Ink box assembling equipment and assembling method

Abstract

The invention relates to the technical field of ink boxes, and particularly discloses ink box assembling equipment and an assembling method.In the ink box assembling equipment, an assembly line is arranged on a rack and used for conveying a carrier in the X direction; the number of the vibration discs is at least one, the vibration discs are arranged on the rack and used for vibrating the first workpiece and / or the second workpiece to the position with the front face facing upwards, the connecting line between the vibration discs and the assembly line extends in the Y direction, and the Y direction is perpendicular to the X direction; the mechanical arm is arranged on the rack and used for moving the first workpiece and the second workpiece to the carrier and completing assembling. According to the ink box assembling equipment, the protection clamp with the upward front face in the vibration disc is placed on the carrier through the mechanical arm, then the silica gel pad with the upward front face is placed on the protection clamp, the whole workpiece transferring and assembling process is controlled by the mechanical arm, and the problem that ink leaks between the protection clamp and the ink box is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of ink cartridges, and in particular to an ink cartridge assembly device and an assembly method. Background Art

[0002] The printer includes an ink cartridge. A mounting portion for accommodating the ink cartridge is provided on the printer. The ink cartridge is fixedly connected to the mounting portion via a connecting component. The ink in the ink cartridge can be introduced into the printer to achieve a printing task.

[0003] Before filling the ink cartridge with ink, a protective clip needs to be set at the ink outlet at the bottom to prevent the ink from flowing out of the ink outlet. In order to make the ink outlet of the ink cartridge and the protective clip fully contact, a silicone pad needs to be placed between the protective clip and the ink outlet. During installation, it is generally necessary to manually match the silicone pad and the protective clip first, and then install the protective clip with the silicone pad to the ink outlet of the ink cartridge. Since the silicone pad is small in size and needs to be inserted into the protective clip, it is difficult to grab the silicone pad during manual operation, the grabbing cycle is long, and the process of inserting the silicone pad into the protective clip is relatively laborious. Therefore, it seriously affects production efficiency, and fatigue is easy to occur during the installation process, resulting in changes in the force of installing the silicone pad, which causes the relative angle and position of the silicone pad and the protective clip to change, resulting in the silicone pad not being installed in place, and ultimately causing ink leakage between the ink cartridge and the protective clip. Summary of the invention

[0004] The purpose of the present invention is to provide an ink cartridge assembly device and an assembly method to solve the problem in the prior art that the manually installed silicone pad is not installed properly, resulting in ink leakage between the ink cartridge and the protective clip.

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

[0006] In one aspect, the present invention provides an ink cartridge assembly device, the ink cartridge assembly device comprising:

[0007] frame;

[0008] An assembly line, which is arranged on the frame and is used to transport the carrier along the X direction;

[0009] A vibration plate, at least one of which is disposed on the frame and is used to vibrate the first workpiece and / or the second workpiece to a position where the front side faces upward, wherein a line between the vibration plate and the assembly line extends along a Y direction, and the Y direction is perpendicular to the X direction;

[0010] A robot arm is arranged on the frame and is used to move the first workpiece and the second workpiece to the carrier and complete the assembly.

[0011] In some embodiments, the vibration plate includes a vibration bracket, a vibration table and a vibration driving member, the vibration bracket is arranged on the frame, the vibration driving member is arranged on the vibration bracket, the vibration table is arranged at the output end of the vibration driving member, and the vibration driving member is used to drive the vibration table to vibrate and drive the first workpiece and / or the second workpiece to flip to a position with the front side facing up; the ink cartridge assembly equipment also includes a first camera, the first camera is arranged on the frame, and the first camera is used to capture image information of the first workpiece and the second workpiece in the two vibration plates, the first camera is used to transmit the image information to the controller, and after receiving the image information, the controller sends the coordinate information of the first workpiece and the second workpiece facing up to the manipulator.

[0012] In some embodiments, there are at least four vibration driving members, the vibration table is square, and the four vibration driving members are arranged at the four corners of the vibration table. The vibration driving members are used to coordinately control the vibration frequency of the vibration table to be consistent with the natural frequency of the first workpiece or the second workpiece.

