Sticker device and control method of sticker device

Abstract

The present invention discloses a sticker device and a control method for the sticker device, wherein the sticker device comprises: a support table, the support table has a first support position and a second support position, the first support position and the second support position are used to support two materials to be pasted respectively; a first material bin and a second material bin are arranged on both sides of the support table along a first direction for placing materials to be pasted; a material picking mechanism comprises a bracket and a first material picking arm and a second material picking arm installed on the bracket, the first material picking arm can move along the first direction to have a first material picking position that moves to the top of the first material bin, and a first material pasting position that moves to the top of the first support position; the second material picking arm can move along the first direction to have a second material picking position that moves to the top of the second material bin, and a second material pasting position that moves to the top of the second support position. The technical solution of the present invention can perform pasting work on two materials to be pasted at the same time, thereby improving the working efficiency of the sticker device.

Description

Technical Field

[0001] The present invention relates to the field of mounting technology, and in particular to a mounting device and a control method of the mounting device. Background Art

[0002] Paper boxes are usually made of an outer layer of tissue paper and an inner layer of hard paperboard. During the production process, the tissue paper needs to be glued, and then the hard paperboard is pasted on the tissue paper through a sticker machine. Existing sticker machines can usually only paste one tissue paper at a time, and the work efficiency is not high. Summary of the invention

[0003] The main purpose of the present invention is to provide a sticker device, aiming to solve the problem that the existing sticker device can only stick one face paper at a time and the working efficiency is low.

[0004] To achieve the above object, the sticker device proposed by the present invention includes:

[0005] A support platform, the support platform having a first support position and a second support position, the first support position and the second support position are used to support two pasted materials respectively;

[0006] A first material bin and a second material bin are arranged on both sides of the support platform along a first direction for placing materials to be pasted;

[0007] The material picking mechanism includes a bracket and a first material picking arm and a second material picking arm installed on the bracket. The first material picking arm can move along the first direction so as to have a first material picking position that can be moved to the first material bin and a first material sticking position that can be moved to the first support position; the second material picking arm can move along the first direction so as to have a second material picking position that can be moved to the second material bin and a second material sticking position that can be moved to the second support position.

[0008] Optionally, the material taking mechanism comprises:

[0009] A first driving device and a second driving device, used to drive the first material taking arm and the second material taking arm respectively;

[0010] The center adjustment device includes a camera device, an image processing device and a controller. The camera device is arranged above the support table to obtain images of the materials to be pasted on the first support position and the second support position. The image processing device is used to determine the first reference line of the materials to be pasted. The controller is electrically connected to the image processing device and the first drive device and the second drive device to control the stroke of the first drive device and the second drive device so that the first drive device drives the first material picking arm to align the second reference line of the material to be pasted with the first reference line of one of the materials to be pasted, and the second drive device drives the second material picking arm to align the second reference line of the material to be pasted with the first reference line of another material to be pasted.

[0011] Optionally, the sticker machine further comprises a first material conveying mechanism installed on the first material bin and a second material conveying mechanism installed on the second material bin, the first material bin has a first material preparation position and a first material loading position, the first material loading position is arranged close to the support platform, the first material preparation position is arranged away from the support platform, the first material loading position is located below the first material taking position, the first material preparation position is used for stacking a plurality of materials to be pasted, and the first material conveying mechanism is used for conveying the materials to be pasted from the first material preparation position to the first material loading position;

[0012] The second material bin has a second preparation position and a second unloading position, the second loading position is arranged close to the support platform, the second preparation position is arranged far away from the support platform, the second loading position is located below the second material taking position, the second preparation position is used for placing multiple materials to be pasted, and the second material conveying mechanism is used to transfer the materials to be pasted from the second preparation position to the second loading position.

[0013] Optionally, the first material bin includes a first front limit rod, which is located on a side of the first material preparation position facing the first material loading position, a first discharge port is formed at the bottom of the first front limit rod, the first material feeding mechanism includes a first guide rail and a first pushing platform movably mounted on the first guide rail, the first material loading position is located on a movable track of the first pushing platform, a first pushing step is formed on the first pushing platform, the first pushing step has a first pushing surface and a first supporting surface, the first pushing platform also has a first pushing position, the first pushing position is located on a side of the first material preparation position away from the first material loading position, and when the first pushing platform is located at the first pushing position, the first pushing surface faces the first discharge port;

[0014] The second material bin includes a second front limit rod, which is located on the side of the second preparation position facing the second loading position, and a second discharge port is provided at the bottom of the second front limit rod. The second material transmission mechanism includes a second guide rail and a second pushing platform movably mounted on the second guide rail. The second loading position is located on the movable track of the second pushing platform. The second pushing platform is formed with a second pushing step, and the second pushing step has a second pushing surface and a second supporting surface. The second pushing platform also has a second pushing position, and the second pushing position is located on the side of the second preparation position away from the second loading position. When the second pushing platform is located at the second pushing position, the second pushing surface faces the second discharge port.

[0015] Optionally, the first pushing platform further has a first guiding inclined surface, the first guiding inclined surface is connected to the first pushing surface, and is arranged obliquely away from the first pushing surface;

[0016] The second pushing platform also has a second guiding inclined surface, which is connected to the second pushing surface and is arranged obliquely away from the second pushing surface.

