism is arranged on the upper side of the material taking position, and the limiting mechanism can limit the material box at the material taking position to a preset position;

[0019] The fixing mechanism is used to fix the material box at the preset position.

[0020] Optionally, the limiting mechanism includes a baffle and two clamping plates, the baffle being arranged at the end of the material discharging position, the baffle being able to prevent the material box from moving along with the conveying mechanism, the two clamping plates being respectively arranged at both sides of the material taking position, the two clamping plates being able to move towards each other and respectively abutting against the side walls of the material box;

[0021] The fixing mechanism comprises a second suction port, which is arranged on the side of the material taking position, and the second suction port can suck the bottom of the material box.

[0022] Optionally, the automatic feeding device further comprises a material box recovery mechanism, which can transport the empty material box at the material taking position to a recovery position;

[0023] The material box recycling mechanism comprises:

[0024] A conveying assembly is arranged on one side of the material taking position;

[0025] A transverse driving assembly capable of driving the limiting mechanism to move between above the material taking position and above the conveying assembly to push the material box onto the conveying assembly;

[0026] The second lifting drive assembly can drive the conveying assembly to move up and down to avoid the limiting mechanism.

[0027] Optionally, the material box recovery mechanism further includes a material box flattening mechanism, and the material box flattening mechanism is capable of disassembling the material box on the conveying assembly into a flat plate.

[0028] Optionally, the first robot comprises:

[0029] A gripping assembly capable of clamping or releasing the material box;

[0030] a first mechanical arm, the first mechanical arm being capable of driving the grabbing assembly to move between the stacking area and the unloading position;

[0031] A positioning camera is capable of detecting the position of the material box in the stacking area.

[0032] Optionally, the automatic feeding equipment further comprises:

[0033] A main control cabinet, including a main control module, an I / O module, an industrial switch, a first stepper driver, a second stepper driver, a positioning camera module and a detection camera module, wherein the I / O module and the industrial switch are respectively connected to the main control module in communication, the first stepper driver and the second stepper driver are both connected to the I / O module in communication, and the positioning camera module and the detection camera module are both connected to the industrial switch in communication;

[0034] The industrial computer system includes a host computer software operation interface, and the host computer software operation interface is communicatively connected with the industrial switch;

[0035] A first robot control cabinet, comprising a first robot control module, wherein the first robot control module is communicatively connected to the I / O module and the industrial switch respectively;

[0036] A second robot control cabinet, comprising a second robot control module, wherein the second robot control module is communicatively connected to the I / O module and the industrial switch respectively;

[0037] The host field control cabinet includes a host signal exchange module, and the host signal exchange module is communicatively connected with the I / O module.

[0038] The beneficial effects of the present invention are:

[0039] In the automatic loading equipment of the present invention, the first robot carries the material box from the stacking area to the conveying mechanism, the detection camera accurately determines whether the orientation of the workpiece in the material box is correct, and the second robot quickly takes out the workpiece and places it in the position to be used. That is, the entire loading process of the workpiece does not require manual operation, which can greatly reduce labor consumption. The detection camera detects and the second robot takes and places the workpiece to ensure the accuracy of the workpiece placement. The three positions on the conveying mechanism respectively perform the operations of placing, detecting and taking materials, so that the loading efficiency of the automatic loading equipment is improved, thereby meeting the needs of speeding up and increasing materials for tobacco packaging equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of an automatic feeding device provided in a specific embodiment of the present invention;

[0041] Figure 2 is a schematic structural diagram of a first robot provided in a specific embodiment of the present invention;

[0042] Figure 3 It is a structural schematic diagram of a wrong material recovery mechanism provided in a specific embodiment of the present invention;

[0043] Figure 4 It is a structural schematic diagram of a material box recovery mechanism and a material box flattening mechanism provided in a specific embodiment of the present invention;

[0044] Figure 5 is a schematic structural diagram of a second robot provided in a specific embodiment of the present invention;

[0045] Figure 6 It is a schematic diagram of the control relationship of the automatic feeding equipment provided in the specific implementation mode of the present invention.

