Bracket classification and packaging machine

Abstract

The application provides a bracket classification packaging machine, belonging to the bracket production field, comprising a bracket code recognition, grabbing and placing module, a packaging detection module and an automatic packaging box feeding module; wherein the bracket code recognition, grabbing and placing module comprises a bracket conveying device, a flexible vibrating disc and a mechanical hand, the discharge port of the bracket conveying device is located above the flexible vibrating disc; the automatic packaging box feeding module comprises a first driving device and a packaging box conveying device, the first driving device is fixed to one side of the packaging box conveying device, the packaging detection module is fixed to the other side of the packaging box conveying device and corresponds to the first driving device, and the mechanical hand is fixed to the packaging detection module and the flexible vibrating disc at an included angle. The mechanical hand classification packaging grabbing replaces manual grabbing, reduces the difficulty of custom bracket sequential packaging, improves the work efficiency of bracket taking and arranging, saves manual operation, and realizes large-scale production.

Description

Technical Field

[0001] This invention belongs to the field of tray manufacturing, and particularly relates to a tray sorting and packaging machine. Background Technology

[0002] Brackets are a crucial component of fixed orthodontic technology, directly bonded to the tooth crown surface using adhesive. Before bonding, the base plate requires secondary processing to increase the adhesion between the base plate and the crown surface. Unlike traditional mass production of orthodontic brackets, custom-made orthodontic brackets require each bracket to be individually customized based on the size and shape of the patient's teeth. During the production of custom-made brackets, the size and arrangement of brackets vary significantly due to the different requirements of each aligner. After each aligner is produced, it requires manual handling and arrangement, resulting in long production times, high labor intensity, and significant challenges in organizing large-scale production.

[0003] A fruit sorting and packaging machine (patent application number: CN201410036288.8) is disclosed, which includes a frame, a transmission device, a conveying device, a packaging device and a cutting device; a first support plate, a second support plate and a third support plate are arranged sequentially from top to bottom on the frame, the first support plate, the second support plate and the third support plate are arranged horizontally, and a fixing plate perpendicular to the first support plate is also provided on the first support plate. The patent application also discloses a liquid crystal module sorting and packaging device (patent application number: CN201410830219.4), which includes a feeding line, a four-axis robot, a liquid crystal module sorting mechanism, a tray conveying mechanism, a liquid crystal module picking and placing mechanism, and a spacer paper conveying mechanism. The four-axis robot, liquid crystal module sorting mechanism, tray conveying mechanism, liquid crystal module picking and placing mechanism, and spacer paper conveying mechanism are all fixed on the frame. The four-axis robot is located at the left end of the frame. The feeding line is located within the working area of ​​the four-axis robot. The liquid crystal module sorting mechanism is adjacent to the four-axis robot. The liquid crystal module picking and placing mechanism is adjacent to the liquid crystal module sorting mechanism and located at the rear end of the frame. The tray conveying mechanism is connected to the liquid crystal sorting mechanism and located at the front end of the frame. The spacer paper conveying mechanism is adjacent to the tray conveying mechanism and located at the right end of the frame.

[0004] The above solution can classify and package fruits or LCD modules, but it is not applicable to the classification and packaging of trays. Summary of the Invention

[0005] This application provides a tray sorting and packaging machine, which aims to solve the problems of low efficiency and difficulty in organizing large-scale production caused by the need for manual handling and arrangement of the aforementioned customized trays after production.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This includes a tray coding recognition and gripping module, a packaging inspection module, and an automatic packaging box feeding module;

[0008] The tray coding identification gripping and placement module includes a tray conveying device for transmitting the trays after laser coding on the base plate, a flexible vibrating plate for flipping the trays so that their bottoms face upwards, and a robotic arm. The discharge port of the tray conveying device is located above the flexible vibrating plate.

[0009] The automatic packaging box feeding module includes a first driving device and a packaging box conveying device. The first driving device is fixed on one side of the packaging box conveying device, and the packaging detection module is fixed on the other side of the packaging box conveying device and corresponds to the first driving device. A robotic arm for identifying the bottom code of the tray is fixed at the angle between the packaging detection module and the flexible vibrating plate. The robotic arm includes a suction cup and a robotic arm. The suction cup is connected to one end of the robotic arm, and a vision sensor is fixed on one side of the suction cup.

