Automatic bar boxing device and method

Abstract

The application relates to the packaging field and provides a bar automatic boxing device, which comprises a machine tool and a collecting mechanism, the machine tool is detachably connected with the collecting mechanism, a first mechanical arm, a second mechanical arm, a feeding mechanism and a conveying mechanism are arranged on the machine tool; the feeding mechanism is located at one end of the machine tool; the conveying mechanism is located at the side of the feeding mechanism; the running path of the second mechanical arm covers the conveying mechanism, the collecting mechanism and the feeding mechanism; the first mechanical arm is located above the feeding mechanism; a full material box is transferred to the collecting mechanism by the second mechanical arm; a docking mechanism and an inspection mechanism are further arranged; the docking mechanism is installed on the machine tool and located at the discharging end of the feeding mechanism; the inspection mechanism is located on the running path of the second mechanical arm and detachably connected with the machine tool. The application has the effect of precise automatic boxing. In addition, an automatic boxing method is further provided.

Description

Technical Field

[0001] This application relates to the field of packaging, and in particular to an automated cartoning device and method for bar stock. Background Technology

[0002] Bar stock refers to round or polygonal long rods of material with a certain length, as opposed to sheet metal and other profiles. It is generally the raw material for forgings, and is mostly produced by stretching or extruding through a die. It can also be machined.

[0003] After the bar stock is formed by stretching or molding, it needs to be boxed and collected for packaging and sale. The general boxing process uses two methods: manual boxing and mechanical boxing. Manual boxing involves manually taking out the bar stock and putting it into the box at the end of the production line. When enough boxes are filled, they are manually transported to the transport vehicle, which requires a lot of manpower and resources. If a machine production line is used for boxing, a robotic arm is used to pick up the bar stock into the box. However, the robotic arm is difficult to accurately take out a fixed number and place them in the box in an inaccurate position. When a certain number are accumulated, they are prone to tipping over and tilting, resulting in deviations in the storage space of the boxes. Summary of the Invention

[0004] To address the issue of deviations during the boxing process, this application provides an automated boxing device and method for bar stock.

[0005] The automated bar packaging device and method provided in this application adopt the following technical solution:

[0006] An automated bar packaging device includes a machine tool and a collecting mechanism, wherein the machine tool and the collecting mechanism are detachably connected; the machine tool is equipped with a first robotic arm, a second robotic arm, a feeding mechanism, and a conveying mechanism; the feeding mechanism is located at one end of the machine tool; the conveying mechanism is used to transport empty boxes and is located on the side of the feeding mechanism; the travel path of the second robotic arm covers the conveying mechanism, the collecting mechanism, and the feeding mechanism, and is used to pick up the empty boxes from the conveying mechanism to the discharge end of the feeding mechanism; the first robotic arm is located at the... Above the feeding mechanism, the bar stock conveyed by the feeding mechanism is placed into the empty material box; the full material box is transferred by the second robot arm to the collecting mechanism; the machine tool is also equipped with a docking mechanism and an inspection mechanism; the docking mechanism is installed on the machine tool and located at the discharge end of the feeding mechanism; the inspection mechanism is located on the travel path of the second robot arm and connected to the machine tool. The docking mechanism adjusts the orientation of the empty material box, and the first robot arm clamps the bar stock into the empty material box. The inspection mechanism performs image inspection of the number of bar stock.

[0007] By adopting the above technical solution, after the second robot grips the empty material box, it moves to the docking mechanism at the discharge end of the feeding mechanism. After the second robot places the empty material box on the docking mechanism, the docking mechanism pushes the empty material box to the designated point. The inspection mechanism can detect the number of bars that the first robot has placed in the empty material box using images. When the second robot transports another empty material box on the conveying mechanism to the docking mechanism, the first robot has finished placing the bars in the material box. The second robot then grips and moves the full material box to the collection mechanism for collection.

[0008] Optionally, the docking mechanism includes a mounting platform, a pushing component, and a driving component; the driving component is mounted on the mounting platform; the pushing component is slidably connected to the mounting platform and connected to the output end of the driving component; each pushing component is matched with a single driving component, and they form a group, with at least two groups provided.

[0009] By adopting the above technical solution, when the second robot releases the empty material box it is holding and places the empty material box on the mounting table, the output end of each drive component drives the corresponding push component to move towards the empty material box. If the empty material box is deviated, it will be pushed by the push component to gradually move the deviated position to the designated location, so that the empty material box feeding position is accurate.

[0010] Optionally, the travel direction of each of the pushers is aligned with the outer wall of the empty container.

[0011] By adopting the above technical solution, since the direction of travel of the pushing component matches the outer wall of the empty material box, the empty material box can be subjected to thrust in multiple directions under the push of the driving component to ensure that it is pushed to the designated position.

[0012] Optionally, the docking mechanism further includes a weighing component; the weighing component is mounted on the machine tool, and the output end of the weighing component is connected to the plane of the mounting platform away from the driving component.

[0013] By adopting the above technical solution, the weighing component can weigh the weight generated when loading materials onto the mounting platform. This facilitates accurate weighing when the second robotic arm lowers the empty material box and the first robotic arm places the bar material into the empty material box. This, combined with the inspection mechanism, enables dual inspection, thereby improving the accuracy of bar material packaging.

[0014] Optionally, the docking mechanism further includes fixing members; a plurality of fixing members are installed on the plane of the mounting platform away from the driving member; the machine tool is provided with socket holes that are the same number as the fixing members and whose positions correspond one-to-one, and the fixing members are connected to the socket holes.

[0015] By adopting the above technical solution, when the weighing component moves the mounting platform and the fixing component toward the machine tool, the fixing component engages with the socket hole, and the fixing component blocks the travel path of the mounting platform when it is under pressure, thus preventing the mounting platform from shifting when it is under pressure and improving the accuracy of placing empty material boxes.

[0016] Optionally, the inspection mechanism includes a supplementary lighting component and a CCD detection component; one end of the supplementary lighting component is connected to the CCD detection component, and the other end is detachably connected to the machine tool.

[0017] By adopting the above technical solution, CCD, short for charge-coupled device, can convert light into charge and store and transfer the charge. It can also take out the stored charge to change the voltage. The CCD detector takes pictures of the bar stock and transmits them to the back-end controller to check whether the number of bars stock is sufficient. The supplementary light holder is detachably connected to the machine tool, which facilitates the disassembly of the inspection mechanism and the adjustment of the inspection position.