[0046] In the figure:

[0047] 100- stacking area; 101- material box; 102- workpiece;

[0048] 1- conveying mechanism; 11- material discharge position; 12- detection position; 13- material collection position; 14- first sensor; 15- second sensor; 16- limit assembly;

[0049] 2-first robot; 21-grasping assembly; 211-gripping plate; 212-first cylinder; 22-first mechanical arm; 23-positioning camera;

[0050] 3-detection mechanism; 31-light shield; 32-illumination lamp; 33-detection camera;

[0051] 4-second robot; 41-second robot arm; 42-suction cup; 421-first suction port; 43-pressure sensor;

[0052] 5-material box recovery mechanism; 51-conveying assembly; 52-lateral driving assembly; 53-second lifting driving assembly; 54-first guide assembly; 541-first linear bearing; 542-first guide column;

[0053] 6-wrong material recovery mechanism; 61-recovery rack; 611-material bin; 62-first lifting drive assembly; 621-motor; 622-screw nut pair; 623-gravity sensor; 63-push material assembly;

[0054] 71-recovery box; 72-limiting mechanism; 721-baffle; 722-clamping plate; 723-clamping drive assembly; 73-second adsorption port;

[0055] 8-material box flattening mechanism; 81-flattening head; 811-main body; 812-flattening plate; 813-telescopic drive member; 82-flattening lifting drive assembly; 83-second guide assembly; 831-second linear bearing; 832-second guide column;

[0056] 91-main control cabinet; 911-main control module; 912-I / O module; 913-industrial switch; 914-first stepper driver; 915-second stepper driver; 916-positioning camera module; 917-detection camera module; 92-industrial computer system; 921-upper computer software operation interface; 93-first robot control cabinet; 931-first robot control module; 94-second robot control cabinet; 941-second robot control module; 95-host field control cabinet; 951-host signal exchange module; 961-field sensor module; 962-solenoid valve control module; 963-vacuum generator module. DETAILED DESCRIPTION

[0057] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0058] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0060] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0061] This embodiment provides an automatic feeding device, which can be used in the field of tobacco packaging technology, such as Figure 1-Figure 5 As shown, in this embodiment, the workpiece 102 is a cigarette box, and a plurality of cigarette boxes are arranged in a material box 101 with only an upper opening, one end face of the cigarette box faces upward and partially exposes the material box 101, and the material box 101 filled with workpieces 102 is stacked in the stacking area 100. The automatic device is used to load the cigarette boxes as an example. Specifically, the automatic loading device includes a conveying mechanism 1, a first robot 2, a second robot 4, a detection mechanism 3, a second robot 4 and a material box recovery mechanism 5. The conveying mechanism 1 moves along its conveying direction ( Figure 1 The first robot 2 can grab the material box 101 filled with workpieces 102 from the stacking area 100 and place it at the discharging position 11, and the conveying mechanism 1 conveys the material box 101 to the detection position 12. The detection mechanism 3 includes a detection camera 33. The detection camera 33 can detect whether the placement of the workpieces 102 in the material box 101 moved to the detection position 12 is qualified. If the placement of the workpieces 102 in the material box 101 is qualified, the conveying mechanism 1 continues to convey the material box 101 to the picking position 13, and the second robot 4 grabs the workpiece 102 in the material box 101 moved to the picking position 13, and places the workpiece 102 in the tobacco packaging equipment (not shown) as required. The material box recovery mechanism 5 conveys the empty material box 101 at the picking position 13 to the recovery position, so as to continuously carry out the process of picking and loading the workpiece 102.

[0062] In the automatic loading equipment of this embodiment, the first robot 2 transports the material box 101 from the stacking area 100 to the conveying mechanism 1, the detection camera 33 accurately determines whether the orientation of the workpiece 102 in the material box 101 is correct, the second robot 4 quickly takes out the workpiece 102 and places it in the position to be used, and the material box recovery mechanism 5 automatically recovers the empty material box 101. That is, the entire loading process of the workpiece does not require manual operation, which can greatly reduce labor consumption. The detection camera 33 detects and the second robot 4 takes and places the workpiece 102 to ensure the accuracy of the placement of the workpiece 102. The three positions on the conveying mechanism 1 respectively perform the operations of placing, detecting and taking materials, so that the loading efficiency of the automatic loading equipment is improved, thereby meeting the needs of speeding up and increasing materials for tobacco packaging equipment.

[0063] Specifically, in this embodiment, if Figure 1 As shown, the stacking area 100 is provided with two trays, each of which is stacked with multiple layers of material boxes 101 filled with workpieces 102, and each layer includes multiple material boxes 101. The first robot 2 is arranged at the end of the conveying mechanism 1, and the two trays are respectively located on both sides of the first robot 2, so that the first robot 2 can easily grab the material boxes 101 on the two trays. Preferably, as Figure 1 and Figure 2 As shown, the first robot 2 includes a grabbing component 21, a first robotic arm 22 and a positioning camera 23. The positioning camera 23 can detect the position of the material box 101 in the stacking area 100. The grabbing component 21 can clamp or release the material box 101. The first robotic arm 22 can drive the grabbing component 21 to move between the stacking area 100 and the material discharge position 11. The positioning camera 23 can identify the height of the material boxes 101 stacked on the pallet to determine the number of layers, and can identify the position of each material box 101 on the layer, so that the grabbing component 21 can accurately grab the material box 101. When the positioning camera 23 detects that there is no material box 101 on a pallet, the first robotic arm 22 drives the grabbing component 21 to grab on another pallet, and sends out an alarm signal at the same time to remind the staff to replenish the stacking area 100 to avoid shutdown due to lack of materials.