[0010] Preferably, the packaging inspection module includes a transparent plate and a second driving device. The transparent plate has a positioning groove on one side and a third driving device for pressing the tray packaging box and a fourth driving device for pushing the tray packaging box to move on the adjacent sides. The bottom of the transparent plate is also provided with a first camera for detecting the tray status in the tray packaging box. The second driving device matches the positioning groove and moves vertically along the extension direction of the positioning groove.

[0011] Preferably, the first driving device includes a first baffle and a first cylinder, the second driving device includes a second baffle and a second cylinder, the third driving device includes a laser displacement sensor, a third baffle and a third cylinder, and the fourth driving device includes a fourth baffle and a rotary cylinder.

[0012] Preferably, a first switch for controlling the operation of the automatic feeding module of the packaging box is provided on one side of the top of the positioning groove. When the second cylinder drives the second baffle to rise, it touches the first switch to open.

[0013] Preferably, the packaging inspection module also includes a limiting block, with one end of the fourth baffle fixed to the rotary cylinder and the limiting block fixed to the other end of the fourth baffle.

[0014] Preferably, the packaging box conveying device is provided with a first groove that matches the tray packaging box.

[0015] Preferably, the side wall of the packaging box conveying device is also provided with an opening, and a second switch for controlling the operation of the fourth drive device and a third switch for controlling the operation of the packaging box conveying device are respectively provided on both sides of the opening.

[0016] Preferably, a second camera is also provided above the opening for detecting whether there is a tray packaging box in the first groove at the opening.

[0017] Preferably, the number of openings is at least two.

[0018] Preferably, the tray packaging box includes a second groove and a box body, the second groove being evenly distributed on the box body, and the tray matching the second groove.

[0019] The present invention has the following beneficial effects:

[0020] (1) By replacing manual grasping with robotic arms for sorting and packaging, the difficulty of customized tray order packaging is reduced, the efficiency of tray picking and arranging is improved, and manual operation is saved to achieve mass production.

[0021] (2) Before sorting and packaging, the existing laser technology is used to scan and cut the bracket base plate to form a coding pattern. The protrusions and grooves are used to increase the contact area between the bracket base plate surface and the adhesive agent, thereby increasing the adhesive force between the two and reducing the secondary processing time when the bracket is installed on the teeth.

[0022] (3) By cooperating with the first camera and the robotic arm, the position and order of the trays in the tray packaging box can be effectively monitored and adjusted, thereby improving the packaging efficiency of the customized tray production line and the accuracy of the tray packaging. Attached Figure Description

[0023] Figure 1 This is a top view of the tray sorting and packaging machine of the present invention.

[0024] Figure 2 This is a schematic diagram of the tray sorting and packaging machine of the present invention.

[0025] Figure 3 This is a schematic diagram of the slot encoding recognition and gripping placement module in this invention.

[0026] Figure 4 for Figure 2 Enlarged view of a portion of region D

[0027] Figure 5 for Figure 2 Enlarged view of a portion of region E

[0028] Figure 6 This is a schematic diagram of the packaging inspection module in this invention.

[0029] Figure 7 This is a top view of the packaging inspection module in this invention.

[0030] Figure 8 This is a schematic diagram of the packaging inspection module from a side view in this invention.

[0031] Figure 9 This is a schematic diagram of the tray packaging box in this invention.

[0032] Figure 10This is a schematic diagram of the structure of the slot base plate after laser coding in this invention.