[0018] Optionally, the docking mechanism is further provided with a first adsorption element; the first adsorption element is provided with a sensing element; the second robotic arm is further provided with a second adsorption element; the inspection mechanism is further provided with a third adsorption element, and there are two third adsorption elements, located at both ends of the inspection mechanism respectively; the first adsorption element is adsorbed and connected to the third adsorption element at one end of the inspection mechanism; the second adsorption element is adsorbed and connected to the third adsorption element at the other end of the inspection mechanism.

[0019] By adopting the above technical solution, the third adsorbent is adsorbed through the connection of the first and second adsorbents, enabling the inspection agency to stop at a fixed point and capture images after being driven by the second robotic arm. The test results are then determined by the background controller.

[0020] Optionally, the docking mechanism may also be provided with a reset mechanism.

[0021] By adopting the above technical solution, when the empty material box is placed near the designated point, the reset mechanism will reset the inspection mechanism to directly above the designated point, so that the inspection mechanism will not block the travel trajectory of the second robot arm, while ensuring that the placement point of the second robot arm is close to the designated point.

[0022] Optionally, the reset mechanism includes a clamping member, a reset member, and a guide rail; the clamping member is connected to the plane of the docking mechanism away from the machine tool; the guide rail is mounted on the clamping member; the first suction member is slidably connected to the guide rail; one end of the reset member is connected to the clamping member, and the other end is connected to the first suction member.

[0023] By adopting the above technical solution, the second robotic arm squeezes the sensing element to make the first adsorption element adsorb the inspection mechanism. After the second robotic arm puts down the empty material box, it leaves the designated point. The first electromagnet and the inspection mechanism are no longer blocked by the second robotic arm. The reset element pushes the inspection mechanism and the first adsorption element back to the designated point. The reset element ensures that the inspection mechanism will not block the movement trajectory of the second robotic arm, while ensuring that the placement point of the second robotic arm is close to the designated point.

[0024] An automatic cartoning method, based on an automatic cartoning device, includes the following steps:

[0025] The second robotic arm carries the inspection mechanism to the conveying mechanism via the third adsorption component and clamps the empty material box on the conveying mechanism;

[0026] The second robotic arm carries the inspection mechanism and the empty material box to the docking mechanism;

[0027] The second robotic arm places the empty material box onto the docking mechanism and triggers the sensor;

[0028] The first adsorption element adsorbs the third adsorption element, and the second adsorption element detaches from the inspection mechanism;

[0029] The second robotic arm moves to the conveying mechanism, the docking mechanism pushes the empty material box to the designated point, and the reset mechanism resets the inspection mechanism above the designated point;

[0030] The first robotic arm clamps the bar stock from the feeding mechanism and transports it into the empty material box;

[0031] The inspection agency takes pictures of the material box and bar stock below for inspection, and the weighing device weighs the material box and bar stock.

[0032] The second robotic arm grips the new empty material box and places it on the docking mechanism, and then grips the full material box to trigger the sensor;

[0033] The first adsorption element detaches from the inspection mechanism, and the second adsorption element adsorbs the third adsorption element;

[0034] The second robotic arm, carrying the inspection mechanism and the filled material box, moves to above the collection mechanism, where the inspection mechanism takes a fixed-point photo to check the placement of the collection mechanism.

[0035] The second robotic arm places a full material box into the empty placement position of the collection mechanism, and the docking mechanism pushes the empty material box to a designated point.

[0036] The second robotic arm carries the inspection mechanism to the docking mechanism and triggers the sensing element. The first adsorption element adsorbs the third adsorption element, and the second adsorption element detaches from the inspection mechanism. The above-mentioned steps are repeated.

[0037] By adopting the above technical solution, the inspection mechanism can perform flow inspection by connecting the first and second adsorption components to adsorb or release the third adsorption component, thereby improving the accuracy of automatic boxing.

[0038] In summary, this application includes at least one of the following beneficial technical effects:

[0039] 1. After the second robotic arm grips the empty material box, it moves to the docking mechanism at the discharge end of the feeding mechanism. The second robotic arm places the empty material box on the docking mechanism, and the docking mechanism pushes the empty material box to the designated point. The inspection mechanism can detect the number of bars that the first robotic arm placed in the empty material box. When the second robotic arm transports another empty material box from the conveying mechanism to the docking mechanism, the first robotic arm has finished placing the bar in the material box. The second robotic arm grips and moves the full material box to the collection mechanism for collection. A weighing device is set on the docking mechanism to weigh the weight of the bar and the material box to check whether the number of bar and the weight of the material box are sufficient or qualified. The weighing device, together with the inspection mechanism, can detect from multiple directions to further improve the accuracy of the boxing process.

[0040] 2. After the second robotic arm grips the empty material box, the second adsorption component adsorbs the inspection mechanism. When the second robotic arm places the empty material box on the docking mechanism, the impact pressure sensor energizes the first adsorption component to adsorb the inspection mechanism. The position of the inspection mechanism can detect the number of bars that the first robotic arm placed in the empty material box. When the second robotic arm transports another empty material box on the conveyor belt to the mounting table, the first robotic arm has finished placing the bars in the material box. The impact pressure sensor of the second robotic arm energizes the second adsorption component to adsorb the inspection mechanism. The second adsorption component moves the full material box and the inspection mechanism together to the top of the collection mechanism. The inspection mechanism determines whether the empty space on the feeding mechanism and the position of the material box placed by the second robotic arm are skewed, thereby ensuring the accuracy of the storage position.

[0041] 3. The second robotic arm squeezes the sensing element to cause the first adsorption element to adsorb the inspection mechanism. After the second robotic arm can put down the empty material box, it leaves the designated point. The first electromagnet and the inspection mechanism are no longer blocked by the second robotic arm. The reset element pushes the inspection mechanism and the first adsorption element back to the designated point. The reset element ensures that the inspection mechanism will not block the travel trajectory of the second robotic arm, and at the same time ensures that the placement point of the second robotic arm is close to the designated point.