[0064] Specifically, Figure 2As shown, the first mechanical arm 22 can be a six-axis mechanical arm, which can flexibly drive the gripping assembly 21 to move. The gripping assembly 21 includes two relatively arranged claw plates 211 and two first cylinders 212. The output end of each first cylinder 212 is connected to a claw plate 211. The two first cylinders 212 drive the two claw plates 211 to approach each other, so that the material box 101 can be clamped. The two first cylinders 212 drive the two claw plates 211 away from each other, so that the material box 101 can be correspondingly released. The result is simple and easy to control. Of course, in other embodiments, the specific structure of the gripping assembly 21 can also be any existing structure that can grip and release, which is not limited here. In this embodiment, the positioning camera 23 is connected to the gripping assembly 21, so that it can move flexibly with the gripping assembly 21. In other embodiments, the positioning camera 23 can also be fixed at a position where the entire stacking area 100 can be photographed. The first robot 2 also includes a camera analysis and processing system, so that the shooting results of the positioning camera 23 can be analyzed and the actual position of the material box 101 can be determined. Preferably, the automatic loading equipment further includes a first robot control cabinet 93 , in which a first robot control module 931 is disposed. The first robot control module 931 can control the first robot 2 to successfully complete the material picking action.

[0065] Furthermore, if Figure 4 As shown, the conveying mechanism 1 can be a belt transmission mechanism, a chain transmission mechanism or a roller transmission mechanism, which can be selected and set according to actual needs, and is not limited here. The conveying mechanism 1, the detection mechanism 2, the second robot 4, the material box recovery mechanism 5, etc. are all supported on the frame. Preferably, as Figure 4 As shown, a first sensor 14 is also provided at the material discharging position 11, and the first sensor 14 can determine whether there is a material box 101 at the material discharging position 11. If the first sensor 14 determines that there is no material box 101 at the material discharging position 11, a signal is sent to the first robot 2, so that the first robot 2 grabs the material box 101 and places it at the material discharging position 11. Further, a second sensor 15 is provided at the detection position 12, and the second sensor 15 can detect whether there is a material box 101 at the detection position 12. If the second sensor 15 detects that there is a material box 101 at the detection position 12, a signal is sent to the detection camera 33, so that the detection camera 33 takes a picture of the material box 101.

[0066] Preferably, if Figure 4As shown, the conveying mechanism 1 is further provided with a limit assembly 16 on one side of the detection position 12. The limit assembly 16 includes a limit plate and a limit drive. The limit drive can drive the limit plate to extend to the upper side of the conveying mechanism 1, so as to block the material box 101 from continuing to move with the conveying mechanism 1. After the limit plate blocks the material box 101, the conveying mechanism 1 can continue to move, so as not to interfere with the operation of the material discharge position 11 and the material pickup position 13. After the material box 101 completes the detection at the detection position 12, the limit drive can drive the limit plate to move to the avoidance position, so that the material box 101 can continue to move with the conveying mechanism 1 to the material pickup position 13. In this embodiment, the limit drive can be a linear cylinder with a simple structure and convenient operation. In other embodiments, the limit drive can also be a rotary motor, and the rotary motor drives the limit plate to rotate to block or avoid the material box 101. This is not limited here.

[0067] Preferably, if Figure 1 and Figure 3 As shown, the detection mechanism 3 also includes a light shield 31 and a lighting lamp 32. The light shield 31 covers the top of the detection position 12. The lighting lamp 32 and the detection camera 33 are both arranged in the light shield 31. The light shield 31 blocks the external light that can enter the detection camera 33. The lighting lamp 32 illuminates the workpiece 102 in the material box 101 located at the detection position 12. The detection camera 33 collects the placement image of the workpiece 102 in the material box 101, and determines whether the workpiece 102 in the material box 101 has placement defects such as reverse placement, wrong placement or missing placement. If there is no defect, it means that the placement is correct. The conveying mechanism 1 drives the material box 101 to continue to move to the material picking position 13 to wait for being grabbed.