[0017] Optionally, the first guide rail is mounted on the inner wall of the first silo, and a plurality of first positioning pin holes are provided on the inner wall of the first silo, at least two of the first positioning pin holes are located below the first guide rail and are provided corresponding to the two ends of the first guide rail, and the first positioning pin holes are used for positioning pins to be inserted to support and limit the first guide rail;

[0018] The second guide rail is installed on the inner wall of the second material bin, and a plurality of second positioning pin holes are opened on the inner wall of the second material bin. At least two of the second positioning pin holes are located below the second guide rail and are arranged corresponding to the two ends of the second guide rail. The second positioning pin holes are used for inserting positioning pins to support and limit the second guide rail.

[0019] Optionally, the sticker equipment also includes an installation cabinet, the first material bin, the second material bin and the support platform are installed in the installation cabinet, a counterweight block is provided at the bottom of the installation cabinet, and the first material bin, the second material bin and the support platform are located above the counterweight block.

[0020] Optionally, the sticker equipment also includes a unloading table, which is located on one side of the support platform in the second direction, and the second direction is perpendicular to the first direction. The unloading table includes a conveying platform, and the conveying platform is used to receive materials from the support platform. A transfer mechanism is also provided on the unloading table, and the transfer mechanism is used to remove one of the materials from the conveying platform. The transfer direction of the transfer mechanism is different from the conveying direction of the conveying platform.

[0021] The present invention also provides a control method for a sticker device, the sticker device comprising:

[0022] A support platform, the support platform having a first support position and a second support position, the first support position and the second support position are used to support two pasted materials respectively;

[0023] A first material bin and a second material bin are arranged on both sides of the support platform along a first direction for placing materials to be pasted;

[0024] The material taking mechanism comprises a bracket and a first material taking arm and a second material taking arm mounted on the bracket, wherein the first material taking arm can move along the first direction to have a first material taking position above the first material bin and a first material attaching position above the first supporting position; the second material taking arm can move along the first direction to have a second material taking position above the second material bin and a second material attaching position above the second supporting position;

[0025] The control method of the sticker device includes:

[0026] Control the first material picking arm to move to the first material picking position, and control the second material picking arm to move to the second material picking position;

[0027] Control the first material picking arm to grab the material to be pasted in the first material bin, and control the second material picking arm to grab the material to be pasted in the second material bin;

[0028] Control the first material picking arm to move to the first material attaching position, and control the second material picking arm to move to the second material attaching position;

[0029] Control the first material taking arm to press the material to be pasted downward onto the pasted material on the first supporting position, and control the second material taking arm to press the material to be pasted downward onto the pasted material on the second supporting position;

[0030] The first material picking arm is controlled to reset upward, and the second material picking arm is controlled to reset upward at the same time.

[0031] Optionally, the material taking mechanism comprises:

[0032] A first driving device and a second driving device, used to drive the first material taking arm and the second material taking arm respectively;

[0033] A central adjustment device, including a camera device, an image processing device and a controller;

[0034] The step of controlling the first picking arm to move to the first material attaching position and controlling the second picking arm to move to the second material attaching position comprises:

[0035] Acquire images of the attached materials on the first supporting position and the second supporting position by the camera device;

[0036] Determine the first reference lines of two pasted materials by the image processing device;

[0037] Acquire a first distance between a first reference line of the material to be pasted on the first support position and a second reference line of the material to be pasted in the first silo, and simultaneously acquire a second distance between the first reference line of the material to be pasted on the second support position and a second reference line of the material to be pasted in the second silo;

[0038] The first material picking arm is controlled to move a first preset stroke, the first preset stroke is equal to the first spacing, and the second material picking arm is controlled to move a second preset stroke, the second preset stroke is equal to the second spacing.

[0039] The technical solution of the present invention is to configure the support table to support two materials to be pasted at the same time, and then respectively set the first material bin and the second material bin on both sides of the support table, and respectively set the first material bin and the second material bin with a first material picking arm and a second material picking arm, so that the first material bin and the second material bin can be controlled to work simultaneously to simultaneously grab the materials to be pasted on the first material bin and the second material bin, and then press them onto the two materials to be pasted on the support table, and finally complete the pasting work of the two materials to be pasted at the same time, thereby improving the working efficiency of the pasting equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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 the structures shown in these drawings without paying creative work.

[0041] Figure 1 It is a partial structural schematic diagram of the sticker device of the present invention;

[0042] Figure 2 It is another structural schematic diagram of the sticker device of the present invention;

[0043] Figure 3 It is another structural schematic diagram of a part of the sticker device of the present invention;

[0044] Figure 4 It is a partial structural schematic diagram of the first silo of the sticker device of the present invention;

[0045] Figure 5 for Figure 4 A partial enlarged view of the middle A;

[0046] Figure 6 It is a structural schematic diagram of the first pushing platform of the sticker device of the present invention;

[0047] Figure 7 It is another partial structural schematic diagram of the first silo of the sticker device of the present invention;

[0048] Figure 8 It is a partial structural schematic diagram of the second silo of the sticker device of the present invention;

[0049] Fig. 9 It is a structural schematic diagram of the second pushing platform of the sticker device of the present invention;

[0050] Fig.10 It is another partial structural schematic diagram of the second silo of the sticker device of the present invention;

[0051] Fig.11 It is a partial structural schematic diagram of the unloading platform of the sticker device of the present invention;

[0052] Fig.12 Schematic diagram of a flow chart of an embodiment of a control method for a sticker device of the present invention.