[0042] 4. By connecting the first and second adsorption components to adsorb the third adsorption component, the inspection mechanism can be driven by the second robotic arm to conduct inspections, thereby improving the accuracy of automatic boxing. Attached Figure Description

[0043] Figure 1 This is a three-dimensional structural schematic diagram of the boxing device in Embodiment 1 of this application;

[0044] Figure 2 This is a three-dimensional structural schematic diagram of the first robotic arm in Embodiment 1 of this application;

[0045] Figure 3 This is a schematic diagram of the first three-dimensional structure of the second robotic arm in Embodiment 1 of this application;

[0046] Figure 4 This is a three-dimensional structural diagram of the machine tool and the collecting mechanism in Embodiment 1 of this application;

[0047] Figure 5 This is a schematic diagram of the first three-dimensional structure of the docking mechanism in Embodiment 1 of this application;

[0048] Figure 6 yes Figure 4 A magnified structural diagram of A in the middle;

[0049] Figure 7 This is a schematic diagram of the second three-dimensional structure of the second robotic arm in Embodiment 2 of this application;

[0050] Figure 8 This is a schematic diagram of the second three-dimensional structure of the docking mechanism in Embodiment 2 of this application;

[0051] Figure 9 This is a schematic diagram of the third three-dimensional structure of the docking mechanism in Embodiment 3 of this application;

[0052] The labels in the attached diagram are as follows: 1. Machine tool; 11. Socket hole; 2. Collection mechanism; 3. First robotic arm; 4. Second robotic arm; 41. Second adsorption element; 5. Conveying mechanism; 6. Docking mechanism; 61. Mounting platform; 62. Pushing element; 63. Driving element; 64. Weighing element; 641. Weighing device; 642. Deformation platform; 643. Support base; 65. Fixing element; 66. First adsorption element; 7. Inspection mechanism; 71. Lighting element; 72. CCD detection element; 73. Third adsorption element; 74. Sensing element; 8. Feeding mechanism; 9. Reset mechanism; 91. Clamping element; 92. Reset element; 93. Guide rail; 94. Elastic element; 95. Moving element. Detailed Implementation

[0053] The following is in conjunction with the appendix Figure 1 - Appendix Figure 9 This application will be described in further detail below.

[0054] This application discloses an automated bar packaging device and method.

[0055] Example 1:

[0056] An automated boxing device for bar stock, referring to Figure 1 The system includes a machine tool 1 and a collection mechanism 2. The machine tool 1 and the collection mechanism 2 are detachably connected. The machine tool 1 is externally connected to a controller for the operation of various mechanisms on the CNC machine tool 1. The collection mechanism 2 can be a trolley with a pusher frame for carrying the boxed boxes. The machine tool 1 can be configured as a U-shaped frame, and the trolley can be pushed into the recess of the U-shaped frame to facilitate access to the boxed boxes and easy loading and transportation. The trolley can be equipped with a hook, and the machine tool 1 can be equipped with a hanging ring. The two are interlocked to achieve a detachable connection.

[0057] The machine tool 1 is equipped with a feeding mechanism 8, a first robot arm 3, a second robot arm 4 and a conveying mechanism 5. The feeding mechanism 8 is located at one end of the machine tool 1 and is close to the trolley. The feeding mechanism 8 can be a feeder with a conveying structure to transport the bar stock to the machine tool 1. The conveying mechanism 5 can be a conveyor belt to transport empty boxes and is located on the side of the feeder, extending towards the empty box packing point.

[0058] Reference Figure 2 and Figure 3 As shown, the first robotic arm 3 and the second robotic arm 4 have similar structures, mainly including a horizontal moving part, a vertical moving part, a vertical moving part, and a clamping part. The horizontal moving part is fixedly installed on the top surface of the machine tool 1. The vertical moving part is connected to the output end of the horizontal moving part, the vertical moving part is connected to the output end of the vertical moving part, and the clamping part is connected to the output end of the vertical moving part. Under the power supply of an external power source, the vertical moving part can be driven to move horizontally by the output end of the horizontal moving part, the vertical moving part can be driven to move horizontally by the vertical moving part, and the clamping part can be driven to move vertically by the vertical moving part, so as to achieve the function of moving in any direction and clamping the desired product.

[0059] The difference in gripping structures between the first robotic arm 3 and the second robotic arm 4 lies in the fact that the gripping part of the first robotic arm 3 may include a magnetic suction fixture and a stripping cylinder. The magnetic suction fixture has a specified number of engagement slots, the size of which matches the size of the bar stock. Each engagement slot can hold one bar stock. When the magnetic suction fixture moves to the surface of the bar stock, it attracts the bar stock into the engagement slot. When the first robotic arm 3 moves to an empty material box, the stripping cylinder pushes the bar stock out of the engagement slot, causing it to fall into the material box. (Reference) Figure 2 As shown, no limitations are specified here.

[0060] The gripping part of the second robotic arm 4 is a clamping structure with movable ends for gripping the material box. (See reference) Figure 3As shown, no limitations are specified here.

[0061] The second robotic arm 4's travel path covers the conveyor belt, trolley, and feeder, allowing it to move to any position on the conveyor belt, trolley, and feeder. It is mainly used to pick up empty boxes on the conveyor belt and place them onto the machine tool 1 in front of the feeder, or to pick up empty boxes filled with bar stock from in front of the feeder and place them onto the trolley for collection.

[0062] The main function of the first robotic arm 3 is to clamp the bar stock on the feeder and move it to the empty material box held by the second robotic arm 4. Then, the bar stock is placed in the second empty material box. Subsequently, the empty material box filled with material is transferred by the second robotic arm 4 to the trolley. After the trolley is filled with material boxes, the operator can push it away from the machine tool 1 for transport and storage.

[0063] Referring to Figure 4, since the second robotic arm 4 holds the empty material box and places it on the machine tool 1 in front of the feeder, the position is difficult to stabilize. After the first robotic arm 3 holds the bar stock, it needs to place the bar stock at a designated point. If the position of the empty material box is deviated, the bar stock will fall onto the machine tool 1 and be difficult to pick up. Therefore, a docking mechanism 6 and an inspection mechanism 7 are also set on the machine tool 1, and a defective product discharge point is set on the machine tool 1. The position can be opposite to the conveyor belt. The defective product discharge point is mainly used to process unqualified boxed products, such as insufficient number of bar stock in the empty material box, which are unqualified boxed products. The defective product discharge point is located on the travel path of the second robotic arm 4.

[0064] The docking mechanism 6 is used to receive empty material boxes. The docking mechanism 6 is set at the machine tool 1 where the empty material boxes are originally placed. The docking mechanism 6 pushes the tilted or offset empty material boxes to the designated point and ensures that the position is stable and accurate, so that the bar stock is accurately docked with the empty material box and avoids falling out. The inspection mechanism 7 can inspect the bar stock put into the empty material box to check whether the quantity of material is sufficient and whether the empty material box is misplaced. If it is misplaced or the quantity is insufficient, the second robot arm 4 can hold the material box and send it to the defective product discharge point for processing.