[0068] Furthermore, if Figure 3 As shown, the automatic feeding device also includes a wrong material recovery mechanism 6, which is arranged on the side of the detection position 12, and the wrong material recovery mechanism 6 can take away and collect the material box 101 detected as unqualified by the detection mechanism 3. Figure 3As shown, the wrong material recovery mechanism 6 includes a recovery frame 61, a first lifting drive assembly 62 and a material pushing assembly 63. The recovery frame 61 is arranged on one side of the detection position 12, and the material pushing assembly 63 is arranged on the other side of the detection position 12. The recovery frame 61 includes a plurality of material bins 611 arranged in sequence along the up and down directions. The first lifting drive assembly 62 can drive the recovery frame 61 to move up and down so that one of the material bins 611 is opposite to the material box 101 at the detection position 12. When the detection mechanism 3 detects the workpiece 102 in the material box 101, When the placement is incorrect, the material pushing component 63 pushes the material box 101 at the detection position 12 into the material bin 611 for recycling. When the recycling rack 61 receives a material box 101, the first lifting drive component 62 drives the material box 101 to rise or fall by one layer of the material bin 611, so that an empty material bin 611 is opposite to the material box 101 at the detection position 12. When all the material bins 611 are filled with material boxes 101, an alarm signal is issued to remind the staff to take out the material boxes 101 or replace a new recycling rack 61. By arranging multiple layers of material bins 611 in the recycling rack 61, the staff can centrally handle the wrong material boxes 101, thereby improving work efficiency.

[0069] Specifically, in this embodiment, Figure 3 As shown, the first lifting drive assembly 62 includes a motor 621 and a screw nut pair 622, wherein the screw is connected to the recovery frame 61, the motor 621 drives the screw to rotate, and the nut drives the recovery frame 61 to move up and down along the screw. In other embodiments, the first lifting drive assembly 62 can also be a linear cylinder, which is not limited here. Furthermore, the wrong material recovery mechanism 6 also includes a gravity sensor 623. When the pushing assembly 63 pushes the material box 101 into the material bin 611, the gravity sensor 623 senses the change in gravity of the recovery frame 61, so that the first lifting drive assembly 62 drives the recovery frame 61 to move up and down.

[0070] When the conveying mechanism 1 drives the qualified material box 101 to the material taking position 13, in order to ensure that the second robot 4 can accurately and conveniently take out the workpiece 102 in the material box 101, preferably, as Figure 4 As shown, the automatic feeding device also includes a limiting mechanism 72 and a fixing mechanism. The limiting mechanism 72 is arranged on the upper side of the material picking position 13. The limiting mechanism 72 can limit the material box 101 at the material picking position 13 to a preset position, firstly ensuring the position accuracy of the material box 101, and then the fixing mechanism fixes the material box 101 at the preset position, thereby ensuring that the workpiece 102 can be smoothly separated from the material box 101 during the process of the second robot 4 grabbing the workpiece 102. Specifically, as Figure 4As shown, the limiting mechanism 72 includes a baffle 721 and two clamping plates 722. The baffle 721 is arranged at the end of the material discharge position 11. The material box 101 is blocked by the baffle 721 after the conveying mechanism 1 moves to the material picking position 13, and the conveying mechanism 1 can continue to move to ensure that the regional position of the conveying mechanism 1 can still be transported. The two clamping plates 722 are respectively arranged on both sides of the material picking position 13. The two clamping plates 722 can move toward each other and respectively abut against the side walls of the material box 101, so that the material can be conveyed in a direction perpendicular to the conveying direction of the conveying mechanism 1. The box 101 is limited to correct the position error of the box 101 and ensure the position accuracy of the box 101. The fixing mechanism includes a second suction port 73, which is arranged on the side of the material taking position 13. The second suction port 73 can adsorb the bottom of the box 101, thereby locking the position of the box 101. When the second robot 4 grabs the box 101, the two clamps 722 can loosen the box 101, so that there is a certain gap between the side wall of the box 101 and the workpiece 102 contained therein, thereby facilitating the removal of the workpiece 102. That is, through the cooperation of the limiting mechanism 72 and the fixing mechanism, the second robot 4 can accurately align the workpiece 102 and smoothly remove the workpiece 102 from the box 101.