[0033] The system comprises: A - Tray coding recognition and gripping placement module; B - Packaging detection module; C - Automatic packaging box feeding module; 1 - First driving device; 101 - First baffle; 102 - First cylinder; 2 - Second camera; 3 - Robotic arm; 301 - Vision sensor; 302 - Suction cup; 303 - Robotic arm; 4 - Flexible vibratory feeder; 5 - Tray conveying device; 6 - Second driving device; 601 - Second baffle; 602 - Second cylinder; 7 - Packaging box conveying device; 701 - First groove. 702-Opening, 703-Second switch, 704-Third switch, 8-Slot, 9-First switch, 10-Positioning groove, 11-Limiting block, 12-Transparent plate, 13-Third driving device, 1301-Laser displacement sensor, 1302-Third baffle, 1303-Third cylinder, 14-First camera, 15-Fourth driving device, 1501-Fourth baffle, 1502-Rotating cylinder, 16-Slotted packaging box, 1601-Second groove, 1602-Box body. Detailed Implementation

[0034] Example 1

[0035] like Figure 1-3 and Figure 5-8 As shown, a tray sorting and packaging machine includes a tray coding identification, gripping and placing module A, a packaging detection module B, and an automatic packaging box feeding module C;

[0036] The tray coding identification gripping and placement module A includes a tray conveying device 5 for transmitting the tray 8 after laser coding on the base plate, a flexible vibrating plate 4 for flipping the tray 8 so that its bottom faces upward, and a robot arm 3. The discharge port of the tray conveying device 5 is located above the flexible vibrating plate 4.

[0037] After the tray 8 is manufactured according to the user's personal information, before being placed into the tray conveying device 5, the tray base plate is scanned and cut using laser processing technology. The specific process is as follows: The smooth surface of the base plate is cut using laser material removal, creating an uneven surface with several raised blocks. The raised blocks are the protruding base plate material, while the recessed areas are the cut-off parts. The raised blocks use a pattern of ■ and ●, with ■ as the background and ● forming a numerical code. After laser scanning, a coded pattern is formed, such as... Figure 10As shown, the order in which orthodontic brackets are installed on teeth is determined by arranging patterns into numbers (the customer-customized bracket 8 corresponds to its position in the braces; different positions of bracket 8 within the braces are assigned serial numbers, which correspond to the serial numbers on the bracket base plates for easy installation). A customized set of braces consists of consecutive codes. Since each customer's customized braces do not require all brackets 8 (the number of brackets depends on the patient's tooth wear and individual needs), the numerical codes indicate the required order of the brackets 8 during installation. Tying the numbers in the corresponding order avoids the loss of individual brackets 8 and the need for individual packaging. That is, brackets 8 can be a complete set or several from a set, depending on the customer's actual needs. The device used for laser cutting the brackets 8 is a conventional laser cutting machine; only the cutting pattern needs to be customized to complete the cutting. This cutting device is not the main focus of this solution; the above explanation is to help operators better understand this solution. This solution will not provide a detailed description of the laser cutting device for the bracket base plates.

[0038] The automatic packaging box feeding module C includes a first driving device 1 and a packaging box conveying device 7. The first driving device 1 is fixed to one side of the packaging box conveying device 7. The packaging detection module B is fixed to the other side of the packaging box conveying device 7 and corresponds to the first driving device 1. The robotic arm 3, which is used to identify the bottom code of the tray 8, is fixed at the angle between the packaging detection module B and the flexible vibrating plate 4. The robotic arm 3 includes a suction cup 302 and a robotic arm 303. The suction cup 302 is connected to one end of the robotic arm 303, and a vision sensor 301 is fixed to one side of the suction cup 302.

[0039] The robotic arm 3 can identify the slots 8 in the flexible vibrating plate 4 through the vision sensor 301, perform contour recognition on the digital codes on the slot base plate, compare the identified contours with the original templates imported into the control system, and identify the image contour with the smallest difference through matching to grasp the corresponding slot 8 (the grasping principle is to extract the center point coordinates of the largest contour of the corresponding digital slot). After positioning by coordinates and angle (keeping it vertical to facilitate the gripping of the robotic arm suction cup), the robotic arm 3 moves the slot 8 directly above the transparent plate 12. After the slot packaging box 16 is fixed on it, the vision sensor 301 takes a picture of the slot packaging box 16. Through contour detection, 28 rectangular contours are detected. The 28 contours are sorted from left to right and from top to bottom according to the coding order of the batch of slots 8, and the center point coordinates of the corresponding contours are extracted. The robotic arm 3 places the slots 8 according to the coordinate order and the serial number of the slot base plate.