[0065] The inspection mechanism 7 is located on the travel path of the second robotic arm 4 and is detachably connected to the machine tool 1, such as by snap-fit, for adjusting the inspection position.

[0066] Reference Figure 5As shown, the docking mechanism 6 includes a mounting platform 61, a pushing component 62, and a driving component 63; the pushing component 62 can be a pushing plate, and a slider is provided at the bottom of the pushing plate; the driving component 63 is fixedly mounted on the top surface of the mounting platform 61. Furthermore, the driving component 63 can be an electric push rod or a cylinder, which is not limited here. The output end of the driving component 63 is connected to the push plate, so that the push plate can be moved under force. A slide rail or slide groove can be set on the mounting platform 61. The push plate is slidably connected to the mounting platform 61 through the bottom slider, which restricts the travel trajectory of the push plate and fixes the travel path of the push plate. A single push component 62 and a single driving component 63 are matched with each other, and the two form a group. There can be at least two groups. The specific number is determined according to the number of outer wall surfaces of the empty material box. The travel direction of the output end of each driving component 63 matches the outer wall of the empty material box, and they are not on the same straight line. For example, the empty material box used in this embodiment is a cuboid, which has six outer walls. The top is used for loading materials and the bottom is used for support. Therefore, four push plates can be set on the four outer wall surfaces on the side to match it.

[0067] Specifically, when the second robotic arm 4 releases the empty material box and places it on the mounting table 61, regardless of whether there is any offset, the outputs of the four drive units 63 drive the corresponding push plates to move towards the empty material box. If the empty material box is offset, it is pushed by the push plates to gradually move the offset position to the designated location, so that the empty material box is accurately positioned for feeding. Then, the outputs of the four drive units 63 drive the push plates to reset. If there is no offset, the push plates travel to the preset position and contact the empty material box. Then, the outputs of the four drive units 63 drive the push plates to reset. The preset travel distance of the push plates can be determined according to the size of the empty material box and can be controlled and changed by an external controller.

[0068] Once the empty material box is in the designated position, the four drive components 63 can temporarily cease operation. The four push plates hold the empty material box in place to prevent it from shifting during material loading.

[0069] The docking mechanism 6 also includes a weighing component 64, which is installed on the top surface of the machine tool 1. The output end of the weighing component 64 is connected to the bottom of the mounting platform 61. The weighing component 64 may include a weighing device 641, a deformation platform 642, and a support base 643. The support base 643 is installed at the bottom of the mounting platform 61, and the deformation platform 642 is installed at the bottom of the support base 643. The deformation platform 642 is L-shaped and has a protrusion at the bottom that connects to the weighing device 641, providing adaptability to deformation under pressure. This facilitates the placement of bar stock in the empty material box by the first robot 3 after the second robot 4 places the empty material box, and then the weighing device 641 weighs the material box and the bar stock. Combined with the image inspection of the inspection mechanism 7, multiple inspections are achieved to improve the accuracy of boxing.

[0070] The docking mechanism 6 also includes a fixing member 65, which is installed at the bottom of the mounting platform 61. The machine tool 1 is provided with socket holes 11 that are the same number and position as the fixing member 65, or socket holes 11 are opened at the bottom of the mounting platform 61, so that the fixing member 65 is fixed on the machine tool 1. The fixing member 65 is inserted into the socket hole 11 on the mounting platform 61 to achieve the same effect. The fixing member 65 can be a fixing rod, which can be circular or prismatic. The fixing rod is set at the corner of the mounting platform 61. When the mounting platform 61 is quadrilateral, the number of fixing rods and socket holes 11 is set to four. The four fixing rods are fixedly installed at the four corners of the mounting platform 61 in sequence. When the mounting platform 61 is under pressure, it is easy to shift. Relying only on the weighing member 54 to provide central support, the mounting platform is easy to tilt to all sides. Therefore, the fixing rod is inserted into the socket hole 11, and the fixing rod is used to lock the offset path of the mounting platform 61, so as to prevent the mounting platform 61 from shifting when under pressure, and further improve the accuracy of the empty material box placement.

[0071] Reference Figure 6 As shown, the inspection mechanism 7 includes a supplementary lighting component 71 and a CCD detection component 72. The supplementary lighting component 71 can be a supplementary lighting lamp holder, and the CCD detection component 72 is a CCD camera. CCD is short for charge-coupled device, which can convert light into charge and store and transfer the charge. It can also take out the stored charge to change the voltage. Therefore, it is an ideal CCD camera element. CCD cameras made of it are widely used because they are small in size, light in weight, unaffected by magnetic fields, and have the characteristics of vibration and impact resistance. It can convert light into charge and store and transfer the charge. The changes in light are transmitted to the background controller to judge the light and shadow situation of the bar material load and the quantity of the load. The light and shadow situation is recorded in the CCD detection component 72. If the position of the empty material box is deviated or the quantity of bar material is insufficient, the light and shadow situation of the empty material box position and the quantity of the load can be sent to the background controller to judge whether it is a defective product. Then, the second robot arm 4 will pick up the defective product box and send it to the defective product discharge point for processing.

[0072] The detection end of the CCD detection component 72 can be aligned upwards with the first robotic arm 3 or downwards with an empty material box. In this embodiment, we choose to expand from aligning with the empty material box. Here, we briefly describe the inspection situation when aligned with the first robotic arm 3. The detection end of the CCD detection component 72 can directly perform image detection on the number of bars held at the bottom of the first robotic arm 3, which can also achieve the purpose of detecting the number of bars.

[0073] The supplementary light holder connects to the CCD inspection component 72, and the supplementary light holder is detachably connected to the machine tool 1. For example, if a snap-fit ​​is used, the supplementary light holder is equipped with a locking block, and the machine tool 1 is equipped with a buckle. The locking block is inserted into the buckle to perform the snap-fit, which facilitates the disassembly of the inspection mechanism 7 and the adjustment of the inspection position.