[0013] In some embodiments, the vibration table includes a vibration frame and a vibration pad disposed inside the vibration frame, the periphery of the vibration pad is fixed to the vibration frame and is flattened and laid inside the vibration frame, and the vibration pad is made of a flexible material.

[0014] In some embodiments, the vibration table includes a panel, which is disposed on the vibration frame and surrounds the outer periphery of the vibration pad; and / or

[0015] The vibration pad is arranged obliquely and is inclined from top to bottom toward the direction of the assembly line.

[0016] In some embodiments, the vibration plate includes a light emitting element, the light emitting element is disposed on the vibration bracket and located at the bottom of the vibration pad, the vibration pad is made of a transparent material, and the light of the light emitting element can pass through the vibration pad; and / or

[0017] The inclination angle of the vibration pad ranges from 2° to 10°.

[0018] In some embodiments, the vibration plate includes a hopper, a baffle plate and a conveyor belt, the hopper and the conveyor belt are both arranged on the frame, and the hopper is located above the conveyor belt, the opening of the hopper faces downward, the conveyor belt is located above the vibration table, one end of the baffle plate is connected to the hopper in an adjustable position along the Z direction, a transmission channel is formed between the lower end of the baffle plate and the conveyor belt, the height direction of the transmission channel is the Z direction, and the height dimension of the transmission channel is a preset dimension.

[0019] In some embodiments, the ink cartridge assembly device includes a stopper, the stopper is disposed on the frame, the stopper has a stop position and an avoidance position, the stopper at the stop position is located on one side of the carrier at the assembly position and abuts against the carrier, the robot can place the first workpiece on the carrier at the assembly position, and assemble the second workpiece into the first workpiece; and / or

[0020] The vibration plate further includes a second camera, which is disposed on the frame, and is used to capture image information of the carrier and the first workpiece in the carrier at the assembly position, and the controller sends coordinate information of the carrier and the first workpiece in the carrier to the manipulator after receiving the image information from the second camera. In some embodiments, a suction cup is provided at the output end of the manipulator, and the suction cup is used to absorb the first workpiece and the second workpiece, and the first workpiece and the second workpiece are moved to the assembly position successively.

[0021] In some embodiments, a suction cup is provided at the output end of the manipulator, and the suction cup is used to absorb the first workpiece and the second workpiece, and the first workpiece and the second workpiece are moved to the assembly position successively; or

[0022] The output end of the manipulator is provided with two telescopic driving members, and each of the output ends of the telescopic driving members is provided with a suction cup, and the telescopic driving members are used to drive the suction cup to move between an extended position and a retracted position along the Z direction, and the suction cup located at the extended position is lower than the suction cup located at the retracted position, one of the suction cups is used to adsorb the first workpiece, and the other suction cup is used to adsorb the second workpiece; the first workpiece and the second workpiece are transferred to the assembly position at the same time.

[0023] On the other hand, the present invention provides an ink cartridge assembly method, applicable to the ink cartridge assembly device in any of the above schemes, comprising the following steps:

[0024] The vibration plate vibrates so that the first workpiece and / or the second workpiece face upward; the first camera takes pictures and cooperates with the controller to obtain the coordinate information of the protective clip and the silicone pad facing upward in the vibration plate; the robot moves the protective clip and the silicone pad from the vibration plate to the carrier in turn and completes the assembly.

[0025] The beneficial effects of the present invention are:

[0026] The present invention provides an ink cartridge assembly device and an assembly method. The ink cartridge assembly device places a protective clip with its front side facing upward in a vibration plate on a carrier through a manipulator, and then places a silicone pad with its front side facing upward on the protective clip. The entire workpiece transfer and assembly process is controlled by the manipulator, which has high precision, fast workpiece transfer speed, and uniform force application during the assembly process. The phenomenon of changes in installation force due to fatigue will not occur, thereby ensuring the relative angle and position of the silicone pad and the protective clip, thereby making the silicone pad and the protective clip cooperate better, and solving the problem of ink leakage between the protective clip and the ink cartridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the structure of an ink cartridge assembly device according to an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of the structure of the vibration plate in the embodiment of the present invention;

[0029] Figure 3 Schematic diagram of the structure of the vibration platform and the light-emitting component in the embodiment of the present invention.

