Four-head labeling equipment

Abstract

The invention discloses four-head labeling equipment. The four-head labeling equipment comprises a four-head labeling machine, a tray cabinet and a plurality of feeder feeders, the four-head labeling machine comprises a first rack, the first rack is provided with a feeding station, and the output ends of a tray cabinet and a plurality of feeder feeders are arranged on the feeding station; the conveying track is mounted on the first rack, a mounting station is arranged on the conveying track, and the conveying track is used for receiving a to-be-mounted product, conveying the to-be-mounted product to the mounting station for mounting and outputting the mounted product; the gantry attaching mechanical arm is installed on the first rack, four material taking modules capable of independently operating are arranged on a mounting head of the gantry attaching mechanical arm, and the gantry attaching mechanical arm sucks auxiliary materials supplied by the tray cabinet or the multiple feeder feeders through the four material taking modules and mounts the auxiliary materials on the to-be-mounted products located on the mounting station. According to the four-head labeling machine, at most four different auxiliary materials can be attached, and the four-head labeling machine can be in butt joint with a tray cabinet and a feeder.

Description

Technical Field

[0001] The invention relates to the technical field of SMT production, and in particular to a four-head labeling device. Background Art

[0002] The labeling equipment is a machine used to attach surface mount auxiliary materials to the products to be mounted (such as PCB boards). The principle is that the mounting head of the labeling equipment absorbs the auxiliary materials at the material picking position, moves to the mounting position via the XY axis, and adjusts the position and direction of the auxiliary materials before placing the auxiliary materials on the products to be mounted.

[0003] At present, the existing labeling equipment is usually only equipped with one conveying track for conveying the products to be mounted, and the mounting head is also only equipped with one suction nozzle for sucking the auxiliary materials, which means that the labeling equipment can only process one auxiliary material at the same time. This also leads to some products to be mounted that need to be mounted with multiple different auxiliary materials. Multiple labeling equipment is required to mount different auxiliary materials on the products to be mounted. For example, the first labeling equipment mounts auxiliary material A on the product to be mounted, and the second labeling equipment mounts auxiliary material B on the product to be mounted, and so on. Although this approach can realize the mounting of multiple auxiliary materials, it requires multiple machines to work together, which increases the equipment cost and operation complexity, and has low production efficiency. Summary of the invention

[0004] In order to overcome the problem that the products that can be attached to the attaching equipment in the prior art are relatively single and it is difficult to attach multiple products, the present invention provides a four-head labeling equipment.

[0005] The technical solution of the present invention is as follows:

[0006] A four-head labeling equipment, comprising a four-head labeling machine, a tray cabinet and a plurality of feeder feeders;

[0007] The four-head labeling machine includes:

[0008] A first frame, wherein a feeding station is arranged on the first frame, and the output ends of the tray cabinet and a plurality of the feeder feeders are arranged at the feeding station;

[0009] A conveyor track is installed on the first frame, a mounting station is arranged on the conveyor track, and the conveyor track is used to receive products to be mounted and transport them to the mounting station for mounting, and output the mounted products;

[0010] The gantry attaching robot is installed on the first frame. Four independently operable material picking modules are arranged on the mounting head of the gantry attaching robot. The gantry attaching robot absorbs the auxiliary materials supplied by the tray cabinet or several of the feeder feeders through the four material picking modules, and mounts them on the products to be mounted at the mounting station.

[0011] As a preferred embodiment of the invention, the gantry attachment robot includes the placement head, an X-axis motion module for driving the two placement heads to move along the X-axis, and a Y-axis motion module for driving the placement heads to move along the Y-axis, the Y-axis motion module is connected to the first frame, the movable end of the Y-axis motion module is connected to the X-axis motion module, and the movable end of the X-axis motion module is connected to the placement head.

[0012] As a preferred solution of the invention, the mounting head comprises a mounting substrate, a first position compensation camera module arranged on the mounting substrate for taking downward photos, and four material taking modules arranged side by side on the mounting substrate;

[0013] The first frame is provided with a second position compensation camera module for taking photos upward, and the second position compensation camera module is located between the conveying track and the feeding station.