[0053] Description of Figure Numbers:

[0054] Label name Label name 100 Support table 101 First support level 102 Second support level 210 First silo 211 First preparation position 212 First loading position 213 First front limit rod 214 The first outlet 215 First rear limit rod 216 First positioning pin hole 220 Second silo 221 Second preparation position 222 Second loading position 223 Second front limit rod 224 The second outlet 225 Second rear limit rod 226 Second positioning pin hole 301 Bracket 310 First drive device 311 First reclaiming arm 320 Second drive device 321 Second reclaiming arm 330 Camera device 401 First rail 402 First movable rod 403 First pusher 404 First support part 405 First support surface 406 First connection part 407 The first pusher 408 First push surface 409 First guide slope 410 First push step 411 First push position 421 Second rail 422 Second movable lever 423 The second pusher 424 Second support part 425 Second support surface 426 Second connection part 427 The second pusher 428 Second push surface 429 Second guide slope 430 The second pusher step 431 Second push position 500 Installation cabinet 501 Counterweight 600 Support frame 700 Unloading table 710 Conveying platform 721 Mobile Modules 722 Robotic Arm

[0055] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0057] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0058] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0059] The specific structure of the sticker device will be mainly described below.

[0060] Reference Figures 1 to 11 In an embodiment of the present invention, the sticker device includes:

[0061] A support platform 100, wherein the support platform 100 has a first support position 101 and a second support position 102, wherein the first support position 101 and the second support position 102 are used to support two pasted materials respectively;

[0062] The first material bin 210 and the second material bin 220 are respectively arranged on both sides of the support platform 100 along the first direction for placing materials to be pasted;

[0063] The material picking mechanism includes a bracket 301 and a first material picking arm 311 and a second material picking arm 321 installed on the bracket 301. The first material picking arm 311 can move along the first direction to have a first material picking position that can be moved to above the first material bin 210, and a first material sticking position that can be moved to above the first support position 101; the second material picking arm 321 can move along the first direction to have a second material picking position that can be moved to above the second material bin 220, and a second material sticking position that can be moved to above the second support position 102.

[0064] Specifically, in this embodiment, the first direction can be understood as a direction perpendicular to the extension direction of the support platform 100 , and the extension direction of the first material bin 210 and the extension direction of the second material bin 220 are parallel to, or even parallel to, the extension direction of the support platform 100 .

[0065] There are many ways for the first picking arm 311 and the second picking arm 321 to move along the first direction. For example, the first picking arm 311 and the second picking arm 321 are both four-axis manipulators, and then the four-axis manipulators can be driven by a driving device to move along the first direction. During operation, the four-axis manipulator can be controlled to move above the bin and then grab the material to be pasted in the bin, and then the four-axis manipulator can be controlled to move above the support table 100 to press the material to be pasted onto the material to be pasted, so as to complete the pasting work.

[0066] The technical solution of the present invention is to configure the support table 100 to support two materials to be pasted at the same time, and then respectively set the first material bin 210 and the second material bin 220 on both sides of the support table 100, and respectively set the first material bin 210 and the second material bin 220 with a first material picking arm 311 and a second material picking arm 321 corresponding to the first material bin 210 and the second material bin 220, so that the first material picking arm 311 and the second material picking arm 321 can be controlled to work simultaneously to simultaneously grab the materials to be pasted on the first material bin 210 and the second material bin 220, and then press them onto the two materials to be pasted on the support table 100, and finally complete the pasting work of the two materials to be pasted at the same time, thereby improving the working efficiency of the pasting equipment.

[0067] In order to improve the placement accuracy of the sticker device, in some embodiments, the material taking mechanism includes:

[0068] A first driving device 310 and a second driving device 320 are used to drive the first material picking arm 311 and the second material picking arm 321 respectively;

[0069] The center adjustment device includes a camera device 330, an image processing device and a controller. The camera device 330 is arranged above the support platform 100 to obtain images of the materials to be pasted on the first support position 101 and the second support position 102. The image processing device is used to determine the first reference line of the materials to be pasted. The controller is electrically connected to the image processing device and the first drive device 310 and the second drive device 320 to control the stroke of the first drive device 310 and the second drive device 320, so that the first drive device 310 drives the first material picking arm 311 to align the second reference line of the material to be pasted with the first reference line of one of the materials to be pasted, and the second drive device 320 drives the second material picking arm 321 to align the second reference line of the material to be pasted with the first reference line of another material to be pasted.

[0070] In this embodiment, the position and range of the first reference line and the second reference line can be reasonably arranged so that the pick-up arm aligns the second reference line of the material to be pasted with the first reference line of the material to be pasted, and then after the material to be pasted is pressed onto the material to be pasted, the material to be pasted is pasted on the material to be pasted at a preset position and angle, thereby improving the pasting accuracy of the sticker device. It is worth mentioning that the grabbing position of the pick-up arm can be controlled so that the pick-up arm grabs the specified position of the material to be pasted, so that when the reference position of the pick-up arm is aligned with the first reference line of the material to be pasted, the second reference line of the material to be pasted is just aligned with the first reference line of the material to be pasted, so as to complete the alignment of the material to be pasted and the material to be pasted.

[0071] In some embodiments, the sticker device further includes a first material feeding mechanism installed on the first material bin 210 and a second material feeding mechanism installed on the second material bin 220, the first material bin 210 has a first material preparation position 211 and a first material loading position 212, the first material loading position 212 is arranged close to the support table 100, the first material preparation position 211 is arranged away from the support table 100, the first material loading position 212 is located below the first material taking position, the first material preparation position 211 is used for stacking a plurality of materials to be pasted, the first material feeding mechanism The second silo 220 has a second preparation position 221 and a second unloading position. The second loading position 222 is arranged close to the support platform 100, and the second preparation position 221 is arranged far from the support platform 100. The second loading position 222 is located below the second material taking position. The second preparation position 221 is used to place a plurality of materials to be pasted. The second material conveying mechanism is used to convey the materials to be pasted from the second preparation position 221 to the second loading position 222. When working, the material conveying mechanism conveys a material to be pasted on the preparation position to the loading position, and the material taking arm grabs the material to be pasted on the loading position for subsequent pasting work. In this way, there is only one material to be pasted on the loading position, so that the material taking arm can take the material at the same material taking height, which is conducive to the material taking arm to quickly and accurately align the material to be pasted with the material to be pasted, so as to improve the pasting quality and efficiency of the pasting equipment. It is worth mentioning that the feeding mechanism can work continuously after being turned on, or a sensor can be installed on the silo. The sensor is electrically connected to the feeding mechanism. When the sensor senses that there is no material to be pasted on the loading position, the feeding mechanism will start the conveying work, that is, the material to be pasted on the preparation position is transferred to the loading position.