[0030] In the figure:

[0031] 100, frame; 110, host; 121, first camera; 122, second camera;

[0032] 200, assembly line; 210, carrier;

[0033] 300, vibrating plate; 310, vibrating bracket; 320, vibrating table; 321, vibrating frame; 322, vibrating pad; 323, enclosure; 330, vibrating driving member; 340, luminous member; 350, hopper; 360, baffle plate; 370, conveyor belt;

[0034] 400, robot arm; 410, suction cup; 420, telescopic drive member. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] like Figures 1 to 3 As shown, the present embodiment provides an ink cartridge assembly device, which includes a frame 100, an assembly line 200, a vibration plate 300 and a manipulator 400, wherein the assembly line 200 is arranged on the frame 100 and is used to transport the carrier 210 along the X direction; two vibration plates 300 are provided, and the two vibration plates 300 are both arranged on the frame 100, and are respectively used to vibrate the first workpiece and the second workpiece to a position where the front side faces upward, that is, one vibration plate 300 is used to vibrate the first workpiece to a position where the front side faces upward, and the other vibration plate 300 is used to vibrate the second workpiece to a position where the front side faces upward, and the connection line between the vibration plate 300 and the assembly line 200 extends along the Y direction, and the Y direction is perpendicular to the X direction; the manipulator 400 is arranged on the frame 100, and is used to move the first workpiece and the second workpiece in the two vibration plates 300 to the carrier 210 respectively and complete the assembly.

[0040] In this embodiment, the first workpiece may be a protective clip, and the second workpiece may be a silicone pad. The protective clip is installed at the ink outlet of the ink cartridge, and the silicone pad is clamped between the protective clip and the ink outlet. The protective clip is provided with a card slot, and the silicone pad is clamped in the card slot. Specifically, the protective clip is first placed on the carrier 210 with the card slot opening facing upward, and then the silicone pad is placed at the opening of the card slot, and a constant pressure is applied so that the silicone pad is clamped in the card slot. Regarding the setting of the constant pressure, it can be determined by the distance that the manipulator 400 presses down. In this embodiment, when the front side of the protective clip faces upward, the opening of the card slot faces upward. In other embodiments, the first workpiece and the second workpiece may be other parts, but are not limited to this.

[0041] The ink cartridge assembly equipment places the protective clip with the front side facing upward in the vibration plate 300 on the carrier 210 through the robot 400, and then places the silicone pad with the front side facing upward on the protective clip. The entire workpiece transfer and assembly process is controlled by the robot 400. The robot 400 has high precision, fast workpiece transfer speed, and uniform force application during the assembly process. There will be no change in installation force due to fatigue, thereby ensuring the relative angle and position of the silicone pad and the protective clip, thereby making the silicone pad and the protective clip cooperate better, solving the problem of ink leakage between the protective clip and the ink cartridge.

[0042] The positions of the vibration plate 300 and the assembly line 200 are arranged so that the moving distance of the robot 400 is the shortest.

[0043] Regarding the structure of the vibration plate 300, in some embodiments, the vibration plate 300 includes a vibration bracket 310, a vibration table 320 and a vibration driver 330. The vibration bracket 310 is arranged on the frame 100, the vibration driver 330 is arranged on the vibration bracket 310, and the vibration table 320 is arranged at the output end of the vibration driver 330. The vibration driver 330 is used to drive the vibration table 320 to vibrate and drive the protective clip and the silicone pad to flip to a position facing up. The above arrangement allows the protective clip and the silicone pad to be vibrated to a position facing up.