[0071] In this embodiment, Figure 4 As shown, the limiting mechanism 72 also includes a clamping drive assembly 723, which is used to drive the two clamping plates 722 to move toward each other to clamp the limiting material box 101, or drive the two clamping plates 722 to move back to release the material box 101. Optionally, the clamping drive assembly 723 can be a clamping cylinder, and the two output ends of the clamping cylinder are respectively connected to the two clamping plates 722 to drive the two clamping plates 722 to move. In other embodiments, the clamping drive assembly 723 can also include two linear cylinders, each linear cylinder corresponding to driving a clamping plate 722 to move. The specific structural form of the clamping drive assembly 723 can be selected and set according to actual needs, and is not specifically limited here. The automatic feeding equipment also includes a vacuum generator, and a plurality of second suction ports 73 are provided on both sides of the material taking position 13 to ensure the reliability of fixing the material box 101. The second suction port 73 is connected to the vacuum generator, so that negative pressure can be generated to adsorb and fix the material box 101.

[0072] In order to prevent the second manipulator from missing the workpiece 102 in the material box 101, Figure 1 and Figure 5As shown, the automatic loading equipment also includes a recovery box 71, which is arranged on one side of the material picking position 13. The second robot 4 includes a second robotic arm 41 and a suction cup 42. The second robotic arm 41 can drive the suction cup 42 to move. The suction cup 42 is provided with a plurality of first suction ports 421 to facilitate the simultaneous adsorption of a plurality of workpieces 102, thereby improving the working efficiency of the second robot 4. When all the first suction ports 421 are adsorbed to the workpiece 102, the second robot 4 can detect that there is a preset pressure value in the suction cup 42. When one or more of the first suction ports 421 are not adsorbed to the workpiece 102, the second robot 4 detects that the actual pressure in the suction cup 42 is different from the preset pressure value. That is, by judging the pressure value in the suction cup 42, it can be judged whether the second robot 4 completely adsorbs the workpiece 102 in the material box 101. When the judgment result is that all the workpieces 102 in the material box 101 are adsorbed, the second robot 4 puts the workpiece 102 into the tobacco packaging equipment. When the judgment structure is that the second robot 4 does not adsorb all the workpieces 102 in the material box 101, the second robot 4 puts all the grasped workpieces 102 at this time into the recycling box 71 for recycling, thereby avoiding affecting the production of the tobacco packaging equipment. In this embodiment, the multiple first suction ports 421 on the suction cup 42 are arranged in a one-to-one correspondence with the workpieces 102 in a material box 101. In other embodiments, two or more first suction ports 421 may jointly adsorb one workpiece 102, or one suction port 421 may adsorb two or more workpieces 102, which is not specifically limited here. Furthermore, the second robot arm 41 may be a six-axis robot arm, so that the suction cup 42 can be driven to move flexibly. A pressure sensor 43 is arranged in the suction cup 42. The pressure sensor 43 can detect the pressure in the suction cup 42 and determine whether the suction cup 42 adsorbs all the workpieces 102 in a material box 101 this time.

[0073] After the second manipulator takes out the workpiece 102 in the material box 101, the empty material box 101 needs to be recycled. Preferably, Figure 4As shown, the material box recovery mechanism 5 includes a conveying component 51, a transverse driving component 52 and a second lifting driving component 53. The conveying component 51 is arranged on one side of the material picking position 13. The transverse driving component 52 can drive the limiting mechanism 72 to move between above the material picking position 13 and above the conveying component 51, so that the empty material box 101 can move onto the conveying component 51. The second lifting driving component 53 can drive the conveying component 51 to move up and down to avoid the limiting mechanism 72. During the process of the material box recovery mechanism 5 recovering the empty material box 101: the fixing mechanism first releases the adsorption and fixation of the material box 101, and the limiting mechanism 72 clamps the empty material box 101, and then the transverse driving component 52 drives the limiting mechanism 72 and the empty material box 101 to move laterally to above the conveying component 51. At this time, the limiting mechanism 72 releases the material box 101, so that the empty material box 101 falls on the conveying component 51, and then the second lifting driving component 53 drives the conveying component 51 to move downward in the vertical direction, so that the empty material box 101 moves downward with the conveying component 51 until the material box 101 completely avoids the limiting mechanism 72 in the up and down directions, so that the transverse driving component 52 drives the limiting mechanism 72 from above the conveying component 51 to above the material picking position 13. The whole process does not require manual operation, and the mechanical structure to realize the process only needs to perform linear motion. The structure is simple, easy to implement, and low cost.