[0072] Regarding the material transfer method of the material transfer mechanism, an example is given below to illustrate. In some embodiments, the first material bin 210 includes a first front limiting rod 213, a first discharge port 214 is provided at the bottom of the first front limiting rod 213, the first front limiting rod 213 is located on the side of the first preparation position 211 facing the first loading position 212, the first material feeding mechanism includes a first guide rail 401 and a first pushing platform 403 movably mounted on the first guide rail 401, the first loading position 212 is located on the movable track of the first pushing platform 403, the first pushing platform 403 is formed with a first pushing step 410, the first pushing step 410 has a first pushing surface 408 and a first supporting surface 405, the first pushing platform 403 also has a first pushing position 411, the first pushing position 411 is located on the side of the first preparation position 211 away from the first loading position 212, and when the first pushing platform 403 is located at the first pushing position 411, the first pushing surface 408 faces the first discharge port 214;

[0073] The second material bin 220 includes a second front limit rod 223, which is located on the side of the second preparation position 221 facing the second loading position 222, and a second discharge port 224 is provided at the bottom of the second front limit rod 223. The second material feeding mechanism includes a second guide rail 421 and a second pushing platform 423 movably mounted on the second guide rail 421. The second loading position 222 is located on the movable track of the second pushing platform 423. The second pushing platform 423 is formed with a second pushing step 430. The second pushing step 430 has a second pushing surface 428 and a second supporting surface 425. The second pushing platform 423 also has a second pushing position 431. The second pushing position 431 is located on the side of the second preparation position 221 away from the second loading position 222. When the second pushing platform 423 is located at the second pushing position 431, the second pushing surface 428 faces the second discharge port 224.

[0074] Specifically, there are many ways to movably install the first pushing platform 403 on the first guide rail 401. For example, the first material transmission mechanism also includes a first movable rod 402, which can slide along the length direction of the first guide rail 401, and the first pushing platform 403 is connected to the first movable rod 402 to slide along the sliding of the first movable rod 402; similarly, the second material transmission mechanism also includes a second movable rod 422, which can slide along the length direction of the second guide rail 421, and the second pushing platform 423 is connected to the second movable rod 422 to slide along the sliding of the second movable rod 422. When working, first stack multiple materials to be pasted on the preparation position, then slide the movable rod so that the pusher is located on the pusher position, then slide the movable rod in the direction of the upper material position, and the pusher slides, and during the sliding process, the pushing surface of the pushing step abuts against a material to be pasted at the bottom of the preparation position, and pushes the material to be pasted to slide out of the discharge port of the front limit rod, and then transfers the material to be pasted to the upper material position, and then controls the movable rod to drive the pusher to slide back to the pushing position, and so on. The work of transferring the material to be pasted is carried out by controlling the movable rod to make reciprocating motion to drive the pusher to make reciprocating motion. There are many ways to control the movable rod to make reciprocating motion, such as through motor control. It is worth mentioning that the height of the pushing step can be reasonably set so that when the pushing step slides, the pushing step only pushes one material to be pasted, and then the size of the discharge port is reasonably set so that the discharge port can allow the pushing step and one material to be pasted to pass through.

[0075] In order to limit the position of the material to be pasted, the first silo 210 may also include a first rear limit rod 215, which is located on the side of the first preparation position 211 away from the first loading position 212, and is arranged in parallel with the first front limit rod 213, so that the first rear limit rod 215 and the first front limit rod 213 limit the material to be pasted on the first preparation position 211 to avoid the material to be pasted from shifting and affecting the subsequent mounting work. Similarly, the second silo 220 may also include a second rear limit rod 225, which is located on the side of the second preparation position 221 away from the second loading position 222, and is arranged in parallel with the second front limit rod 223, so that the second rear limit rod 225 and the second front limit rod 223 limit the material to be pasted on the second preparation position 221 to avoid the material to be pasted from shifting and affecting the subsequent mounting work.

[0076] In order to facilitate the pusher to slide to the push position through the material to be pasted, in some embodiments, the first pusher 403 further has a first guide slope 409, which is connected to the first pusher surface 408 and is tilted away from the first pusher surface 408; the second pusher 423 further has a second guide slope 429, which is connected to the second pusher surface 428 and is tilted away from the second pusher surface 428. As the name implies, after the pusher delivers the material to be pasted to the upper material position, in the process of sliding to the push position, the top wall of the pusher step will slide along the bottom wall of the material to be pasted located on the preparation position, and the end of the guide slope away from the pusher surface is first in contact with the material to be pasted, and in this embodiment, the guide slope is tilted away from the pusher surface, which can guide the pusher to gradually slide to the push position, avoiding the sliding of the pusher being affected by the setting of the pusher step.