[0044] In order for the manipulator 400 to accurately obtain the position information of the protective clip and the silicone pad, in some embodiments, the ink cartridge assembly device further includes a first camera 121, which is disposed on the frame 100, and the first camera 121 is used to capture the image information of the protective clip and the silicone pad in the two vibration plates 300, and the first camera 121 is used to transmit the image information to the controller, and the controller sends the coordinate information of the protective clip and the silicone pad facing up to the manipulator 400 after receiving the image information. It should be noted that the above working principle involves image processing technology, which is well known to those skilled in the art and is not the focus of protection of this embodiment, so it will not be repeated here. The above setting enables the first camera 121 and the controller to complete the acquisition of the coordinate information of the silicone pad when the manipulator 400 places the protective clip on the carrier 210, and the coordinate information of the next protective clip is acquired when the manipulator 400 assembles the silicone pad on the protective clip, so that the manipulator 400 does not need to wait, thereby improving the assembly efficiency. In some embodiments, the coordinate information of all the protective clips facing up can be determined by a single shot of the first camera 121. In some embodiments, the coordinate information of all the silicone pads facing upward can be determined by a single shot of the first camera 121. In some embodiments, the coordinate information of all the protective clips facing upward and the coordinate information of all the protective pads facing upward can be determined by a single shot of the first camera 121. The first camera 121 is disposed above the two vibration plates 300 and can capture all the protective clips and silicone pads in the two vibration plates 300.

[0045] The controller is disposed in the host 110 , and the host 110 is disposed on the rack 100 .

[0046] To facilitate description of the structure of the vibration plate 300 , the vibration plate 300 of the vibration protection clip is taken as an example for explanation. The working principle of the vibration plate 300 when vibrating the silicone pad is the same and will not be described in detail.

[0047] In some embodiments, at least four vibration drivers 330 are provided, the vibration table 320 is square, and the four vibration drivers 330 are provided at the four corners of the vibration table 320. The vibration drivers 330 are used to coordinately control the vibration frequency of the vibration table 320 to be consistent with the natural frequency of the protective clip or the silicone pad. Specifically, the vibration frequency of the vibration table 320 of one vibration plate 300 is consistent with the natural frequency of the protective clip; the vibration frequency of the vibration table 320 of another vibration plate 300 is consistent with the natural frequency of the silicone pad. The vibration driver 330 can be called an excitation source. In the above setting, the working principle of the vibration plate 300 is to use the principles of resonance and interference waves to achieve the process of the protective clip moving in one direction to form an arrangement. Since the vibration frequency of the vibration table 320 is consistent with the natural frequency of the protective clip, it will cause the resonance of the protective clip, making the protective clip easy to vibrate and flip. Only when the protective clip flips, it is easy to appear in the position state of the front side facing up.

[0048] The vibration table 320 includes a vibration frame 321 and a vibration pad 322 disposed inside the vibration frame 321. The periphery of the vibration pad 322 is fixed on the vibration frame 321 and laid flat inside the vibration frame 321. The vibration pad 322 is made of a flexible material. The above arrangement, on the one hand, makes it easier for the vibration pad 322 made of a flexible material to adjust the vibration frequency of the vibration frame 321 to the natural frequency of the protection clip; on the other hand, the vibration pad 322 made of a flexible material can protect the protection clip and prevent the protection clip from being scratched.

[0049] In some embodiments, the vibration frame 321 is a square frame structure with four connecting rods, and the edges of the vibration pad 322 are wrapped around the four connecting rods. The vibration pad 322 can be bonded or screwed to the connecting rod. The connecting rod is provided with a screw hole, and the edge of the vibration pad 322 is provided with a mounting hole. The screw passes through the mounting hole of the vibration pad 322 and is screwed into the screw hole. A rubber gasket and a stainless steel gasket are provided between the nut of the screw and the vibration pad 322, wherein the outer diameter of the rubber gasket is the same as the outer diameter of the stainless steel gasket, and both are larger than the outer diameter of the nut, and the stainless steel gasket is located between the rubber gasket and the nut. The screw is made of stainless steel. With the help of the setting of the above-mentioned two gaskets, the extrusion area of ​​the vibration pad 322 can be increased, the firmness of the connection between the vibration pad 322 and the vibration frame 321 can be improved, and the force area of ​​the vibration pad 322 per unit area can be reduced, thereby improving the durability of the vibration pad 322; on the other hand, it can also prevent the nut made of hard material from scratching the vibration pad 322, causing the vibration pad 322 to tear from the mounting hole and separate from the connecting rod.