[0040] The packaging inspection module B includes a transparent plate 12 and a second driving device 6. The transparent plate 12 has a positioning groove 10 on one side and a third driving device 13 for pressing the tray packaging box 16 and a fourth driving device 15 for pushing the tray packaging box 16 to move on the adjacent sides. The bottom of the transparent plate 12 is also provided with a first camera 14 for detecting the state of the tray 8 in the tray packaging box 16. The second driving device 6 matches the positioning groove 10 and moves vertically along the extension direction of the positioning groove 10.

[0041] The first driving device 1 includes a first baffle 101 and a first cylinder 102; the second driving device 6 includes a second baffle 601 and a second cylinder 602; the third driving device 13 includes a laser displacement sensor 1301, a third baffle 1302 and a third cylinder 1303; and the fourth driving device 15 includes a fourth baffle 1501 and a rotary cylinder 1502.

[0042] The third drive device 13 is used to press the tray packaging box 16 against the transparent plate 12 after it is blocked by the second drive device 6, so as to achieve further fixation. The laser displacement sensor 1301 gradually records the distance information as the third baffle 1302 moves forward, and feeds the information back to the control system to facilitate the operation of other structures.

[0043] The top side of the positioning groove 10 is provided with a first switch 9 for controlling the operation of the automatic feeding module C of the packaging box. When the second cylinder 602 drives the second baffle 601 to rise, it touches the first switch 9 to open.

[0044] The packaging inspection module B also includes a limiting block 11, one end of the fourth baffle 1501 is fixed to the rotary cylinder 1502, and the limiting block 11 is fixed to the other end of the fourth baffle 1501.

[0045] As the rotary cylinder 1502 rotates, the fourth baffle 1501 can push away the tray packaging box 16 placed after the tray 8 of the same batch, so that it leaves the mounting frame of the packaging inspection module B, completing the packaging of this batch of trays 8. After rotation, it is reset and positioned by the limit block 11.

[0046] Example 2

[0047] like Figure 4 and Figure 9 As shown, the packaging box conveying device 7 is provided with a first groove 701, which matches the tray packaging box 16. The first groove 701 is formed by baffles fixed on the conveyor belt in the packaging box conveying device 7. All the baffles are the same and are fixed at the same interval. The tray packaging box 16 matches the formed interval, and one tray packaging box 16 is placed in each first groove 701.

[0048] An opening 702 is provided on the side wall of the packaging box conveying device 7. A second switch 703 for controlling the operation of the fourth drive device 15 and a third switch 704 for controlling the operation of the packaging box conveying device 7 are respectively provided on both sides of the opening 702.

[0049] Above the opening 702, there is also a second camera 2 for detecting whether there is a tray packaging box 16 in the first groove 701 at the opening 702.

[0050] The second camera 2 works in conjunction with the third switch 704. Each time, the conveyor belt of the packaging box conveying device 7 moves forward by the distance of the first groove 701. After the movement is completed, the conveyor belt stops working, the second camera 2 takes a picture, and feeds the picture back to the control system to determine whether there is a properly placed tray packaging box 16. If there is, the subsequent operation is performed. If not, the third switch 704 is controlled to make the conveyor belt move forward by the distance of the first groove 701 again until a properly placed tray packaging box 16 appears.

[0051] There are two openings 702. The two openings 702 are opposite each other and are respectively provided on the two side walls of the packaging box conveying device 7, so that the first driving device 1 can move the tray packaging box 16 from the packaging box conveying device 7 to the transparent plate 12 for tray 8 placement and packaging.

[0052] The tray packaging box 16 includes a second groove 1601 and a box body 1602. The second groove 1601 is evenly distributed on the box body 1602, and the tray 8 matches the second groove 1601.

[0053] A set of braces has 28 brackets 8. To facilitate subsequent use by customers, the brackets 8 of a batch are placed in a bracket packaging box 16. Therefore, a bracket packaging box 16 has 28 second grooves 1601, which can be placed in the same batch of brackets 8 in the order from left to right and from top to bottom to complete the packaging. The bracket packaging box 16 is made of transparent plastic.