[0074] A through-hole can be opened on the mounting platform 61 of the docking mechanism 6. The through-hole is located between each push plate. The support base 643 is located below the through-hole and is not connected to the mounting platform 61. An empty material box can be placed directly on the support base 643 of the weighing component 64 through the through-hole and the mounting platform 61. It is then protected and pushed in the center by the push plate, so that the weighing component 64 does not need to weigh the weight of the mounting platform 61 and the fixed rod. It only needs to calculate the weight of the material box and the bar, which improves the weighing accuracy and the service life of the weighing component 64. After the through-hole is set, the mounting platform 61 can be fixedly connected to the machine tool 1 through the fixing part 65, so that the weight of the mounting platform 61 and the docking mechanism 6 does not affect the weighing of the weighing component 64.

[0075] The implementation principle of Embodiment 1 of this application includes: after the second robot arm 4 clamps the empty material box, it moves to the docking mechanism 6. After the second robot arm 4 places the empty material box in the docking mechanism 6, the docking mechanism 6 pushes the empty material box to the designated point. The inspection mechanism 7 can detect the number of bars that the first robot arm 3 placed in the empty material box. When the second robot arm 4 transports another empty material box on the conveyor belt to the docking mechanism 6, the first robot arm 3 has finished placing the bar in the material box. The second robot arm 4 then transports the full material box to the collection mechanism 2 for collection, thereby ensuring the accuracy of the storage position.

[0076] Example 2:

[0077] Reference Figure 7 and Figure 8 As shown, this embodiment is an optimization based on embodiment 1, and further includes: a first adsorption element 66 is provided on the docking mechanism 6; a sensing element 74 is provided on the first adsorption element 66; a second adsorption element 41 is provided on the second robotic arm 4; and a third adsorption element 73 is provided on the inspection mechanism 7. There are two third adsorption elements 73, which are located at both ends of the inspection mechanism 7.

[0078] Since the position of the inspection mechanism 7 is fixed, it can only inspect the same position. If the bar material in the material box falls due to tilting during the clamping process of the second robotic arm 4, the inspection mechanism 7 will not be able to detect the deviation. Therefore, the first adsorption component 66, the second adsorption component 41 and the third adsorption component 73 are used in conjunction with the second robotic arm 4 to change the position of the inspection mechanism 7, so as to inspect the material box and the bar material storage from all angles and ensure accuracy.

[0079] The first adsorption element 66 can be a first electromagnet, and the bottom of the first electromagnet is connected to a mounting bracket. The mounting bracket is fixed on the docking mechanism 6, that is, the surface of the mounting platform 61, so that the first electromagnet is located above the mounting platform 61. The second adsorption element 41 can be a second electromagnet. The third adsorption element 73 can be an iron block, stainless steel, electromagnet, etc. In this embodiment, an iron block is used as an example. Two iron blocks are respectively installed at both ends of the supplementary light holder. The iron block at one end is used to attract the first electromagnet, and the iron block at the other end is used to attract the second electromagnet. The sensing element 74 can be a pressure sensor.

[0080] When the second robotic arm 4 moves to the trolley, the misalignment of the material box will also reduce the loading capacity. Therefore, after the second robotic arm 4 clamps the empty material box, the second electromagnet is energized and attracts the iron block, so that the inspection mechanism 7 is attracted to the second electromagnet. When the second robotic arm 4 places the empty material box on the docking mechanism 6, the pressure sensor receives the pressure signal and starts the first electromagnet and shuts down the second electromagnet. The first electromagnet is energized and generates an attraction force, and the second electromagnet is de-energized and loses its attraction force. The inspection mechanism 7 loses the attraction of the second electromagnet and is attracted to the first electromagnet. The position of the inspection mechanism 7 can be set directly above the designated point of the empty material box, so as to detect the number of bars that the first robotic arm 3 placed in the empty material box.

[0081] When the second robotic arm 4 transports another empty material box on the conveyor belt to the mounting table 61, the first robotic arm 3 finishes placing the bar material into the material box. The second robotic arm 4 then clamps the full material box and impacts the pressure sensor. The pressure sensor is pressed and disconnects the power to the first electromagnet, and sends an electrical signal to turn on the power to the second electromagnet. The first electromagnet releases the inspection mechanism 7, and the second electromagnet attracts the inspection mechanism 7. The second electromagnet moves the full material box and the inspection mechanism 7 together to the top of the trolley. The inspection mechanism 7 determines whether the empty space on the feeder and the position of the material box placed by the second robotic arm 4 are skewed, thereby ensuring the accuracy of the storage position.

[0082] After the material box is placed on the trolley, the docking mechanism 6 pushes the empty material box to the designated location. The second robot arm 4 drives the inspection mechanism 7 back to the docking mechanism 6 and continues to impact the pressure sensor. The inspection mechanism 7 is attracted by the first electromagnet to inspect the filling status of the empty material box. After the second robot arm 4 releases the inspection mechanism 7, it continues to return to the conveyor belt to bring the next empty material box to the mounting table 61. This process is repeated to automatically fill the material box, and the filling status and the filling position of the trolley are detected by the inspection mechanism 7.

[0083] When the inspection agency 7 detects that the number of bars in the discharge box is insufficient or exceeds the specified number, the inspection agency 7 transmits the data to the back-end controller. The controller determines whether the quantity in the box is qualified, and then the qualified or unqualified instructions are executed by the second robot 4. The unqualified instruction causes the second robot 4 to clamp the box and transport it to the defective product discharge point for recycling.

[0084] During the movement of the second robotic arm 4, the camera end of the inspection mechanism 7 always faces downwards and will not flip or shift during the movement. The camera is fixed-pointed during the inspection by the inspection mechanism 7 to ensure the accuracy of the captured image. For example, when the second robotic arm 4 moves the inspection mechanism 7 above the collection mechanism 2, it will stop moving at a fixed point for the inspection mechanism 7 to take a picture.

[0085] The implementation principle of Embodiment 2 of this application includes: after the second robotic arm 4 clamps the empty material box, the second adsorption member 41 adsorbs the inspection mechanism 7. When the second robotic arm 4 places the empty material box on the docking mechanism 6, the impact pressure sensor energizes the first adsorption member 66 to adsorb the inspection mechanism 7. The position of the inspection mechanism 7 can detect the number of bars that the first robotic arm 3 has placed in the empty material box. When the second robotic arm 4 transports another empty material box on the conveyor belt to the mounting table 61, the first robotic arm 3 has finished placing the bars in the material box. The impact pressure sensor of the second robotic arm 4 energizes the second adsorption member 41 to adsorb the inspection mechanism 7. The second adsorption member 41 moves the full material box and the inspection mechanism 7 together to the top of the collection mechanism 2. The inspection mechanism 7 determines whether the empty space on the feeder and the position of the material box placed by the second robotic arm 4 are skewed, thereby ensuring the accuracy of the storage position.