[0050] In order to prevent the protective clip from falling off the vibration table 320 during the vibration process, in some embodiments, the vibration table 320 includes a surrounding plate 323, which is arranged on the vibration frame 321 and surrounds the outer periphery of the vibration pad 322. The height direction of the surrounding plate 323 is the Z direction, and the height dimension of the surrounding plate 323 is greater than the maximum outer diameter dimension of the protective clip. In the vibration disk 300 of the vibration silicone pad, the height dimension of the surrounding plate 323 is greater than the maximum outer diameter dimension of the rubber pad. The Z direction is perpendicular to both the X direction and the Y direction.

[0051] In some embodiments, the vibration pad 322 is tilted and tilted from top to bottom toward the assembly line 200. With the aid of the tilted vibration pad 322, it is easier to move the protective clip toward the assembly line 200 during movement; thereby reducing the moving distance of the manipulator 400 and improving assembly efficiency. In addition, the tilted vibration pad 322 makes it easier for the protective clip in a vibrating state to flip. In some embodiments, the tilt angle of the vibration pad 322 ranges from 2° to 10°. Preferably, the tilt angle of the vibration pad 322 is less than 5°.

[0052] It should be noted that in the above description of the vibration plate 300, the protective frame can be directly replaced by a rubber pad, so that the two vibration plates 300 are set differently in size and vibration frequency, and are set one-to-one with the silicone pad and the protective clip.

[0053] In order to improve the accurate acquisition of the image of the protective clip when taking pictures, in some embodiments, the vibration plate 300 includes a light-emitting member 340, which is arranged on the vibration bracket 310 and located at the bottom of the vibration pad 322. The vibration pad 322 is made of a transparent material, and the light of the light-emitting member 340 can pass through the vibration pad 322. With the arrangement of the above-mentioned light-emitting member 340, the outline of the protective clip and the silicone pad can be photographed more clearly. In addition, the light-emitting member 340 is arranged on the vibration bracket 310 to avoid vibration and improve the service life of the light-emitting member 340. Finally, the light-emitting member 340 is arranged at the bottom of the vibration pad 322. On the one hand, the light can be irradiated from the bottom to the top, which is more conducive to the shooting of the first camera 121 compared with irradiation from the top to the bottom; on the other hand, the light-emitting member 340 can be protected by the vibration pad 322 to avoid dust or damage from other falling objects; the service life of the light-emitting member 340 is further improved.

[0054] In this embodiment, the light emitting element 340 may be an LED lamp, or other devices that can emit light, such as a searchlight, an incandescent lamp, etc.

[0055] The vibration plate 300 includes a hopper 350, a baffle plate 360 ​​and a conveyor belt 370. The hopper 350 and the conveyor belt 370 are both arranged on the frame 100, and the hopper 350 is located above the conveyor belt 370, the opening of the hopper 350 faces downward, and the conveyor belt 370 is located above the vibration table 320. One end of the baffle plate 360 ​​is connected to the hopper 350 in an adjustable position along the Z direction, and a transmission channel is formed between the lower end of the baffle plate 360 ​​and the conveyor belt 370. The height direction of the transmission channel is the Z direction, and the height dimension of the transmission channel is a preset dimension. The preset dimension in one vibration plate 300 is the maximum outer diameter dimension of the protective clip. The preset dimension in another vibration plate 300 is the maximum outer diameter dimension of the silicone pad. The above-mentioned setting allows the protective clips stacked on the upper layer passing through the transmission channel to be intercepted, so that only one layer of protective clips falls onto the vibration table 320.

[0056] In this embodiment, the ink cartridge assembly device includes a stopper, which is arranged on the frame 100. The stopper has a stop position and an avoidance position. The stopper at the stop position is located on one side of the carrier 210 at the assembly position and abuts against the carrier 210. The manipulator 400 can place the protective clip on the carrier 210 at the assembly position and assemble the silicone pad into the protective clip. With the arrangement of the above structure, the carrier 210 can be docked at a more accurate position, so that the assembly process of the manipulator 400 is more accurate and the yield rate is improved.