[0054] The working principle of this tray sorting and packaging machine is as follows: First, the second baffle 601 is driven upward by the second cylinder 602, passing through the positioning groove 10. After the second baffle 601 rises to the designated position, it stops and touches the first switch 9. The first switch 9 sends a signal to the control system, and the control system controls the packaging box conveying device 7 to start working. When the second camera 2 detects that there is a tray packaging box 16 in the first groove 701 corresponding to the opening 702, the first cylinder 102 of the first drive device 1 pushes the first baffle 101 to start moving forward. When it passes through the opening 702, it touches the second switch 703. The second switch 703 counts once. After the first baffle 101 pushes the tray packaging box 16 to the position of the transparent plate 12, it is then... When the second baffle 601 blocks the path, the first cylinder 102 stops working, and the control system controls the third drive device 13 to start working. The third cylinder 1303 pushes the third baffle 1302 forward to secure the tray packaging box 16. The laser displacement sensor 1301 also moves with the third baffle 1302, uploading distance information to the control system in real time. When the distance value is less than or equal to a specific value, the control system controls the first camera 14 to take a picture. Based on the image analysis, it is determined whether the tray packaging box 16 is clamped. After clamping, the control system controls the devices in the tray code recognition and gripping placement module A to start working. The robot arm 3 sequentially grabs and moves the trays 8 of the same batch to the tray. Above the packaging box 16, trays 8 are placed in their corresponding positions according to the numbers identified at the bottom of the trays. Each time a tray 8 is placed, the first camera 14 takes a picture, comparing the outline of the corresponding number in the obtained image with the outline of the same number in the first picture. The outline containing the tray 8 is identified and compared with the number represented by the second groove 1601 in the packaging box 16 where the tray 8 is placed. This determines if they match, i.e., whether the tray 8 placed by the robotic arm 3 is correctly placed. If correctly placed, the next tray 8 is placed; otherwise, the robotic arm 3 removes the placed tray 8 and places it again, repeating this process until all trays 8 in this batch are correctly placed. After placement is complete, the control system controls the third drive device 13 to begin reversing and the second drive device 6 to begin descending. When it descends below the plane, the first switch 9 resets and transmits a signal to the control system. The control system then controls the first cylinder 102 to drive the first baffle 101 to begin reversing. When it retraces past the opening 702, it touches the second switch 703 again, which transmits a signal to the control system. The count is reset to zero, and the control system controls the rotary cylinder 1502 to drive the fourth baffle 1501 to rotate, pushing the packaged tray box 16 out of the packaging rack of the packaging detection module B, thus completing the sorting and packaging of this batch of trays 8. The above operation is repeated to achieve sorting and packaging of different batches of trays 8.

[0055] Example 3

[0056] The difference between this embodiment and the above embodiment is that there are three openings 702. In addition to the two openings 702 used for the tray packaging box 16 to be pushed out, an opening 702 is also provided on its outermost side wall to facilitate the installation of the tray mounting box 16 on the packaging box conveying device 7.