[0014] As a preferred embodiment of the invention, the material picking module includes a nozzle assembly for sucking auxiliary materials and a ZR axis motion module for driving the nozzle assembly to move along the Z axis and R axis directions, the ZR axis motion module is connected to the mounting substrate, and the nozzle assembly is connected to the movable end of the ZR axis motion module.

[0015] As a preferred embodiment of the invention, the conveying track includes a fixed conveyor line, a movable conveyor line arranged opposite to the fixed conveyor line, and a lifting support mechanism arranged at the mounting station for supporting the product. The fixed conveyor line can be close to or away from the movable conveyor line. The fixed conveyor line and the movable conveyor line are both provided with blocking positioning mechanisms at the ends of the mounting station for preventing the product from continuing to be conveyed.

[0016] As a preferred solution of the invention, the four-head labeling machine also includes:

[0017] A hood is arranged on the first frame, a foot cup and casters are arranged at the bottom of the hood, a front door and a rear door are arranged at the front and rear sides of the hood respectively, and nitrogen springs are arranged between the front door, the rear door and the hood, and a keyboard, mouse, display and button components are also arranged at the front and rear sides of the hood.

[0018] As a preferred solution of the invention, the tray cabinet comprises:

[0019] Second rack;

[0020] A silo lifting mechanism is installed on the second frame, and a silo is provided at the lifting end of the silo lifting mechanism, and the silo is used to stack and store trays containing auxiliary materials;

[0021] The tray transport track is installed on the second frame, the input end of the tray transport track is connected to the output end of the silo lifting mechanism, the output end of the tray transport track is arranged at the feeding station, and the tray transport track is used to drive the tray to move between the silo and the feeding station.

[0022] As a preferred embodiment of the invention, a plurality of tray placement positions are vertically arranged inside the silo, a support plate for placing the tray is slidably arranged in each of the placement positions, and a silo blocking mechanism is provided at the front opening and the rear opening of the silo for blocking the tray from entering and exiting.

[0023] As a preferred embodiment of the invention, the tray transport track includes a tray guide track, a conveyor belt arranged inside the tray guide track, a transport frame arranged on the upper side of the conveyor belt and linear slide rails arranged on the left and right sides of the conveyor belt, the transport frame is slidably connected to the linear slide rails, and two left-right symmetrical limit cylinders are arranged on the transport frame, the telescopic ends of the two limit cylinders are arranged to deviate from each other and are both provided with limit blocks, and the rear end of the pallet is provided with two pulling blocks that respectively cooperate with the two limit blocks.

[0024] As a preferred solution of the invention, a limiting groove for inserting the pulling blocks is provided on one side where the two pulling blocks are close to each other.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The four-head labeling machine has four independently operable material-retrieving modules set on the mounting head of the gantry mounting robot, which can attach up to four different auxiliary materials and can be connected to the tray cabinet and the feeder;

[0027] 2. Compared with existing equipment that can only process one auxiliary material at a time, the four-head labeling machine can significantly reduce the mounting time and improve the overall production efficiency. For products that need to mount multiple auxiliary materials, the existing technology usually requires multiple attachment equipment to work together, while the four-head labeling machine only needs one machine to complete the mounting of multiple auxiliary materials, thereby reducing equipment costs. At the same time, due to the reduced operation complexity, maintenance and operating costs can be reduced;

[0028] 3. The four-head labeling machine can easily adjust the types and quantities of auxiliary materials to be mounted according to production needs, so that the equipment can adapt to more diverse production tasks, improving the utilization rate of the equipment and the competitiveness of the enterprise;

[0029] 4. The tray cabinet realizes the automatic transportation of the tray between the silo and the feeding station through the automated coordination of the silo lifting mechanism and the tray transport track, which greatly reduces the workload of manual handling and improves production efficiency. The automated process of the tray cabinet enables the gantry attachment robot to obtain the auxiliary materials on the tray more efficiently, further improving the efficiency of the overall production line. At the same time, the automated handling and storage system reduces the dependence on manual labor and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a structural schematic diagram of a four-head labeling device in one embodiment of the present invention;

[0032] Figure 2 It is a structural schematic diagram of a four-head labeling machine without a machine cover in one embodiment of the present invention;

[0033] Figure 3 It is a structural schematic diagram of a gantry attaching robot in one embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the structure of a placement head in one embodiment of the present invention;

[0035] Figure 5 It is a schematic diagram of the structure of a conveying track in one embodiment of the present invention;

[0036] Figure 6 It is a structural schematic diagram of a jacking support mechanism in one embodiment of the present invention;

[0037] Figure 7 This is a structural schematic diagram of a tray cabinet without a hood in one embodiment of the present invention;

[0038] Figure 8 This is a schematic diagram of the structure of a silo in one embodiment of the present invention;

[0039] Fig. 9 It is a schematic diagram of the structure of a tray transport track in one embodiment of the present invention.

