Multi-station cooperative selenium drum automatic filling equipment, method and device and storage medium

Abstract

The invention provides a multi-station cooperation selenium drum automatic filling device, method and device and a storage medium. The device comprises a rotary table, four operation stations are arranged in the circumferential direction at equal intervals, mounting grooves used for mounting target clamps are formed in the operation stations, the target clamps are used for mounting selenium drums, a feeding window is formed in the first side of the rotary table, and a discharging window is formed in the second side of the rotary table; powder filling equipment is arranged on the second side, cover feeding equipment is arranged on the third side, discharging equipment is arranged on the fourth side, and when the rotary table is driven by a first motor on the bottom side to rotate, each operation station can sequentially execute selenium drum feeding on the operation station on the first side, complete powder filling on the operation station on the second side and complete cover feeding on the operation station on the third side; the selenium drums are discharged at the operation station on the fourth side, the rotating disc is driven by the first motor so that the selenium drums can reach the different operation stations one by one in sequence, the whole process of selenium drum filling is achieved, operation can be synchronously executed at all the operation stations, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and particularly relates to an automatic filling device, method, apparatus, and storage medium for toner cartridges with multi-station cooperation. Background Art

[0002] The toner cartridge is a common printing consumable, and filling toner into the toner cartridge is an important part of production. One end of the toner cartridge is provided with a filling port. Since the weight of the toner filled in the toner cartridge is fixed, the existing process usually places the toner cartridge in a weighing device, and the powder filling is completed manually according to the reading of the weighing device, and then a sealing cap is screwed on the filling port, resulting in low production efficiency.

[0003] In some related technologies, some automatic filling devices that can output a fixed weight of toner are proposed. After the production personnel place the toner cartridge at the filling station of the automatic filling device, the automatic filling device is started to complete the filling, and then the filled toner cartridge is taken away from the filling station, and the next batch of unfilled toner cartridges is replaced to continue the filling operation. Although the efficiency of the filling process is effectively improved, manual loading and unloading are still required at the filling station, and the filled toner cartridges also need to be capped manually. In the case of limited production personnel, the standby time of the automatic filling device is long, and the production efficiency and automation degree are low. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides an automatic filling device, method, apparatus, and storage medium for toner cartridges with multi-station cooperation, which can automatically complete the whole process of toner cartridge filling and improve the production efficiency of toner cartridges.

[0005] In a first aspect, an embodiment of the present invention provides an automatic filling device for toner cartridges with multi-station cooperation, including:

[0006] A turntable, on which four operating stations are equidistantly arranged in the circumferential direction. Each of the operating stations is provided with a plurality of mounting grooves for mounting a target fixture with a toner cartridge. A first motor is provided on the bottom side of the turntable for driving the turntable to rotate, so that any one of the operating stations is sequentially located on the first side, second side, third side, and fourth side of the turntable. A loading window for the target fixture is provided on the first side of the turntable;

[0007] A powder filling device, located on the second side of the turntable. The powder filling device is provided with a powder bin and a plurality of weighing and powder filling devices. The powder bin is used for storing toner and is communicated with each of the weighing and powder filling devices. The weighing and powder filling device fills toner into the toner cartridge based on a preset weight;

[0008] The upper cover device is located on the third side of the turntable and is provided with a first track and a plurality of movable vacuum suction cups. The first track is used for feeding the cover body, and the vacuum suction cups are used for adsorbing the cover body and then packaging it to the filling port of the toner cartridge.

[0009] The blanking device is located on the fourth side of the turntable, and the blanking device is used to take out the toner cartridge from the installation groove.

[0010] Wherein, the number of the weighing and powder filling devices, the vacuum suction cups and the installation grooves at the same operating station is the same.

[0011] According to some embodiments of the present invention, the turntable is a hollow annular structure, and a fixed disk is arranged in the hollow part of the turntable. A first mounting frame is arranged on the second side of the fixed disk. The first mounting frame is provided with a second motor and a plurality of infrared emitters. The second motor is connected with a first clamping arm. The second motor is used to drive the first clamping arm to abut against or away from the inner side of the toner cartridge located on the second side. The first transceiver end of the infrared emitter faces the outside of the turntable.

[0012] On the outside of the second side of the turntable, a second mounting frame is further arranged. The second mounting frame is located under the powder filling device. The top of the second mounting frame is provided with a third motor. The third motor is connected with a second clamping arm and a plurality of infrared receivers. The third motor is used to drive the second clamping arm to abut against or away from the outer side of the toner cartridge located on the second side. The second transceiver end of the infrared receiver faces the inside of the turntable.

[0013] Wherein, the number of the infrared emitters and the infrared receivers is the same as the number of the weighing and powder filling devices. Each first transceiver end is aligned with a second transceiver end, and each toner cartridge installed at the operating station on the second side is respectively located between a group of the first transceiver ends and the second transceiver ends.