[0057] In some embodiments, the vibration plate 300 further includes a second camera 122, which is disposed on the frame 100. The second camera 122 is used to capture the image information of the carrier 210 and the protective clip in the carrier 210 at the assembly position. After receiving the image information from the second camera 122, the controller sends the coordinate information of the carrier 210 and the protective clip in the carrier 210 to the manipulator 400. Specifically, when it is necessary to place the protective clip in the carrier 210, the second camera 122 captures the carrier 210 and obtains the image information of the carrier 210. After receiving the image information of the carrier 210, the controller sends the coordinate information of the carrier 210 to the manipulator 400 and places the protective clip in the carrier 210. After placing the protective clip, if it is necessary to assemble the silicone pad on the protective clip, the second camera 122 captures the protective clip on the carrier 210 and obtains the image information of the protective clip. After receiving the image information of the protective clip, the controller sends the coordinate information of the protective clip to the manipulator 400, so as to accurately place the silicone pad in the card slot of the protective clip. With the help of the setting of the second camera 122, the coordinate information of the carrier 210 and the protective clamp can be obtained, so that the robot arm 400 can dock with the protective clamp according to the coordinate information of the carrier 210, and dock with the silicone pad according to the coordinate information of the protective clamp. The docking accuracy is higher, thereby improving the accuracy of placing the protective clamp on the carrier 210, and also improving the accuracy of placing the silicone pad in the protective clamp.

[0058] In some embodiments, a suction cup 410 is provided at the output end of the manipulator 400, and the suction cup 410 is used to absorb the protective clip and the silicone pad, and the protective clip and the silicone pad are moved to the assembly position in sequence. The provision of the suction cup 410 prevents the protective clip and the silicone pad from being damaged during the transfer process, thereby improving the yield rate. In some embodiments, the manipulator 400 first absorbs the protective clip in a vibration plate 300, places the protective clip on the carrier 210, and then absorbs the silicone pad in another vibration plate 300, and assembles the silicone pad in the protective clip.

[0059] In some embodiments, the output end of the manipulator 400 is provided with two telescopic driving members 420, and each output end of the telescopic driving member 420 is provided with a suction cup 410, and the telescopic driving member 420 is used to drive the suction cup 410 to move between the extended position and the retracted position along the Z direction, and the suction cup 410 at the extended position is lower than the suction cup 410 at the retracted position, and one suction cup 410 is used to adsorb the protective clip, and the other suction cup 410 is used to adsorb the silicone pad; the protective clip and the silicone pad are transferred to the assembly position at the same time. In this embodiment, the manipulator 400 can first adsorb the protective clip in one vibration plate 300, and then adsorb the silicone pad in another vibration plate 300, and then move to the assembly position, first place the protective clip in the carrier 210, and then install the silicone pad in the card slot of the protective clip. Compared with the setting of one suction cup 410, the round-trip path is saved and the assembly efficiency is improved. In this embodiment, two telescopic driving members 420 are arranged so that when the protective clip is adsorbed, the suction cup 410 for adsorbing the protective clip is located in an extended position and is lower than the suction cup 410 for adsorbing the silicone pad and is located in a retracted position. When the silicone pad is adsorbed, the suction cup 410 for adsorbing the silicone pad is located in an extended position and is lower than the suction cup 410 for adsorbing the protective clip and is located in a retracted position, thereby avoiding interference between the two suction cups 410 during the process of adsorbing the protective clip and the silicone pad.

[0060] This embodiment also provides an ink cartridge assembly method, which mainly includes the following steps:

[0061] One vibration plate 300 vibrates so that the protection clip faces upward. The other vibration plate 300 vibrates so that the silicone pad faces upward.

[0062] The first camera 121 takes a photo and cooperates with the controller to obtain the coordinate information of the protective clip facing upward and the coordinate information of the silicone pad facing upward in the two vibration plates 300 .

[0063] The robot arm 400 moves to a vibration plate 300 , and a telescopic driving member 420 drives a suction cup 410 to descend to an extended position, and the descending suction cup 410 adsorbs the protective clip in the vibration plate 300 .