[0077] In order to further facilitate the pusher to slide through the material to be pasted to the pusher position, the pusher can be further optimized. The following two examples are given to illustrate:

[0078] In some embodiments, the first pushing platform 403 includes a first supporting portion 404, a first connecting portion 406 and a first pushing portion 407, wherein the first supporting portion 404 is connected to one end of the first connecting portion 406 and protrudes from the top of the first connecting portion 406, and one end of the first pushing portion 407 is connected to the top of the first connecting portion 406, and the other end is a free end and is located above the first connecting portion 406; the first supporting surface 405 is located at the first supporting portion 404, the first guiding inclined surface 409 and the first pushing surface 408 are located at the first pushing portion 407, and the first pushing portion 407 is elastic, so that the first pushing portion 407 has a first push-pull position in which the first guiding inclined surface 409 protrudes from the first supporting surface 405, and a first avoiding position in which the first guiding inclined surface 409 is flush with the first supporting surface 405;

[0079] The second pushing platform 423 includes a second supporting portion 424, a second connecting portion 426 and a second pushing portion 427, the second supporting portion 424 is connected to one end of the second connecting portion 426 and protrudes from the top of the second connecting portion 426, one end of the second pushing portion 427 is connected to the top of the second connecting portion 426, and the other end is a free end and is located above the second connecting portion 426; the second supporting surface 425 is located at the second supporting portion 424, the second guide inclined surface 429 and the second pushing surface 428 are located at the second pushing portion 427, and the second pushing portion 427 is elastic so that the second pushing portion 427 has a second push-pull position in which the second guide inclined surface 429 protrudes from the second supporting surface 425, and a second material avoiding position in which the second guide inclined surface 429 is flush with the second supporting surface 425.

[0080] In this embodiment, since the pushing portion is elastic, when the pushing portion slides to the bottom of the material to be pasted and is pressed downward by the material to be pasted, the free end of the pushing portion undergoes elastic deformation and moves downward, so that the guiding inclined surface is flush with the supporting surface, so that the pushing platform can smoothly pass through the material to be pasted and slide to the pushing position; after the pushing platform passes through the material to be pasted, the free end returns to its original state, so that the guiding inclined surface protrudes from the supporting surface, so that the pushing portion and the supporting portion are enclosed to form the above-mentioned pushing step for subsequent pushing work.

[0081] In some other embodiments, the first pushing platform 403 includes a first supporting portion 404, a first connecting portion 406 and a first pushing portion 407, the first supporting portion 404 is connected to one end of the first connecting portion 406 and protrudes from the top of the first connecting portion 406, and the first pushing portion 407 is movably installed on the top of the first connecting portion 406; the first supporting surface 405 is located at the first supporting portion 404, the first guiding inclined surface 409 and the first pushing surface 408 are located at the first pushing portion 407, the first pushing portion 407 has a first pushing position 411 that makes the first guiding inclined surface 409 protrude from the first supporting surface 405, and a first avoiding position that makes the first guiding inclined surface 409 flush with the first supporting surface 405; a first resetting member is provided between the first pushing portion 407 and the first connecting portion 406, for resetting the first pushing portion 407 from the first avoiding position to the first pushing position 411;

[0082] The second pushing platform 423 includes a second supporting portion 424, a second connecting portion 426 and a second pushing portion 427, the second supporting portion 424 is connected to one end of the second connecting portion 426 and protrudes from the top of the second connecting portion 426, and the second pushing portion 427 can be movably installed on the top of the second connecting portion 426; the second supporting surface 425 is located at the second supporting portion 424, the second guiding inclined surface and the second pushing surface 428 are located at the first pushing portion 407, the second pushing portion 427 has a second pushing position 431 that makes the second guiding inclined surface 429 protrude from the second supporting surface 425, and a second avoiding position that makes the second guiding inclined surface 429 flush with the second supporting surface 425; a second resetting member is provided between the second pushing portion 427 and the second connecting portion 426, for resetting the second pushing portion 427 from the second avoiding position to the second pushing position 431.

[0083] In this embodiment, there are many ways to movably install the pushing part on the top of the connecting part, for example, a sliding hole is opened on the top of the connecting part, and a sliding column is provided at the bottom of the pushing part, and the sliding column and the sliding hole are slidably matched; the reset part can be specifically a spring, and when the pushing part slides to the bottom of the material to be pasted and is pressed downward by the material to be pasted, the pushing part squeezes the spring to cause the spring to elastically deform, so as to drive the pushing part to move downward, so that the guiding inclined surface is flush with the supporting surface, so that the pushing platform can smoothly pass through the material to be pasted and slide to the pushing position; after the pushing platform passes through the material to be pasted, the spring restores its original state and drives the pushing part to restore its original position, so that the guiding inclined surface of the pushing part protrudes from the supporting surface, so that the pushing part and the supporting part are enclosed to form the above-mentioned pushing step, so as to carry out subsequent pushing work.

[0084] In some embodiments, in order to improve the installation accuracy and convenience of the guide rail, the first guide rail 401 is installed on the inner wall of the first material bin 210, and the inner wall of the first material bin 210 is provided with a plurality of first positioning pin holes 216, at least two of the first positioning pin holes 216 are located below the first guide rail 401, and are arranged corresponding to the two ends of the first guide rail 401, and the first positioning pin holes 216 are used for inserting positioning pins to support and limit the first guide rail 401; the second guide rail 421 is installed on the inner wall of the second material bin 220, and the inner wall of the second material bin 220 is provided with a plurality of second positioning pin holes 226, at least two of the second positioning pin holes 226 are located below the second guide rail 421, and are arranged corresponding to the two ends of the second guide rail 421, and the second positioning pin holes 226 are used for inserting positioning pins to support and limit the second guide rail 421. When installing the guide rail, first insert the positioning pin into the positioning pin hole, then place the guide rail above the positioning pin so that the positioning pin supports the limit guide rail, so that the guide rail is located at the preset position, and then use screws to fix the guide rail on the silo. After the guide rail is installed, the positioning pin can be removed.