[0086] Example 3

[0087] Reference Figure 9 As shown, this embodiment 3 is an optimization based on embodiment 2, further including: the docking mechanism 6 is also provided with a reset mechanism 9 for resetting the position of the inspection mechanism 7. When the inspection mechanism 7 is attracted by the first electromagnet, if it is directly above the designated point of the docking mechanism 6, the second robot arm 4 will be obstructed by the inspection mechanism 7 when placing an empty material box or clamping a full material box. Therefore, the inspection mechanism 7 needs to be installed away from the designated point, but this will affect the inspection accuracy of the inspection mechanism 7. Therefore, the reset mechanism 9 is set so that the first electromagnet and the pressure sensor are located away from the designated point. After the second robot arm 4 presses on the pressure sensor, the first electromagnet attracts the inspection mechanism 7. The second robot arm 4 places an empty material box. At this time, the inspection mechanism 7 is away from the designated point. When the empty material box is placed near the designated point, the reset mechanism 9 resets the inspection mechanism 7 to directly above the designated point, so that the inspection mechanism 7 will not block the travel trajectory of the second robot arm 4, while ensuring that the placement point of the second robot arm 4 is close to the designated point.

[0088] The reset mechanism 9 includes a clamping member 91, a reset member 92, and a guide rail 93. The clamping member 91 can be a clamping frame, which is used to provide mounting points for the reset member 92 and the guide rail 93. The clamping frame has the same function as the mounting frame in embodiment 2. The clamping frame is in the shape of an upright Z-shaped frame. The reset member 92 can be a compression spring, an electric push rod, etc.

[0089] The guide rail 93 is installed on the side wall of the abutment frame. The first electromagnet is slidably connected to the guide rail 93. The pressure sensor is set on the first electromagnet. One end of the reset member 92 is connected to the abutment frame, and the other end is connected to the first electromagnet.

[0090] When the reset element 92 is a compression spring, the second robotic arm 4 contacts the first electromagnet and presses the first electromagnet along the guide rail 93 towards the abutment frame, causing the pressure sensor to be compressed. At the same time, the compression spring is compressed, generating a reset force, and the first adsorption element 66 moves out of position above the designated point, allowing the second robotic arm 4 to place the empty material box. After the first electromagnet adsorbs the iron block on the inspection mechanism 7, the second electromagnet is de-energized, causing the second robotic arm 4 to release the inspection mechanism 7. The second robotic arm 4 leaves the designated point, and the first electromagnet and the inspection mechanism 7 lose the second robotic arm's power. The obstruction of hand 4, through the elastic force of the compression spring, resets the inspection mechanism 7 and the first electromagnet back to the designated point, enabling the inspection mechanism 7 to accurately detect the material clamping status of the first robotic arm 3. When the second robotic arm 4 puts down another empty material box, it pushes the first electromagnet. The pressure sensor on the first electromagnet is pressed and disconnects the power supply to the first electromagnet, and turns on the power supply to the second electromagnet through an electrical signal, causing the second robotic arm 4 to attract the inspection mechanism 7. The second robotic arm 4 clamps the full material box and drives the inspection mechanism 7 to move to the trolley for loading and unloading, and so on.

[0091] When the reset component 92 is an electric push rod, pneumatic cylinder, hydraulic cylinder, electric cylinder, or other electric component, taking an electric push rod as an example, the output end of the electric push rod is connected to the first electromagnet and is in a retracted state, that is, the first electromagnet is not above the designated point. When the second robotic arm 4 contacts the first electromagnet, the pressure sensor is pressed, the first electromagnet attracts the inspection mechanism 7, the second robotic arm 4 releases the inspection mechanism 7, and then the second robotic arm 4 releases the empty material box and leaves the docking mechanism 6. The output end of the electric push rod extends, causing the first electromagnet and the inspection mechanism 7 to move above the designated point. After the second robotic arm 4 reciprocates and collides with the first electromagnet and the pressure sensor, the inspection mechanism 7 is attracted to the second electromagnet of the second robotic arm 4, and the electric push rod retracts, causing the first electromagnet to move out of the designated point position. This process is repeated. The operation is similar when using a pneumatic cylinder, hydraulic cylinder, or electric cylinder, and will not be described in detail here.

[0092] The reset mechanism 9 is also equipped with an elastic element 94 and a movable element 95. The elastic element 94 can be a torsion spring, and the movable element 95 can be a bearing assembly. The bearing assembly is installed on the abutment frame. A rotating shaft can be set at the bottom of the abutment 91. The guide rail 93 is installed on the rotating shaft. The rotating shaft is movably connected to the bearing assembly. The torsion spring is installed in the bearing assembly and connected to the rotating shaft. When the first robot 3 drives the bar to push the guide rail 93, causing the guide rail 93 to be subjected to force, the rotating shaft drives the guide rail 93 to rotate along the bearing assembly, thereby causing the inspection mechanism 7 to rotate away from the designated point, making room for the first robot 3 to unload the material. The travel trajectories of the first robot 3 and the second robot 4 are different. When the second robot 4 travels, it will collide with the pressure sensor, while the first robot 3 travels from the side of the guide rail 93 close to the feeder and will not touch the pressure sensor. Therefore, it will not cause the inspection mechanism 7 to change load. When the first robot 3 finishes unloading and returns to the feeder, the torsion spring generates a reset elastic force to pull the rotating shaft and the guide rail 93 back to the designated point to provide inspection.

[0093] The implementation principle of Embodiment 3 of this application includes: the second robotic arm 4 squeezes the sensing element 74 to cause the first adsorption element 66 to adsorb the inspection mechanism 7. After the second robotic arm 4 can put down the empty material box, it leaves the designated point. The first adsorption element 66 and the inspection mechanism 7 are no longer blocked by the second robotic arm 4. The reset element 92 pushes the inspection mechanism 7 and the first adsorption element 66 back to the designated point. The reset element 9 ensures that the inspection mechanism 7 will not block the travel trajectory of the second robotic arm 4, while ensuring that the placement point of the second robotic arm 4 is close to the designated point.