[0040] In the figure,

[0041] 1. Four-head labeling machine; 11. First frame; 111. Feeding station; 12. Conveying track; 121. Fixed conveying line; 122. Movable conveying line; 123. Blocking and positioning mechanism; 124. Lifting support mechanism; 1241. Lifting cylinder; 1242. Support substrate; 1243. Magnetic ejector; 13. Gantry attachment manipulator; 131. Mounting head; 1311. Material taking module; 13111. Suction nozzle assembly; 13112. ZR axis motion module; 1312. Mounting substrate; 1313. First position compensation camera module; 132. X axis motion module; 133. Y axis motion module; 14. Second position compensation camera module; 15. Hood; 151, foot cup; 152, caster; 153, front door; 154, rear door; 155, nitrogen spring; 156, keyboard and mouse; 157, display; 158, button assembly; 2, tray cabinet; 21, second rack; 22, silo lifting mechanism; 221, silo; 2211, tray placement; 2212, pallet; 2213, silo blocking mechanism; 2214, pulling block; 22141, limiting groove; 23, tray transport track; 231, tray guide track; 232, conveyor belt; 233, linear slide rail; 234, transport rack; 235, limiting cylinder; 236, limiting block; 3, feeder feeder. DETAILED DESCRIPTION

[0042] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. It is also stated that the embodiments described below are only used to explain the present invention and are not used to limit the present invention.

[0043] It should be noted that the terms "install", "set", "connect", "fix" and the like should be understood in a broad sense. For example, they can be fixedly connected, detachably connected, or integrated; they can be mechanically connected or electrically connected; they can be directly connected or indirectly connected through an intermediate medium; they can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. The indicated orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the application product is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art, or the orientation or position relationship in which the application product is usually placed when in use. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply 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 a limitation on the present application. The terms "first" and "second" are only used for the purpose of convenience of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0044] See also Figure 1 This embodiment provides a four-head labeling equipment, including a four-head labeling machine 1, a tray cabinet 2 and a plurality of feeder feeders 3. The four-head labeling machine 1 is connected to the tray cabinet 2 and the plurality of feeder feeders 3. The tray cabinet 2 supplies auxiliary materials to the four-head labeling machine 1 by means of a tray, and the feeder feeder 3 supplies auxiliary materials to the four-head labeling machine 1 by means of a material belt. The tray cabinet 2 and the feeder feeder 3 are two different auxiliary material supply methods, which can be respectively suitable for different types of auxiliary materials. The tray cabinet 2 is usually used to store and supply larger, flat auxiliary materials; while the feeder feeder 3 is suitable for supplying strip-shaped or roll-shaped auxiliary materials. By providing the tray cabinet 2 and the feeder feeder 3, the four-head labeling equipment can handle more types of auxiliary materials, which improves the flexibility of auxiliary material supply, and at the same time can make the management of auxiliary materials more orderly and efficient.

[0045] See also Figures 2 to 4 The four-head labeling machine 1 includes a first frame 11 and a conveying track 12 and a gantry attaching robot 13 installed on the first frame 11. A feeding station 111 is arranged on the first frame 11, and the output ends of the tray cabinet 2 and several feeder feeders 3 are arranged at the feeding station 111; a mounting station is arranged on the conveying track 12, and the conveying track 12 is used to receive the products to be mounted and transport them to the mounting station for mounting, and output the mounted products; four independently operable material picking modules 1311 are arranged on the mounting head 131 of the gantry attaching robot 13, and the gantry attaching robot 13 absorbs the auxiliary materials supplied by the tray cabinet 2 or several feeder feeders 3 through the four material picking modules 1311, and mounts them on the products to be mounted at the mounting station.