[0085] In order to improve the stability and reliability of the sticker device, in some embodiments, the sticker device further includes an installation cabinet 500, the first material bin 210, the second material bin 220, and the support platform 100 are installed in the installation cabinet 500, and a counterweight block 501 is arranged at the bottom of the installation cabinet 500, and the first material bin 210, the second material bin 220, and the support platform 100 are located above the counterweight block 501. The counterweight block 501 can be made of a heavier material such as iron or steel, and can be fixed on the inner wall of the installation cabinet 500 by welding, clamping, etc., so as to increase the gravity at the bottom of the sticker device, so as to improve the stability and reliability of the sticker device and ensure the stable operation of the sticker device. At the same time, the sticker device can be made less likely to shake, and combined with the embodiment of the camera device 330, the camera quality of the camera device 330 can be improved, so as to ultimately ensure that the material to be pasted is just pasted on the pasted material according to the preset position and angle, so as to improve the pasting accuracy of the sticker device.

[0086] In some embodiments, the sticker device further includes a support frame 600, the support frame 600 is covered on the support platform 100, and the camera device 330 can be movably mounted on the support frame 600. There are many ways to movably mount the camera device 330 on the support frame 600, such as the camera device 330 is rotatably connected to the support frame 600, or is slidably connected, etc. The camera device 330 can be moved in translation or in the longitudinal direction, and no specific restrictions are made here, as long as the camera device 330 can meet the shooting requirements of different materials to be pasted, so that the sticker device can be applied to different materials to be pasted, thereby improving the applicability of the sticker device.

[0087] In some embodiments, a conveyor belt is provided on the support platform 100, and the conveyor belt is used to convey the attached material. A suction fan is provided below the conveyor belt, and the conveyor belt is provided with adsorption holes corresponding to the suction fan. The support platform 100 is used to support the conveyor belt. In actual application, the support platform 100 is also provided with through holes, so that the suction fan can act on the adsorption holes through the through holes, so that the attached material above the adsorption holes is adsorbed on the conveyor belt, so as to limit the attached material and prevent the attached material from being offset, so as to improve the mounting quality.

[0088] In some embodiments, the sticker equipment also includes a loading platform 700, which is located on one side of the support platform 100 in the second direction, and the second direction is perpendicular to the first direction. The loading platform 700 includes a conveying platform 710, and the conveying platform 710 is used to receive materials from the support platform 100. A transfer mechanism is also provided on the loading platform 700, and the transfer mechanism is used to remove one of the materials from the conveying platform 710. The transfer direction of the transfer mechanism is different from the conveying direction of the conveying platform 710. Specifically, the second direction is perpendicular to the first direction, that is, the second direction is consistent with the extension direction of the support platform 100; the material refers to the material on which the material to be pasted has been pasted. After the material reaches the conveying platform 710 from the support platform 100, the transfer mechanism removes one of the materials from the conveying platform 710, and the remaining other material is conveyed to the next process by the conveying platform 710, and the removed material can be placed on another conveying platform for the next process. In this way, the unloading platform 700 can play a role in sorting, so that the two materials can flow to two devices respectively. That is, by changing the conveying direction of one of the materials, the space limitation can be broken, so that two devices can be placed at the same time to dock the two materials respectively, thereby improving work efficiency. It should be noted that the transfer mechanism can be in various forms, such as including a mobile module 721 and a mechanical arm 722, the mobile module 721 can drive the mechanical arm 722 to move, and the mechanical arm 722 can grab and put down the material to achieve the removal of one of the materials from the conveying platform 710.

[0089] The present application also provides a control method for a sticker device, referring to Figures 1 to 12 , the sticker device comprises:

[0090] A support platform 100, wherein the support platform 100 has a first support position 101 and a second support position 102, wherein the first support position 101 and the second support position 102 are used to support two pasted materials respectively;

[0091] The first material bin 210 and the second material bin 220 are respectively arranged on both sides of the support platform 100 along the first direction for placing materials to be pasted;

[0092] The material picking mechanism comprises a bracket 301 and a first material picking arm 311 and a second material picking arm 321 mounted on the bracket 301, wherein the first material picking arm 311 can move along the first direction to have a first material picking position above the first material bin 210 and a first material attaching position above the first supporting position 101; the second material picking arm 321 can move along the first direction to have a second material picking position above the second material bin 220 and a second material attaching position above the second supporting position 102;

[0093] Characterized in that the control method of the sticker device includes:

[0094] S10, controlling the first material picking arm 311 to move to the first material picking position, and controlling the second material picking arm 321 to move to the second material picking position;

[0095] S20, controlling the first material taking arm 311 to grab the material to be pasted in the first material bin 210, and controlling the second material taking arm 321 to grab the material to be pasted in the second material bin 220;

[0096] S30, controlling the first material picking arm 311 to move to the first material attaching position, and controlling the second material picking arm 321 to move to the second material attaching position;

[0097] S40, controlling the first material taking arm 311 to press the material to be pasted downward onto the pasted material on the first supporting position 101, and controlling the second material taking arm 321 to press the material to be pasted downward onto the pasted material on the second supporting position 102;

[0098] S50, controlling the first material picking arm 311 to reset upward, and controlling the second material picking arm 321 to reset upward.