[0074] Specifically, in this embodiment, if Figure 4 As shown, the conveying assembly 51 can be a belt conveying assembly or a chain drive assembly or other mechanism capable of conveying the material box 101. It can be set as needed. In this embodiment, the conveying assembly 51 is a belt conveying assembly, and the belt conveying assembly is arranged in parallel with the conveying mechanism 1, so that the structure of the entire automatic feeding equipment is more compact. Further, the transverse drive assembly 52 includes a linear cylinder, which is arranged on the side of the conveying mechanism 1 away from the conveying assembly 51. The output end of the linear cylinder is connected to the limit mechanism 72, so that the limit mechanism 72 can be driven to move between the upper part of the material taking position 13 and the upper part of the conveying assembly 51. In other embodiments, the structure of the transverse drive assembly 52 is not specifically limited. Further, the second lifting drive assembly 53 includes a lifting cylinder, the output end of the lifting cylinder is connected to the conveying assembly 51, and the lifting cylinder telescopic movement realizes the lifting movement of the driving conveying assembly 51, which has a simple structure and is easy to operate. In other embodiments, the second lifting drive assembly 53 can also be an output of a linear motion realized by a motor in conjunction with a screw nut pair, which is not specifically limited here.

[0075] Preferably, the material box recovery mechanism 5 also includes a first guide assembly 54, which is used to guide the lifting and lowering movement of the conveying assembly 51 to ensure that the conveying assembly 51 moves smoothly and in an accurate direction. In this embodiment, the first guide assembly 54 includes a first linear bearing 541 and a first guide column 542. The first linear bearing 541 is fixed on the frame, and the first guide column 542 is fixedly connected to the conveying assembly 51 and extends in a vertical direction. The first guide column 542 and the first linear bearing 541 are slidably matched to ensure the smoothness of the lifting and lowering movement of the conveying assembly 51. In other embodiments, the first guide assembly 54 may also be a guide rail slider or other existing guide structure, which is not specifically limited here.

[0076] When the limiting mechanism 72 returns to the top of the material taking position 13, the conveying assembly 51 needs to convey the empty material box 101 to the recycling position. However, the three-dimensional material box 101 occupies a large space. When the recycling area space is fixed, the number of material boxes 101 that can be recycled is small. Figure 4 As shown, the material box recovery mechanism 5 also includes a material box flattening mechanism 8, which can disassemble the material box 101 on the conveying component 51 into a flat plate, and then the conveying component 51 conveys the material box 101 in a flat plate state to the recovery position, so that the recovery position can store more material boxes 101.

[0077] Specifically, Figure 4 As shown, the material box flattening mechanism 8 includes a flattening head 81 and a flattening lifting drive assembly 82. The flattening lifting drive assembly 82 is arranged on the frame and is located above the conveying assembly 51. The flattening lifting drive assembly 82 can drive the flattening head 81 to move up and down so that the flattening head 81 can extend into the material box 101 on the conveying assembly 51. The flattening head 81 includes a main body 811, at least two flattening plates 812 and a corresponding number of telescopic driving members 813. The main body 811 is connected to the output end of the flattening lifting drive assembly 82. The telescopic driving member 813 is arranged on the main body 811. Each flattening plate 812 is correspondingly connected to the output end of a telescopic driving member 813. At least two telescopic driving members 813 can respectively drive the corresponding flattening plates 812 to move in a direction away from the center of the material box 101, so that the at least two flattening plates 812 respectively pull the side walls of the material box 101 around, and then the material box 101 can be torn into a flat plate. In this embodiment, the flattening head 81 includes four flattening plates 812, and the four flattening plates 812 are respectively parallel to the four side walls of the material box 101. When the four flattening plates 812 push the four side walls of the material box 101 at the same time, the material box 101 is teared directionally along its vertical edges. Of course, in other embodiments, the number and plane of the flattening heads 81 can be set in combination with the corresponding shape of the material box 101, which is not limited here.

[0078] Specifically, in this embodiment, the flattening and lifting drive assembly 82 includes a cylinder, which is arranged on the frame, and the output end of the cylinder is connected to the main body 811 of the flattening head 81. In other embodiments, the flattening and lifting drive assembly 82 can also be other components or parts that can output linear motion, which is not limited here. Further, the material box flattening mechanism 8 also includes a second guide assembly 83, which is used to guide the lifting and lowering motion of the flattening head 81 to ensure that the flattening head 81 moves smoothly and in an accurate direction. In this embodiment, the second guide assembly 83 includes a second linear bearing 831 and a second guide column 832, the second linear bearing 831 is fixed on the frame, the second guide column 832 is fixedly connected to the main body 811 of the flattening head 81, and extends in the vertical direction, the second guide column 832 and the second linear bearing 831 are slidably matched, thereby ensuring the smoothness of the lifting and lowering motion of the flattening head 81. In other embodiments, the second guide assembly 83 can also be a guide rail slider or other structure, which is not specifically limited here. Furthermore, the telescopic driving member 813 is a linear cylinder, one end of which is fixed on the main body 811 and the other end is connected to an expansion plate 812 , and the telescopic direction output by each linear cylinder corresponds to a side wall of the material box 101 that is perpendicular.