[0046] During operation, the product to be mounted (such as a PCB board) is transported to the mounting station via the conveyor track 12. After the product to be mounted reaches the mounting station, the mounting head 131 on the gantry attachment robot 13 absorbs the auxiliary materials provided by the tray cabinet 2 or the feeder feeder 3 through four independently operable material picking modules 1311. One material picking module 1311 absorbs one auxiliary material, and then attaches different auxiliary materials to the corresponding positions of the product. Finally, the conveyor track 12 outputs the mounted product to the next process.

[0047] The four-head labeling machine 1 is capable of attaching up to four different auxiliary materials by setting four independently operable material picking modules 1311 on the mounting head 131 of the gantry mounting robot 13, and can be connected to the tray cabinet 2 and the feeder feeder 3; compared with the existing equipment that can only process one auxiliary material at a time, the four-head labeling machine 1 can significantly reduce the mounting time and improve the overall production efficiency; for products that need to mount multiple auxiliary materials, the existing technology usually requires multiple mounting equipment to work together, while the four-head labeling machine 1 only needs one machine to complete the mounting of multiple auxiliary materials, thereby reducing the equipment cost; at the same time, due to the reduced operation complexity, the maintenance and operation costs can be reduced; the four-head labeling machine 1 can easily adjust the type and quantity of auxiliary materials to be mounted according to production needs, so that the equipment can adapt to more diversified production tasks, thereby improving the utilization rate of the equipment and the competitiveness of the enterprise.

[0048] See also Figure 3 In one embodiment, the gantry attachment robot 13 includes a mounting head 131, an X-axis motion module 132 for driving the two mounting heads 131 to move along the X-axis, and a Y-axis motion module 133 for driving the mounting heads 131 to move along the Y-axis, the Y-axis motion module 133 is connected to the first frame 11, the movable end of the Y-axis motion module 133 is connected to the X-axis motion module 132, and the movable end of the X-axis motion module 132 is connected to the mounting head 131. The gantry attachment robot 13 drives the mounting head 131 to move between the mounting station and the feeding station 111 through the cooperation between the X-axis motion module 132 and the Y-axis motion module 133, and can provide high-precision position control and repeated positioning accuracy to ensure that the auxiliary materials are accurately mounted on the product.

[0049] See also Figure 4In one embodiment, the mounting head 131 includes a mounting substrate 1312, a first position compensation camera module 1313 disposed on the mounting substrate 1312 for taking photos downward, and four material picking modules 1311 disposed side by side on the mounting substrate 1312. The material picking module 1311 includes a nozzle assembly 13111 for sucking auxiliary materials and a ZR axis motion module 13112 for driving the nozzle assembly 13111 to move along the Z axis and the R axis. The ZR axis motion module 13112 is connected to the mounting substrate 1312, and the nozzle assembly 13111 is connected to the movable end of the ZR axis motion module 13112. By disposing four side-by-side material picking modules 1311, the mounting head 131 can not only suck different auxiliary materials, but also has a smaller and lighter structure. When mounted on the gantry attachment robot 13, it can move faster. In addition, a second position compensation camera module 14 for taking photos facing upward is disposed on the first frame 11 , and the second position compensation camera module 14 is located between the conveying track 12 and the feeding station 111 .

[0050] During operation, the gantry attaching robot 13 drives the mounting head 131 to move to the position directly above the mounting station through the X-axis motion module 132 and the Y-axis motion module 133; then, the gantry attaching robot 13 drives the mounting head 131 to move to the position directly above the feeding station 111 through the X-axis motion module 132 and the Y-axis motion module 133, and the material picking module 1311 absorbs the auxiliary materials provided by the tray cabinet 2 and / or the feeder feeder 3; when the material picking module 1311 absorbs the auxiliary materials, the first position compensation camera module 1313 determines whether the auxiliary materials are offset by taking pictures, and if it is recognized that the auxiliary materials are offset, the ZR-axis motion module 13112 is controlled according to the offset angle of the auxiliary materials to drive the nozzle assembly 13111 to rotate a certain angle degrees to compensate for the position of the calibration auxiliary materials to ensure the quality of mounting; after sucking the auxiliary materials, the gantry attachment robot 13 drives the mounting head 131 to move to the top of the product to be mounted through the X-axis motion module 132 and the Y-axis motion module 133, and then attaches the auxiliary materials to the corresponding position of the product through the material picking module 1311; when the material picking module 1311 sucks the auxiliary materials and passes through the photographing area of ​​the second position compensation camera module 14, the second position compensation camera module 14 determines whether the auxiliary materials are offset. If it is recognized that the auxiliary materials are offset, the ZR-axis motion module 13112 is controlled according to the offset angle of the auxiliary materials to drive the nozzle assembly 13111 to rotate a certain angle, and the position of the calibration auxiliary materials is compensated for a second time to further ensure the quality of mounting.