[0094] Example 4

[0095] An automatic boxing method, including the automatic boxing device and controller of Embodiment 3, includes the following steps:

[0096] The controller presets the operating status of the first robotic arm 3, the second robotic arm 4, the conveying mechanism 5, the inspection mechanism 7, the docking mechanism 6, the first adsorption component 66, the second adsorption component 41, and the sensing component 74, such as the conveying speed of the conveying mechanism 5, the traveling speed and trajectory of the first robotic arm 3 and the second robotic arm 4, etc. The controller processes the received signals and sends control commands.

[0097] S101, In the initial state, the second robotic arm 4 adsorbs the third adsorption element 73 of the inspection mechanism 7 through the second adsorption element 41.

[0098] The second adsorption element 41 is a second electromagnet, and the third adsorption element 73 is an iron block. When the second adsorption element 41 is energized, it can adsorb the iron block. In the initial state, the iron block is adsorbed by the second robot arm 4, so that the inspection mechanism 7 is adsorbed on the second robot arm 4.

[0099] S201, The second robotic arm 4 carries the inspection mechanism 7 to the conveying mechanism 5;

[0100] S202, The controller sends a clamping command to the second robot arm 4, and the second robot arm 4 clamps the empty material box on the conveying mechanism 5.

[0101] S301. After clamping, the second robotic arm 4 carries the inspection mechanism 7 and the empty material box to the top of the docking mechanism 6.

[0102] S302, The controller sends a release command to the second robot 4, and the second robot 4 places the empty material box into the docking mechanism 6;

[0103] S303, Second robotic arm 4 trigger sensor 74;

[0104] S304. After the sensor 74 is triggered, it transmits the trigger signal to the controller. After receiving the signal, the controller sends an adsorption command to the first adsorption element 66, controlling the first adsorption element 66 to adsorb the third adsorption element 73. The controller sends a disconnect command to the second adsorption element 41, causing the second adsorption element 41 to detach from the inspection mechanism 7.

[0105] The sensor is a pressure sensor, the first adsorption element 66 is a first electromagnet, the second robot 4 places the empty material box on the docking mechanism 6, the second robot 4 applies pressure to the pressure sensor, the pressure sensor sends a pressure signal to the controller after being pressed, the controller sends a command to control the first electromagnet to be energized and the second electromagnet to be de-energized, the iron block of the inspection mechanism 7 loses the adsorption effect of the second electromagnet and is disconnected, and is adsorbed on the first electromagnet by the adsorption effect of the first electromagnet.

[0106] S401, The controller sends a movement command to move the second robotic arm 4 to the conveying mechanism 5;

[0107] S402, The controller sends a start command to the docking mechanism 6, and the docking mechanism 6 pushes the empty material box to the designated point;

[0108] S403, Reset mechanism 9 resets inspection mechanism 7 to above the designated point.

[0109] During the process of the second robotic arm 4 moving to the conveying mechanism 5, the docking mechanism 6 pushes the empty material box to the designated point, and at the same time, the reset mechanism 9 after the second robotic arm 4 moves pushes the inspection mechanism 7 above the designated point for inspection.

[0110] S501 After the docking mechanism 6 is pushed, it sends a completion signal to the controller. After receiving the completion signal, the controller sends a clamping command to the first robot arm 3. The first robot arm 3 clamps the bar material of the feeding mechanism 8 and transports it into the empty material box.

[0111] S502. At the same time, the controller sends an inspection command to the inspection mechanism 7. The inspection mechanism 7 takes a picture of the number of bars in the empty material box and sends the inspection data to the controller, which then determines whether the number of bars in the material box is qualified.

[0112] S503 and weighing component 64 weigh the material box and bar stock. When the specified weight is reached, a signal is sent to the controller. The controller verifies the data between the inspection mechanism 7 and the weighing component 64, and sends a stop command to the first robot arm 3.

[0113] S504, the controller sends a clamping command to the second robot arm 4, and the second robot arm 4 clamps the new empty material box.

[0114] While the first robotic arm 3 is picking up materials, the inspection mechanism 7 checks the number of bars in the empty material box, and the second robotic arm 4 begins to prepare to pick up the second round of empty material boxes.

[0115] S601, The controller sends a movement command to the second robot 4, and the second robot 4 places the new empty material box on the docking mechanism 6;

[0116] S602, the second robotic arm 4 triggers the sensor 74. After the sensor 74 is triggered, it transmits the trigger signal to the controller. After receiving the signal, the controller sends an adsorption command to the second adsorption element 41, controlling the second adsorption element 41 to adsorb the third adsorption element 73. The controller sends a disconnect command to the first adsorption element 66, causing the first adsorption element 66 to detach from the inspection mechanism 7.

[0117] S603, The controller sends a clamping command to the second robotic arm 4, controlling the second robotic arm 4 to clamp the full material box.

[0118] In this process, the second robotic arm 4 places the empty material box of the second wheel onto the docking mechanism 6. The second robotic arm 4 then applies pressure to the pressure sensor. After being pressed, the pressure sensor sends a pressure signal to the controller. The controller then sends a command to de-energize the first electromagnet and energize the second electromagnet. The iron block of the inspection mechanism 7 loses the attraction of the first electromagnet and disconnects. It is then attracted to the second electromagnet, allowing the inspection mechanism 7 to move with the second robotic arm 4.

[0119] S701, The second robotic arm 4, carrying the inspection mechanism 7, fills the material box and moves to the collection mechanism 2;

[0120] S702, the inspection mechanism 7 is located above the collection mechanism 2. The controller sends an inspection command, and the inspection mechanism 7 takes a fixed-point photo of the placement position of the collection mechanism 2.

[0121] S703, The controller sends a release command to the second robot arm 4, and the second robot arm 4 places the full material box;

[0122] S704, the controller sends an opening command to the docking mechanism 6, and the docking mechanism 6 pushes the empty material box to the designated point.

[0123] S801, The controller sends a movement command to the second robotic arm 4, and the second robotic arm 4, carrying the inspection mechanism 7, moves to the docking mechanism 6;

[0124] S802, the second robotic arm 4 triggers the sensor 74. After the sensor 74 is triggered, it transmits the trigger signal to the controller. After receiving the signal, the controller sends an adsorption command to the first adsorption element 66, controlling the first adsorption element 66 to adsorb the third adsorption element 73. The controller sends a disconnect command to the second adsorption element 41, causing the second adsorption element 41 to detach from the inspection mechanism 7.

[0125] S803, the second robotic arm 4 moves to the conveying mechanism 5 and clamps the empty material box.