[0064] After the protective clip is adsorbed, the telescopic driving member 420 rises to the retracted position, causing the protective clip to rise; another telescopic driving member 420 drives another suction cup 410 to descend to the extended position, causing the descending suction cup 410 to adsorb the silicone pad. Then, all the telescopic driving members 420 rise to the retracted position.

[0065] The robot 400 moves the protective clip and the silicone pad to the assembly position, and one telescopic driving member 420 descends to place the protective clip on the carrier 210. Then, the telescopic driving member 420 rises, and the other telescopic driving member 420 descends to assemble the silicone pad in the card slot of the protective clip.

[0066] In some embodiments, the silicone pad is first adsorbed, and then the protective clip is adsorbed, and the suction cup 410 adsorbing the protective clip is kept in the extended position during the movement of the manipulator 400 to the assembly position. Specifically, the manipulator 400 moves to a vibration plate 300, and a telescopic drive member 420 drives a suction cup 410 to descend to the extended position, and the descending suction cup 410 adsorbs the silicone pad in the vibration plate 300. After adsorbing the silicone pad, the telescopic drive member 420 rises to the retracted position, so that the silicone pad rises; another telescopic drive member 420 drives another suction cup 410 to descend to the extended position, and the descending suction cup 410 adsorbs the protective clip. During the movement of the manipulator 400 to the assembly position, the suction cup 410 adsorbing the protective clip is kept in the extended position, and then the protective clip is placed in the carrier 210, and then the telescopic drive member 420 that releases the protective clip rises to the retracted position; the telescopic drive member 420 with the silicone pad descends to the extended position, and the silicone pad is assembled in the protective clip. In this embodiment, the telescopic drive member 420 can be a cylinder. The output end of the cylinder moves between an extended position and a retracted position.

[0067] In some embodiments, when the robot 400 moves to the assembly position, the second camera 122 takes a picture of the carrier 210 and obtains coordinate information of the carrier 210 , and the robot 400 places the protective clip on the carrier 210 according to the coordinate information.

[0068] In some embodiments, after the protective clip is placed on the carrier 210, the robot 400 moves to a side position to avoid the shooting route of the second camera 122. The second camera 122 shoots the protective clip and obtains the coordinate information of the protective clip. Then the silicone pad is assembled in the card slot of the protective clip. Of course, the second camera 122 can infer the coordinate information of the card slot through the coordinate information of the protective clip, or directly obtain the coordinate information of the card slot.

[0069] In this embodiment, the protective clip is installed on the shell of the ink cartridge, that is, the shell of the ink cartridge is fixed on the carrier 210 .

[0070] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An ink cartridge assembly device, characterized in that: include: Rack(100); An assembly line (200), the assembly line (200) being arranged on the frame (100) and used for transporting the carrier (210) along an X direction; a vibration plate (300), wherein at least one vibration plate (300) is provided, and the vibration plate (300) is arranged on the frame (100) and is used to vibrate the first workpiece and / or the second workpiece to a position where the front side faces upward, and a line between the vibration plate (300) and the assembly line (200) extends along a Y direction, and the Y direction is perpendicular to the X direction; A robot (400), the robot (400) is arranged on the frame (100), and is used to move the first workpiece and the second workpiece to the carrier (210) and complete assembly.

2. The ink cartridge assembly device according to claim 1, characterized in that: The vibration plate (300) comprises a vibration support (310), a vibration table (320) and a vibration driving member (330), wherein the vibration support (310) is arranged on the frame (100), the vibration driving member (330) is arranged on the vibration support (310), the vibration table (320) is arranged at the output end of the vibration driving member (330), and the vibration driving member (330) is used to drive the vibration table (320) to vibrate and drive the first workpiece and / or the second workpiece to flip to a position with the front side facing upward; the ink cartridge assembly device also comprises a first camera (121), wherein the first camera (121) is arranged on the frame (100), and the first camera (121) is used to capture image information of the first workpiece and the second workpiece in the two vibration plates (300), and the first camera (121) is used to transmit the image information to a controller, and after receiving the image information, the controller sends coordinate information of the first workpiece and the second workpiece facing upward to the robot (400).