[0051] See also Figure 2 , Figure 5 , Figure 6In one embodiment, the conveyor track 12 includes a fixed conveyor line 121 and a movable conveyor line 122 arranged opposite to the fixed conveyor line 121, and the fixed conveyor line 121 can be close to or away from the movable conveyor line 122. The conveyor track 12 can adjust the distance between the fixed conveyor line 121 and the movable conveyor line 122 according to the width of the product by setting the fixed conveyor line 121 and the movable conveyor line 122, so that the conveyor track 12 can be suitable for products of different widths, which greatly improves the compatibility and flexibility of the equipment, enables one equipment to process products of various specifications, and reduces the production cost and the complexity of equipment maintenance.

[0052] Further, the fixed conveyor line 121 and the movable conveyor line 122 are both provided with a blocking positioning mechanism 123 at the end of the mounting station for blocking the product from continuing to be transported. By providing the blocking positioning mechanism 123, the product can be effectively blocked from continuing to be transported, ensuring the accurate positioning of the product on the mounting station.

[0053] In addition, the conveying track 12 also includes a lifting support mechanism 124 provided at the mounting station for supporting the product, and the lifting support mechanism 124 includes a lifting cylinder 1241, a supporting base plate 1242 provided at the telescopic end of the lifting cylinder 1241, and a magnetic ejector pin 1243 provided at the top of the supporting base plate 1242. The lifting support mechanism 124 supports the product through the magnetic ejector pin 1243, which is particularly suitable for some products with a large width that may be at risk of deformation during the conveying process. By providing a stable support point, the product can be effectively prevented from being deformed during the conveying and mounting process, thereby ensuring the quality and integrity of the product.

[0054] See also Figure 1 In one embodiment, the four-head labeling machine 1 also includes a hood 15, which is arranged on the first frame 11. The hood 15 is composed of square welding and sheet metal bending, and is responsible for the appearance and safety protection of the equipment. The bottom of the hood 15 is provided with a foot cup 151 and a caster 152. The foot cup 151 is used for overall load-bearing, and the caster 152 is convenient for moving the equipment. The front and rear sides of the hood 15 are respectively provided with a front door 153 and a rear door 154, and a nitrogen spring 155 is provided between the front door 153 and the rear door 154 and the hood 15 to ensure the opening and closing degree of the front door 153 and the rear door 154, so as to facilitate the maintenance of the equipment. The front and rear sides of the hood 15 are also provided with a keyboard and mouse 156, a display 157 and a button assembly 158. The operator can view the operating status of the equipment in real time through the display 157, and control and adjust the equipment through the keyboard and mouse 156 and the button assembly 158.

[0055] See also Figure 7In one embodiment, the tray cabinet 2 includes a second frame 21 and a silo lifting mechanism 22 and a tray transport rail 23 installed on the frame. The lifting end of the silo lifting mechanism 22 is provided with a silo 221, and the silo 221 is used to stack and store trays containing auxiliary materials; the input end of the tray transport rail 23 is connected to the output end of the silo lifting mechanism 22, and the output end of the tray transport rail 23 is provided at the feeding station 111, and the tray transport rail 23 is used to drive the tray to move between the silo 221 and the feeding station 111. Before feeding, the staff first puts the tray full of auxiliary materials into the silo 221; during feeding, the silo lifting mechanism 22 drives the trays in the silo 221 to dock with the tray transport track 23 one by one, so that the tray transport track 23 can smoothly obtain the tray of the silo 221, and transport the tray to the feeding station 111, so that the gantry attachment robot 13 can obtain the auxiliary materials on the tray; after all the auxiliary materials on the tray are taken away, the tray transport track 23 transports the empty tray back to the silo 221, and the silo lifting mechanism 22 docks the next tray in the silo 221 with the tray transport track 23 until all the auxiliary materials in the silo 221 are taken away, and then call the staff to replenish the materials.