[0126] Repeat the above steps to automate the loading process.

[0127] Furthermore, in step S502, when the inspection mechanism 7 finds that the number of bars in the empty material box is not up to standard, the second robot arm 4 moves the inspection mechanism 7 and the box holding the defective material to the defective product discharge point in step S701 to discharge the defective product.

[0128] The implementation principle of Embodiment 4 of this application includes: the third adsorption element 73 is adsorbed through the connection of the first adsorption element 66 and the second adsorption element 41, so that the second robotic arm 4 can drive the inspection mechanism 7 to conduct flow inspection, thereby improving the accuracy of automatic boxing.

[0129] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automated bar packaging device, comprising a machine tool (1) and a collection mechanism (2), wherein the machine tool (1) and the collection mechanism (2) are detachably connected, characterized in that, The machine tool (1) is equipped with a first robotic arm (3), a second robotic arm (4), a feeding mechanism (8), and a conveying mechanism (5); the feeding mechanism (8) is located at one end of the machine tool (1); the conveying mechanism (5) is used to convey empty material boxes and is located on the side of the feeding mechanism (8); the travel path of the second robotic arm (4) covers the conveying mechanism (5), the collecting mechanism (2), and the feeding mechanism (8), and is used to pick up the empty material box from the conveying mechanism (5) to the discharge end of the feeding mechanism (8); the first robotic arm (3) is located above the feeding mechanism (8) and is used to place the bar material conveyed by the feeding mechanism (8) into the empty material box; the full material box is transferred by the second robotic arm (4) to the collecting mechanism (2); the machine tool (1) is also equipped with a docking mechanism (6) and an inspection mechanism (7); the docking mechanism (6) is installed on the machine tool (1) and is located on the feeding mechanism (8). The discharge end; the inspection mechanism (7) is located on the travel path of the second robot (4) and connected to the machine tool (1). The docking mechanism (6) adjusts the position of the empty material box. The first robot (3) clamps the bar material into the empty material box and the inspection mechanism (7) inspects the quantity of the bar material. The docking mechanism (6) is also provided with a first adsorption element (66). The first adsorption element (66) is provided with a sensing element (74). The second robot (4) is also provided with a second adsorption element (41). The inspection mechanism (7) is also provided with a third adsorption element (73). There are two third adsorption elements (73), which are located at both ends of the inspection mechanism (7). The first adsorption element (66) is adsorbed and connected to the third adsorption element (73) at one end of the inspection mechanism (7). The second adsorption element (41) is adsorbed and connected to the third adsorption element (73) at the other end of the inspection mechanism (7).

2. The automated bar packaging device according to claim 1, characterized in that, The docking mechanism (6) includes a mounting platform (61), a pusher (62), and a drive (63); the drive (63) is mounted on the mounting platform (61); the pusher (62) is slidably connected to the mounting platform (61) and connected to the output end of the drive (63); a single pusher (62) and a single drive (63) are matched with each other and form a group, and at least two groups are provided.

3. The automated bar packaging device according to claim 2, characterized in that, The direction of travel of each of the pushers (62) is aligned with the outer wall of the empty container.

4. The automated bar packaging device according to claim 2, characterized in that, The docking mechanism (6) further includes a weighing component (64); the weighing component (64) is mounted on the machine tool (1), and the output end of the weighing component (64) is connected to the plane of the mounting platform (61) away from the driving component (63).

5. The automated bar packaging device according to claim 4, characterized in that, The docking mechanism (6) also includes a fixing member (65); a plurality of the fixing members (65) are installed on the plane of the mounting platform (61) away from the driving member (63); the machine tool (1) is provided with socket holes (11) that are the same number and position as the fixing members (65), and the fixing members (65) are connected to the socket holes (11).

6. The automated bar packaging device according to claim 1, characterized in that, The inspection mechanism (7) includes a lighting component (71) and a CCD detection component (72); one end of the lighting component (71) is connected to the CCD detection component (72), and the other end is detachably connected to the machine tool (1).

7. The automated bar packaging device according to claim 1, characterized in that, The docking mechanism (6) is also provided with a reset mechanism (9).

8. The automated bar packaging device according to claim 7, characterized in that, The reset mechanism (9) includes a clamping member (91), a reset member (92), and a guide rail (93); the clamping member (91) is connected to the docking mechanism (6) on a plane away from the machine tool (1); the guide rail (93) is mounted on the clamping member (91); the first suction member (66) is slidably connected to the guide rail (93); one end of the reset member (92) is connected to the clamping member (91), and the other end is connected to the first suction member (66).

9. An automatic boxing method, characterized in that, An automated bar packaging device according to claim 7 includes the following steps: The second robotic arm (4) carries the inspection mechanism (7) to the conveying mechanism (5) via the third adsorption member (73) and clamps the empty material box on the conveying mechanism (5); The second robotic arm (4) carries the inspection mechanism (7) and the empty material box to the docking mechanism (6); The second robotic arm (4) places the empty material box on the docking mechanism (6) and triggers the sensor (74). The first adsorbent (66) adsorbs the third adsorbent (73), and the second adsorbent (41) detaches from the inspection mechanism (7); The second robotic arm (4) moves to the conveying mechanism (5), the docking mechanism (6) pushes the empty material box to the designated point, and the reset mechanism (9) resets the inspection mechanism (7) above the designated point; The first robotic arm (3) clamps the bar stock of the feeding mechanism (8) and transports it into the empty material box; The inspection agency (7) takes pictures of the material box and bar stock below, and the weighing component (64) weighs the material box and bar stock. The second robotic arm (4) holds the new empty material box and places it on the docking mechanism (6), and holds the full material box to trigger the sensor (74). The first adsorbent (66) detaches from the inspection mechanism (7), and the second adsorbent (41) adsorbs the third adsorbent (73); The second robotic arm (4) carries the inspection mechanism (7) and moves the filled material box to above the collection mechanism (2), where the inspection mechanism (7) takes a fixed-point photo to check the placement position of the collection mechanism (2); The empty placement position of the collection mechanism (2) is determined, the second robot (4) places the full material box to the empty placement position of the collection mechanism (2), and the docking mechanism (6) pushes the empty material box to the designated point; The second robotic arm (4) carries the inspection mechanism (7) to the docking mechanism (6) and triggers the sensing element (74). The first adsorption element (66) adsorbs the third adsorption element (73), and the second adsorption element (41) detaches from the inspection mechanism (7).

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