[0099] Wherein, the material taking mechanism comprises:

[0100] A first driving device 310 and a second driving device 320 are used to drive the first material picking arm 311 and the second material picking arm 321 respectively;

[0101] The center adjustment device includes a camera device 330, an image processing device and a controller. The camera device 330 is arranged above the support platform 100 to obtain images of the materials to be pasted on the first support position 101 and the second support position 102. The image processing device is used to determine the first reference line of the materials to be pasted. The controller is electrically connected to the image processing device and the first drive device 310 and the second drive device 320 to control the stroke of the first drive device 310 and the second drive device 320, so that the first drive device 310 drives the first material picking arm 311 to align the second reference line of the material to be pasted with the first reference line of one of the materials to be pasted, and the second drive device 320 drives the second material picking arm 321 to align the second reference line of the material to be pasted with the first reference line of another material to be pasted.

[0102] In step S10, the first driving device 310 and the second driving device 320 can be simultaneously controlled by the controller, so that the first driving device 310 drives the first picking arm 311 to move to the first picking position above the first material bin 210, and the second driving device 320 drives the second picking arm 321 to move to the second picking position above the second material bin 220.

[0103] In step S20, the first sensor and the second sensor can be installed on the first driving device 310 and the second driving device 320 respectively. When the first sensor senses that there is material to be pasted on the first material bin 210, the first driving device 310 drives the first picking arm 311 to grab the material to be pasted on the first material bin 210; at the same time, when the second sensor senses that there is material to be pasted on the second material bin 220, the second driving device 320 drives the second picking arm 321 to grab the material to be pasted on the second material bin 220.

[0104] Step S30 may include the following steps:

[0105] S31, acquiring images of the materials to be attached on the first supporting position 101 and the second supporting position 102 by the camera device 330;

[0106] S32, determining the first reference lines of two pasted materials by the image processing device;

[0107] S33, obtaining a first distance between a first reference line of the material to be pasted on the first support position 101 and a second reference line of the material to be pasted in the first silo 210, and simultaneously obtaining a second distance between the first reference line of the material to be pasted on the second support position 102 and a second reference line of the material to be pasted in the second silo 220;

[0108] S34, controlling the first material picking arm 311 to move a first preset stroke, wherein the first preset stroke is equal to the first spacing, and controlling the second material picking arm 321 to move a second preset stroke, wherein the second preset stroke is equal to the second spacing.

[0109] In step S31 , the camera device 330 can simultaneously capture images of the materials on the first supporting position 101 and the second supporting position 102 .

[0110] In step S32 , the image captured by the camera device 330 is transmitted to the image processing device, and the image processing device then determines the first reference lines of the attached material on the first supporting position 101 and the second supporting position 102 .

[0111] In step S33, the grabbing position of the picking arm can be controlled so that the picking arm grabs the specified position of the material to be pasted, so that the first distance between the reference position of the picking arm and the first reference line of the material to be pasted can be obtained through the controller to calculate the distance between the second reference line of the material to be pasted and the first reference line of the material to be pasted. In this way, the first distance between the first reference line of the material to be pasted located on the first support position 101 and the second reference line of the material to be pasted in the first silo 210 is obtained, and the second distance between the first reference line of the material to be pasted located on the second support position 102 and the second reference line of the material to be pasted in the second silo 220 is obtained.

[0112] In step S34, the controller controls the first driving device 310 to drive the first material picking arm 311 to move a first preset stroke, and the first preset stroke is equal to the first spacing, that is, after the first material picking arm 311 moves the first preset stroke, the first material picking arm 311 just reaches the first material pasting position, and the second reference line of the material to be pasted on the first material picking arm 311 is aligned with the first reference line of the material to be pasted; at the same time, the controller controls the second driving device 320 to drive the second material picking arm 321 to move a second preset stroke, and the second preset stroke is equal to the second spacing, that is, after the second material picking arm 321 moves the first preset stroke, the second material picking arm 321 just reaches the second material pasting position, and the second reference line of the material to be pasted on the second material picking arm 321 is aligned with the first reference line of the material to be pasted.

[0113] In step S40, the first driving device 310 and the second driving device 320 are controlled by the controller, so that the first driving device 310 drives the first material picking arm 311 to press the material to be attached downward onto the attached material on the first supporting position 101, and the second driving device 320 drives the second material picking arm 321 to press the material to be attached downward onto the attached material on the second supporting position 102 to complete the mounting work.

[0114] In step S50, the controller controls the first driving device 310 and the second driving device 320, so that the first driving device 310 drives the first material picking arm 311 to reset upward to the first material picking position for the next round of mounting work; the second driving device 320 drives the second material picking arm 321 to reset upward to the second material picking position for the next round of mounting work.