[0056] The tray cabinet 2 realizes the automatic transportation of the tray between the silo 221 and the feeding station 111 through the automated cooperation of the silo lifting mechanism 22 and the tray transport track 23, which greatly reduces the workload of manual transportation and improves production efficiency; the automated process of the tray cabinet 2 enables the gantry attachment robot 13 to obtain the auxiliary materials on the tray more efficiently, further improving the efficiency of the overall production line. At the same time, the automated transportation and storage system reduces the dependence on manual labor and reduces labor costs; the design of the silo 221 allows multiple trays to be stacked and stored, thereby effectively utilizing the vertical space and reducing the floor space; and the silo lifting mechanism 22 can lift the trays one by one to the position where they are docked with the tray transport track 23, realizing dynamic management and efficient utilization of the storage space.

[0057] See also Figure 8In one embodiment, a plurality of tray placement positions 2211 are vertically arranged inside the silo 221, a support plate 2212 for placing the tray is slidably arranged inside each placement position, and a silo blocking mechanism 2213 for blocking the tray from entering and exiting is arranged at the front opening and the rear opening of the silo 221. By arranging a plurality of tray placement positions 2211 vertically inside the silo 221, the space utilization rate is greatly improved, allowing multiple trays to be stored at the same time, and reducing the need for frequent replacement of trays. By slidably arranging a support plate 2212 in each placement position, the tray can be easily moved in and out of the placement position, while also ensuring the stability and safety of the tray during storage. By arranging the silo blocking mechanism 2213 at the front opening and the rear opening of the silo 221, the tray can be effectively prevented from entering and exiting the silo 221 without permission, thereby improving the safety and controllability of the entire system.

[0058] See also Fig. 9 In one embodiment, the tray transport track 23 includes a tray guide track 231, a conveyor belt 232 arranged inside the tray guide track 231, a transport frame 234 arranged on the upper side of the conveyor belt 232, and linear slide rails 233 arranged on the left and right sides of the conveyor belt 232. The transport frame 234 is slidably connected to the linear slide rails 233. Two left-right symmetrical limit cylinders 235 are arranged on the transport frame 234. The telescopic ends of the two limit cylinders 235 are arranged to be opposite to each other and are both provided with limit blocks 236. The rear end of the support plate 2212 is provided with two pulling blocks 2214 respectively matched with the two limit blocks 236, and a limiting groove 22141 for inserting the pulling blocks 2214 is provided on the side where the two pulling blocks 2214 are close to each other. When the silo lifting mechanism 22 drives a tray in the silo 221 to dock with the tray transport track 23, the conveyor belt 232 drives the transport frame 234 to transport it to the input end along the linear slide rail 233, and when it is aligned with the current pallet 2212, the two limit cylinders 235 are controlled to extend the limit blocks 236, so that the two limit blocks 236 are inserted into the limit grooves 22141 of the two pulling blocks 2214 of the current pallet 2212, ensuring that the transport frame 234 can stably grasp and transport the pallet 2212 and the tray thereon; then the conveyor belt 232 drives the pallet 2212 and the tray on the pallet 2212 through the transport frame 234 and transports them along the tray guide track 231 to the output end (i.e., the feeding station 111), so that the gantry attachment robot 13 can obtain the auxiliary materials on the tray.

[0059] The tray transport track 23 ensures that the tray can be transported smoothly and accurately from the silo 221 to the feeding station 111 through the coordinated work of components such as the tray guide track 231, the conveyor belt 232, the linear slide rail 233 and the transport frame 234, and the entire transport process does not require manual intervention, thereby greatly improving production efficiency; through the cooperation of the limit cylinder 235 and the limit block 236, it is ensured that the transport frame 234 can stably grasp and transport the pallet 2212 and the tray thereon during the transport process, preventing the risk of shaking or falling off.