[0079] Preferably, if Figure 6As shown, the automatic feeding equipment also includes a main control cabinet 91, an industrial computer system 92, a first robot control cabinet 93, a second robot control cabinet 94 and a host field control cabinet 95, wherein the main control cabinet 91 is provided with a main control module 911, an I / O module 912, an industrial switch 913, a first stepper driver 914, a second stepper driver 915, a positioning camera module 916 and a detection camera module 917, the I / O module 912 is composed of the main control module 911 and its expansion module, the main control module 911 detects the status of each part of the equipment through the I / O module 912 and controls the action of the actuator, and the main control module 911 is connected to the industrial switch 913 through the PROFINET protocol. The first stepper driver 914 and the second stepper driver 915 are used to control the actions of the conveying mechanism 1 and the conveying assembly 51 respectively, and the first stepper driver 914 and the second stepper driver 915 are both connected to the I / O module 912 for communication. The positioning camera module 916 and the detection camera module 917 are both connected to the industrial switch 913 using the TCP / IP protocol. The positioning camera module 916 is used to control the action of the positioning camera 23 and process the image information of the positioning camera 23, and feed the results back to the main control module 911. The detection camera module 917 is used to control the action of the detection camera 33 and process the image information obtained by the detection camera 33, and feed the results back to the main control module 911. The industrial computer system 92 includes a host computer software operation interface 921, which is connected to the industrial switch 913 for communication. The first robot control cabinet 93 includes a first robot control module 931, which is used to control the action and signal feedback of the first robot 2, and the first robot control module 931 is respectively connected to the I / O module 912 and the industrial switch 913 for communication, and the second robot control cabinet 94 includes a second robot control module 941, which is used to control the action and signal feedback of the second robot 4, and the second robot control module 941 is respectively connected to the I / O module 912 and the industrial switch 913 for communication, that is, the first robot control module 931 and the second robot control module 941 both communicate with the main control module 911 through the I / O module 912. The automatic feeding equipment also includes a field sensor module 961, a solenoid valve control module 962, and a vacuum generator module 963, which are all connected to the I / O module 912 for communication, so that the field equipment communicates with the main control module 911.The first sensor 14, the second sensor 15 and the pressure sensor are all connected to the field sensor module 961 for controlling the reception and sending of signals; the solenoid valves for controlling the extension and retraction of the cylinder are all connected to the solenoid valve control module 962 for controlling the action of the solenoid valve and the feedback of the signal; the vacuum generator for providing negative pressure to the first suction port 421 and the second suction port 73 is connected to the vacuum generator module 963. The host field control cabinet 95 includes a host signal exchange module 951, which is connected to the I / O module 912 for communication.

[0080] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope, and the content of this specification should not be understood as limiting the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automatic loading device for loading workpieces (102), wherein a plurality of the workpieces (102) are arranged in a material box (101), characterized in that: include: A conveying mechanism (1) having a material discharge position (11), a detection position (12) and a material pick-up position (13) arranged in sequence along its conveying direction; A first robot (2) capable of grabbing a material box (101) from the stacking area (100) and placing it at the material placement position (11); The detection mechanism (3) comprises a detection camera (33), wherein the detection camera (33) is capable of detecting whether the placement of the workpiece (102) in the material box (101) moved to the detection position (12) is qualified; A second robot (4) capable of grasping the workpiece (102) in the material box (101) and moving to the material picking position (13); The automatic loading device further comprises a recovery box (71); the second robot (4) comprises a second mechanical arm (41) and a suction cup (42); the second mechanical arm (41) can drive the suction cup (42) to move; a plurality of first suction ports (421) are provided on the suction cup (42); when at least one of the first suction ports (421) fails to adsorb the workpiece (102), the second robot (4) places the grasped workpiece (102) into the recovery box (71); The second robot (4) can determine whether the workpiece (102) is completely adsorbed based on the pressure value in the suction cup (42); when all the first adsorption ports (421) are adsorbed onto the workpiece (102), the second robot (4) can detect that there is a preset pressure value in the suction cup (42); when one or more of the first adsorption ports (421) are not adsorbed onto the workpiece (102), the second robot (4) can detect that the actual pressure in the suction cup (42) is different from the preset pressure value.