[0057] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. A tray sorting and packaging machine, characterized in that, It includes a tray coding recognition and gripping placement module (A), a packaging inspection module (B), and an automatic packaging box feeding module (C); The tray coding identification gripping and placement module (A) includes a tray conveying device (5) for conveying the tray (8) after laser coding on the base plate, a flexible vibrating plate (4) for flipping the tray (8) so that its bottom faces upward, and a robot (3). The discharge port of the tray conveying device (5) is located above the flexible vibrating plate (4). The automatic packaging box feeding module (C) includes a first driving device (1) and a packaging box conveying device (7). The first driving device (1) is fixed to one side of the packaging box conveying device (7). The packaging detection module (B) is fixed to the other side of the packaging box conveying device (7) and corresponds to the first driving device (1). The robotic arm (3) for identifying the bottom code of the tray (8) is fixed at the angle between the packaging detection module (B) and the flexible vibrating plate (4). The robotic arm (3) includes a suction cup (302) and a robotic arm (303). The suction cup (302) is connected to one end of the robotic arm (303), and a vision sensor (301) is fixed to one side of the suction cup (302). The packaging detection module (B) includes a transparent plate. (12) and the second driving device (6), a positioning groove (10) is provided on one side of the transparent plate (12) and a third driving device (13) for pressing the tray packaging box (16) and a fourth driving device (15) for pushing the tray packaging box (16) to move are respectively provided on the two sides adjacent to the positioning groove (10). A first camera (14) for detecting the status of the tray (8) in the tray packaging box (16) is also provided at the bottom of the transparent plate (12). The second driving device (6) matches the positioning groove (10) and moves vertically along the extension direction of the positioning groove (10). The first driving device (1) includes a first baffle (101) and a first cylinder (102). The second driving device (6) includes a first baffle (101) and a first cylinder (102). The second baffle (601) and the second cylinder (602) are included. The third driving device (13) includes a laser displacement sensor (1301), a third baffle (1302) and a third cylinder (1303). The fourth driving device (15) includes a fourth baffle (1501) and a rotary cylinder (1502). A first switch (9) for controlling the operation of the automatic packaging box feeding module (C) is provided on one side of the top of the positioning groove (10). When the second cylinder (602) drives the second baffle (601) to rise, it touches the first switch (9) to open. The packaging detection module (B) also includes a limit block (11). One end of the fourth baffle (1501) is fixed to the rotary cylinder (1502). The limit block (1502) is fixed to the rotary cylinder (1502). 1) Fixed to the other end of the fourth baffle (1501); the packaging box conveying device (7) is provided with a first groove (701), the first groove (701) matches the tray packaging box (16); the packaging box conveying device (7) is also provided with an opening (702) on the side wall, and a second switch (703) for controlling the operation of the fourth drive device (15) and a third switch (704) for controlling the operation of the packaging box conveying device (7) are respectively provided on both sides of the opening (702); the tray packaging box (16) includes a second groove (1601) and a box body (1602), the second groove (1601) is evenly distributed on the box body (1602), and the tray (8) matches the second groove (1601); Above the opening (702), a second camera (2) is also provided for detecting whether there is a tray packaging box (16) in the first groove (701) at the opening (702). First, the second baffle (601) is driven to rise by the second cylinder (602), passes through the positioning groove (10), and stops after rising to the designated position and touches the first switch (9). The first switch (9) sends a signal to the control system, and the control system controls the packaging box conveying device (7) to start working. When the second camera (2) detects that there is a tray packaging box (16) in the first groove (701) corresponding to the opening (702), the second camera (2) detects that there is a tray packaging box (16) in the first groove (701) at the opening (702). The first cylinder (102) of the drive device (1) pushes the first baffle (101) forward. When it passes through the opening (702), it touches the second switch (703). The second switch (703) counts once. After the first baffle (101) pushes the tray packaging box (16) to the position of the transparent plate (12), it is blocked by the second baffle (601). At this time, the first cylinder (102) stops working. The control system controls the third drive device (13) to start working. The third cylinder (1303) pushes the third baffle (1302) forward to secure the tray packaging box (16). The laser displacement sensor ( 1301) also moves with the third baffle (1302), uploading the distance information to the control system in real time. When the distance value is less than or equal to a specific value, the control system controls the first camera (14) to start taking pictures. Based on the image taken, it analyzes whether the tray packaging box (16) is clamped. After clamping, the control system controls each device in the tray code recognition and gripping placement module (A) to start working. The robot arm (3) sequentially grabs the trays (8) of the same batch and moves them to the top of the tray packaging box (16). According to the number at the bottom of the identified tray, it places the trays (16) in the corresponding position on the tray packaging box (16). Each time a tray (8) is placed, the first camera (14) takes a picture and compares the corresponding sequence number outline of the obtained image with the sequence number outline of the first picture. The sequence number outline containing the tray (8) is found and compared with the sequence number represented by the second groove (1601) in the tray packaging box (16) where the tray (8) is placed. It is determined whether they are consistent, that is, whether the tray (8) placed by the robot (3) is placed correctly. If it is placed correctly, the next tray (8) is placed. Otherwise, the robot (3) takes out the tray (8) placed this time and places it again until it is placed correctly.

2. The tray sorting and packaging machine according to claim 1, characterized in that, The number of openings (702) is at least two.

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