[0060] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

[0061] The above is an exemplary description of the present invention in conjunction with the accompanying drawings. It is obvious that the implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A four-head labeling equipment, characterized in that: Includes four-head labeling machine, tray cabinet and several feeder feeders; The four-head labeling machine includes: A first frame, wherein a feeding station is arranged on the first frame, and the output ends of the tray cabinet and a plurality of the feeder feeders are arranged at the feeding station; A conveyor track is installed on the first frame, a mounting station is arranged on the conveyor track, and the conveyor track is used to receive products to be mounted and transport them to the mounting station for mounting, and output the mounted products; The gantry attaching robot is installed on the first frame. Four independently operable material picking modules are arranged on the mounting head of the gantry attaching robot. The gantry attaching robot absorbs the auxiliary materials supplied by the tray cabinet or several of the feeder feeders through the four material picking modules, and mounts them on the products to be mounted at the mounting station.

2. The four-head labeling equipment according to claim 1 is characterized in that: The gantry attachment robot includes the placement head, an X-axis motion module for driving the two placement heads to move along the X-axis, and a Y-axis motion module for driving the placement heads to move along the Y-axis, the Y-axis motion module is connected to the first frame, the movable end of the Y-axis motion module is connected to the X-axis motion module, and the movable end of the X-axis motion module is connected to the placement head.

3. The four-head labeling equipment according to claim 1 is characterized in that: The mounting head comprises a mounting substrate, a first position compensation camera module arranged on the mounting substrate for taking downward photos, and four material taking modules arranged side by side on the mounting substrate; The first frame is provided with a second position compensation camera module for taking photos facing upward, and the second position compensation camera module is located between the conveying track and the feeding station.

4. The four-head labeling equipment according to claim 3 is characterized in that: The material picking module includes a suction nozzle assembly for sucking auxiliary materials and a ZR axis motion module for driving the suction nozzle assembly to move along the Z axis and R axis directions. The ZR axis motion module is connected to the mounting substrate, and the suction nozzle assembly is connected to the movable end of the ZR axis motion module.

5. The four-head labeling equipment according to claim 3 is characterized in that: The conveying track includes a fixed conveyor line, a movable conveyor line arranged opposite to the fixed conveyor line, and a lifting support mechanism arranged at the mounting station for supporting the product. The fixed conveyor line can be close to or away from the movable conveyor line. The fixed conveyor line and the movable conveyor line are both provided with a blocking positioning mechanism at the end of the mounting station for preventing the product from continuing to be conveyed.

6. The four-head labeling equipment according to claim 1, characterized in that: The four-head labeling machine also includes: A hood is arranged on the first frame, a foot cup and casters are arranged at the bottom of the hood, a front door and a rear door are arranged at the front and rear sides of the hood respectively, and nitrogen springs are arranged between the front door, the rear door and the hood, and a keyboard, mouse, display and button components are also arranged at the front and rear sides of the hood.

7. The four-head labeling equipment according to claim 1, characterized in that: The tray cabinet comprises: Second rack; A silo lifting mechanism is installed on the second frame, and a silo is provided at the lifting end of the silo lifting mechanism, and the silo is used to stack and store trays containing auxiliary materials; The tray transport track is installed on the second frame, the input end of the tray transport track is connected to the output end of the silo lifting mechanism, the output end of the tray transport track is arranged at the feeding station, and the tray transport track is used to drive the tray to move between the silo and the feeding station.

8. The four-head labeling equipment according to claim 7, characterized in that: A plurality of tray placement positions are arranged vertically inside the silo, a support plate for placing the tray is slidably arranged in each of the placement positions, and a silo blocking mechanism for blocking the tray from entering and exiting is arranged at the front opening and the rear opening of the silo.

9. The four-head labeling equipment according to claim 8, characterized in that: The tray transport track includes a tray guide track, a conveyor belt arranged inside the tray guide track, a transport frame arranged on the upper side of the conveyor belt and linear slide rails arranged on the left and right sides of the conveyor belt. The transport frame is slidably connected to the linear slide rails. Two left-right symmetrical limit cylinders are arranged on the transport frame. The telescopic ends of the two limit cylinders are arranged to deviate from each other and are both provided with limit blocks. The rear end of the pallet is provided with two pulling blocks that respectively cooperate with the two limit blocks.

10. The four-head labeling equipment according to claim 9, characterized in that: A limiting groove for inserting the pulling blocks is arranged on one side where the two pulling blocks are close to each other.

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