2. The automatic feeding equipment according to claim 1, characterized in that: The automatic feeding equipment further comprises a wrong material recovery mechanism (6), wherein the wrong material recovery mechanism (6) is arranged on the side of the detection position (12), and the wrong material recovery mechanism (6) is capable of taking away and collecting the material box (101) detected as unqualified by the detection mechanism (3).

3. The automatic feeding equipment according to claim 2, characterized in that: The wrong material recovery mechanism (6) comprises: A recovery rack (61) is arranged on one side of the detection position (12), the recovery rack (61) comprising a plurality of material bins (611) arranged in sequence in an up-and-down direction; a first lifting drive assembly (62) capable of driving the recovery rack (61) to move upward and downward so that one of the material bins (611) is opposite to the material box (101) at the detection position (12); A material pushing assembly (63) is arranged on the other side of the detection position (12), and the material pushing assembly (63) can push the material box (101) at the detection position (12) into the material bin (611).

4. The automatic feeding equipment according to any one of claims 1 to 3, characterized in that: The automatic feeding equipment also includes: A limiting mechanism (72) is arranged on the upper side of the material taking position (13), and the limiting mechanism (72) is capable of limiting the material box (101) at the material taking position (13) to a preset position; A fixing mechanism is used to fix the material box (101) at the preset position.

5. The automatic feeding equipment according to claim 4, characterized in that: The limiting mechanism (72) comprises a baffle (721) and two clamping plates (722); the baffle (721) is arranged at the end of the material discharge position (11); the baffle (721) can prevent the material box (101) from moving along with the conveying mechanism (1); the two clamping plates (722) are respectively arranged on both sides of the material taking position (13); the two clamping plates (722) can move towards each other and respectively abut against the side walls of the material box (101); The fixing mechanism comprises a second suction port (73), the second suction port (73) being arranged on the side of the material taking position (13), and the second suction port (73) being capable of sucking the bottom of the material box (101).

6. The automatic feeding equipment according to claim 4, characterized in that: The automatic loading device further comprises a material box recovery mechanism (5), wherein the material box recovery mechanism (5) is capable of transporting the empty material box (101) at the material taking position (13) to a recovery position; The material box recovery mechanism (5) comprises: A conveying assembly (51) is arranged on one side of the material taking position (13); a transverse driving assembly (52) capable of driving the limiting mechanism (72) to move between above the material taking position (13) and above the conveying assembly (51), so as to push the material box (101) onto the conveying assembly (51); The second lifting drive assembly (53) is capable of driving the conveying assembly (51) to move upward and downward to avoid the limiting mechanism (72).

7. The automatic feeding equipment according to claim 6, characterized in that: The material box recovery mechanism (5) further comprises a material box flattening mechanism (8), wherein the material box flattening mechanism (8) is capable of disassembling the material box (101) on the conveying component (51) into a flat plate.

8. The automatic feeding equipment according to any one of claims 1 to 3, characterized in that: The first robot (2) comprises: A gripping assembly (21) capable of clamping or releasing the material box (101); A first mechanical arm (22), the first mechanical arm (22) being capable of driving the grabbing assembly (21) to move between the stacking area (100) and the material discharging position (11); A positioning camera (23) is capable of detecting the position of the material box (101) in the stacking area (100).

9. The automatic feeding equipment according to any one of claims 1 to 3, characterized in that: The automatic feeding equipment also includes: A main control cabinet (91), comprising a main control module (911), an I / O module (912), an industrial switch (913), a first stepper driver (914), a second stepper driver (915), a positioning camera module (916) and a detection camera module (917), wherein the I / O module (912) and the industrial switch (913) are respectively connected to the main control module (911), the first stepper driver (914) and the second stepper driver (915) are both connected to the I / O module (912), and the positioning camera module (916) and the detection camera module (917) are both connected to the industrial switch (913); An industrial computer system (92), comprising a host computer software operation interface (921), wherein the host computer software operation interface (921) is communicatively connected to the industrial switch (913); A first robot control cabinet (93), comprising a first robot control module (931), wherein the first robot control module (931) is communicatively connected to the I / O module (912) and the industrial switch (913) respectively; A second robot control cabinet (94), comprising a second robot control module (941), wherein the second robot control module (941) is communicatively connected to the I / O module (912) and the industrial switch (913) respectively; The host field control cabinet (95) comprises a host signal exchange module (951), and the host signal exchange module (951) is communicatively connected with the I / O module (912).

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