[0115] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A sticker device, characterized in that: include: A support platform, the support platform having a first support position and a second support position, the first support position and the second support position are used to support two pasted materials respectively; A first material bin and a second material bin are arranged on both sides of the support platform along a first direction for placing materials to be pasted; A material taking mechanism, comprising a bracket and a first material taking arm and a second material taking arm mounted on the bracket, wherein the first material taking arm can move along the first direction to have a first material taking position above the first material bin and a first material attaching position above the first supporting position; The second material taking arm can move along the first direction to have a second material taking position above the second material bin and a second material attaching position above the second supporting position; The material taking mechanism comprises: A first driving device and a second driving device, used to drive the first material taking arm and the second material taking arm respectively; The center adjustment device includes a camera device, an image processing device and a controller, wherein the camera device is arranged above the support platform to obtain images of the materials to be pasted on the first support position and the second support position, the image processing device is used to determine the first reference line of the materials to be pasted, and the controller is electrically connected to the image processing device and the first drive device and the second drive device to control the stroke of the first drive device and the second drive device, so that the first drive device drives the first material picking arm to align the second reference line of the materials to be pasted with the first reference line of one of the materials to be pasted, and the second drive device drives the second material picking arm to align the second reference line of the materials to be pasted with the first reference line of another material to be pasted; The sticker machine further comprises a first material conveying mechanism installed on the first material bin and a second material conveying mechanism installed on the second material bin, the first material bin has a first material preparation position and a first material loading position, the first material loading position is arranged close to the support platform, the first material preparation position is arranged away from the support platform, the first material loading position is located below the first material taking position, the first material preparation position is used for stacking a plurality of materials to be pasted, and the first material conveying mechanism is used for conveying the materials to be pasted from the first material preparation position to the first material loading position; The second material bin has a second material preparation position and a second material loading position, the second material loading position is arranged close to the support platform, the second material preparation position is arranged away from the support platform, the second material loading position is located below the second material taking position, the second material preparation position is used for placing a plurality of materials to be pasted, and the second material conveying mechanism is used for conveying the materials to be pasted from the second material preparation position to the second material loading position; The first material bin includes a first front limit rod, which is located on a side of the first preparation position facing the first loading position, a first discharge port is provided at the bottom of the first front limit rod, the first material feeding mechanism includes a first guide rail and a first pushing platform movably mounted on the first guide rail, the first loading position is located on a movable track of the first pushing platform, a first pushing step is formed on the first pushing platform, the first pushing step has a first pushing surface and a first supporting surface, the first pushing platform also has a first pushing position, the first pushing position is located on a side of the first preparation position away from the first loading position, and when the first pushing platform is located at the first pushing position, the first pushing surface faces the first discharge port; The second material bin includes a second front limit rod, which is located on the side of the second preparation position facing the second loading position, and a second discharge port is provided at the bottom of the second front limit rod. The second material feeding mechanism includes a second guide rail and a second pushing platform movably mounted on the second guide rail, and the second loading position is located on the movable track of the second pushing platform. The second pushing platform is formed with a second pushing step, and the second pushing step has a second pushing surface and a second supporting surface. The second pushing platform also has a second pushing position, and the second pushing position is located on the side of the second preparation position away from the second loading position. When the second pushing platform is located at the second pushing position, the second pushing surface faces the second discharge port. The first pushing platform also has a first guiding inclined surface, which is connected to the first pushing surface and is arranged obliquely away from the first pushing surface; The second material pushing platform also has a second guiding inclined surface, which is connected to the second material pushing surface and is arranged obliquely away from the second material pushing surface; The first guide rail is installed on the inner wall of the first silo. The inner wall of the first silo is provided with a plurality of first positioning pin holes. At least two of the first positioning pin holes are located below the first guide rail and are provided corresponding to the two ends of the first guide rail. The first positioning pin holes are used for positioning pins to be inserted to support and limit the first guide rail. The second guide rail is installed on the inner wall of the second material bin, and a plurality of second positioning pin holes are opened on the inner wall of the second material bin. At least two of the second positioning pin holes are located below the second guide rail and are arranged corresponding to the two ends of the second guide rail. The second positioning pin holes are used for inserting positioning pins to support and limit the second guide rail.

2. The sticker device according to claim 1, characterized in that: The sticker device also includes an installation cabinet, the first material bin, the second material bin and the support platform are installed in the installation cabinet, a counterweight block is arranged at the bottom of the installation cabinet, and the first material bin, the second material bin and the support platform are located above the counterweight block.

3. The sticker device according to claim 1, characterized in that: The sticker equipment also includes a material unloading table, which is located on one side of the support platform in the second direction, and the second direction is perpendicular to the first direction. The material unloading table includes a conveying platform, and the conveying platform is used to receive materials from the support platform. A transfer mechanism is also provided on the material unloading table, and the transfer mechanism is used to remove one of the materials from the conveying platform. The transfer direction of the transfer mechanism is different from the conveying direction of the conveying platform.

4. A control method for a sticker device as claimed in any one of claims 1 to 3, characterized in that: The control method of the sticker device includes: Control the first material picking arm to move to the first material picking position, and control the second material picking arm to move to the second material picking position; Control the first material picking arm to grab the material to be pasted in the first material bin, and control the second material picking arm to grab the material to be pasted in the second material bin; Control the first material picking arm to move to the first material attaching position, and control the second material picking arm to move to the second material attaching position; Control the first material taking arm to press the material to be pasted downward onto the pasted material on the first supporting position, and control the second material taking arm to press the material to be pasted downward onto the pasted material on the second supporting position; The first material picking arm is controlled to reset upward, and the second material picking arm is controlled to reset upward at the same time.

5. The control method of the sticker device according to claim 4, characterized in that: The step of controlling the first picking arm to move to the first material attaching position and controlling the second picking arm to move to the second material attaching position comprises: Acquire images of the attached materials on the first supporting position and the second supporting position by the camera device; Determine the first reference lines of two pasted materials by the image processing device; Acquire a first distance between a first reference line of the material to be pasted on the first support position and a second reference line of the material to be pasted in the first silo, and simultaneously acquire a second distance between the first reference line of the material to be pasted on the second support position and a second reference line of the material to be pasted in the second silo; The first material picking arm is controlled to move a first preset stroke, the first preset stroke is equal to the first spacing, and the second material picking arm is controlled to move a second preset stroke, the second preset stroke is equal to the second spacing.

Images