3. The ink cartridge assembly device according to claim 2, characterized in that: At least four vibration driving members (330) are provided, the vibration table (320) is square, and the four vibration driving members (330) are arranged at four corners of the vibration table (320). The vibration driving members (330) are used to coordinately control the vibration frequency of the vibration table (320) to be consistent with the natural frequency of the first workpiece or the second workpiece.

4. The ink cartridge assembly device according to claim 2, characterized in that: The vibration table (320) comprises a vibration frame (21) and a vibration pad (322) arranged inside the vibration frame (21); the periphery of the vibration pad (322) is fixed on the vibration frame (21) and is flattened and laid inside the vibration frame (21); and the vibration pad (322) is made of a flexible material.

5. The ink cartridge assembly device according to claim 4, characterized in that: The vibration table (320) comprises a surrounding plate (323), wherein the surrounding plate (323) is arranged on the vibration frame (21) and surrounds the outer periphery of the vibration pad (322); and / or The vibration pad (322) is arranged obliquely and is inclined from top to bottom toward the assembly line (200).

6. The ink cartridge assembly device according to claim 5, characterized in that: The vibration plate (300) comprises a light-emitting component (340), the light-emitting component (340) being arranged on the vibration support (310) and located at the bottom of the vibration pad (322), the vibration pad (322) being made of a transparent material, and light from the light-emitting component (340) can pass through the vibration pad (322); and / or The inclination angle of the vibration pad (322) ranges from 2° to 10°.

7. The ink cartridge assembly device according to claim 2, characterized in that: The vibration plate (300) comprises a hopper (350), a material baffle plate (360) and a conveyor belt (370); the hopper (350) and the conveyor belt (370) are both arranged on the frame (100); the hopper (350) is located above the conveyor belt (370); the opening of the hopper (350) faces downward; the conveyor belt (370) is located above the vibration table (320); one end of the material baffle plate (360) is connected to the hopper (350) in an adjustable manner along the Z direction; a transmission channel is formed between the lower end of the material baffle plate (360) and the conveyor belt (370); the height direction of the transmission channel is the Z direction, and the height dimension of the transmission channel is a preset dimension.

8. The ink cartridge assembly device according to claim 2, characterized in that: The ink cartridge assembly device comprises a stopper, the stopper being arranged on the frame (100), the stopper having a stop position and an avoidance position, the stopper at the stop position being located on one side of the carrier (210) at the assembly position and abutting against the carrier (210), the robot (400) being able to place the first workpiece on the carrier (210) at the assembly position, and assemble the second workpiece into the first workpiece; and / or The vibration plate (300) further comprises a second camera (122), wherein the second camera (122) is disposed on the frame (100), and the second camera (122) is used to capture image information of the carrier (210) and the first workpiece in the carrier (210) located at the assembly position, and after receiving the image information from the second camera (122), the controller sends coordinate information of the carrier (210) and the first workpiece in the carrier (210) to the manipulator (400).

9. The ink cartridge assembly device according to claim 8, characterized in that: The output end of the manipulator (400) is provided with a suction cup (410), and the suction cup (410) is used to absorb the first workpiece and the second workpiece, and the first workpiece and the second workpiece are moved to the assembly position successively; or The output end of the manipulator (400) is provided with two telescopic driving members (420), and each output end of the telescopic driving member (420) is provided with a suction cup (410), and the telescopic driving member (420) is used to drive the suction cup (410) to move between an extended position and a retracted position along the Z direction, and the suction cup (410) located at the extended position is lower than the suction cup (410) located at the retracted position, and one of the suction cups (410) is used to absorb the first workpiece, and the other suction cup (410) is used to absorb the second workpiece; the first workpiece and the second workpiece are transferred to the assembly position at the same time.

10. An ink cartridge assembly method, applicable to the ink cartridge device according to any one of claims 1 to 9, characterized in that: The following steps are involved: The vibration plate vibrates so that the first workpiece and / or the second workpiece face upward; the first camera takes pictures and cooperates with the controller to obtain the coordinate information of the protective clip and the silicone pad facing upward in the vibration plate; the robot moves the protective clip and the silicone pad from the vibration plate to the carrier in turn and completes the assembly.

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