[0014] According to some embodiments of the present invention, a plurality of sixth motors are arranged on the lower side of the second side of the turntable. The number of the sixth motors is equal to and aligned with the number of the installation grooves at the same operating station. The sixth motors are located under the aligned installation grooves. A weighing device is arranged at the upper end of the sixth motor. A weighing contact is arranged at the upper end of the weighing device. The sixth motor is used to drive the weighing device to lift and lower, so that the weighing contact abuts against the target fixture in the corresponding installation groove.

[0015] According to some embodiments of the present invention, the upper cover device includes:

[0016] Gantry, the gantry is distributed on the upper side and the outer side of the third side of the turntable. A fourth motor is arranged on one side of the gantry close to the fixed disk, and the fourth motor is connected with a third clamping arm. The fourth motor is used to drive the third clamping arm to abut against or away from the inner side of the toner cartridge located on the third side; A fifth motor is arranged on the side of the gantry far away from the turntable, and the fifth motor is connected with a fourth clamping arm. The fifth motor is used to drive the third clamping arm to abut against or away from the outer side of the toner cartridge located on the third side; A third track extending in the inner and outer direction is arranged on the upper side of the gantry, and the vacuum chuck can be installed on the third track and can move in the inner and outer direction;

[0017] Loading carrier plate, the loading carrier plate is located outside the gantry. The first track is installed on one side of the loading carrier plate. The loading carrier plate is provided with a second track distributed horizontally. The second track is installed with a loading arm. A plurality of loading columns are arranged on one side of the loading carrier plate close to the gantry. The loading arm is used to place the cover body fed through the first track on the upper side of the loading column. The number and position of the loading columns correspond one by one to the number and position of the installation grooves at the same operation station. A fiber optic sensor is arranged on the upper side of the loading column.

[0018] In a second aspect, an embodiment of the present invention further provides a method for automatically filling toner cartridges with multi-station cooperation, which is applied to the host computer of the multi-station cooperation toner cartridge automatic filling device described in the first aspect. The method includes:

[0019] In response to the start signal, mark the powder filling device as an activated device and execute a target instruction once. The target instruction includes a first instruction and a second instruction executed in sequence. The first instruction is used to drive the turntable to rotate 90 degrees in the target direction, and the target direction is the direction in which the turntable points from the first side to the second side. The second instruction is used to control all the activated devices to execute a target operation. The target operation of the powder filling device is to control the weighing and powder filling device to perform a powder filling operation in the toner cartridge located on the second side of the turntable based on a preset weight;

[0020] When the powder filling completion signal fed back by the powder filling device is obtained, mark the upper cover device as the activated device and execute the target instruction again. The target operation of the upper cover device is to control the vacuum chuck to adsorb the cover body fed by the first track and encapsulate the cover body to the toner cartridge located on the third side of the turntable;

[0021] When the powder filling completion signal and the upper cover completion signal fed back by the upper cover device are obtained, mark the blanking device as the activated device, and execute the target instruction again, where the target operation of the blanking device is to perform blanking on the toner cartridge located on the fourth side of the turntable;

[0022] Whenever the powder filling completion signal, the upper cover completion signal, and the blanking completion signal fed back by the blanking device are obtained, execute the target instruction once.

[0023] According to some embodiments of the present invention, the turntable is a hollow annular structure, a fixed disk is arranged in the hollow part of the turntable, a first mounting bracket is arranged on the second side of the fixed disk, a second motor and a plurality of infrared transmitters are mounted on the first mounting bracket, the second motor is connected with a first clamping arm, and the second motor is used to drive the first clamping arm to abut against or away from the inner side of the toner cartridge located on the second side; the first transceiver end of the infrared transmitter faces the outside of the turntable; a second mounting bracket is further arranged on the outside of the second side of the turntable, the second mounting bracket is located under the powder filling device, a third motor is arranged at the top of the second mounting bracket, the third motor is connected with a second clamping arm and a plurality of infrared receivers, the third motor is used to drive the second clamping arm to abut against or away from the outer side of the toner cartridge located on the second side, and the second transceiver end of the infrared receiver faces the inside of the turntable; wherein, the number of the infrared transmitters and the infrared receivers is the same as the number of the weighing and powder filling devices, each first transceiver end is aligned with a second transceiver end, and each toner cartridge installed at the operation station on the second side is respectively located between a group of the first transceiver end and the second transceiver end;

[0024] The controlling the weighing and powder filling device to perform powder filling operation in the toner cartridge located on the second side of the turntable based on a preset weight includes:

[0025] Start each of the infrared transmitters, and determine a first station and / or a second station at the operation station currently located on the second side, where the first station corresponds to the installation slot aligned with the infrared receiver that receives infrared light, and the second station corresponds to the installation slot aligned with the infrared receiver that does not receive the infrared light;

[0026] When at least one second station is determined, start the second motor and the third motor to clamp the toner cartridge located on the second side of the turntable by using the first clamping arm and the second clamping arm;

[0027] Start the weighing and powder filling device corresponding to the second station, and perform the powder filling operation in the toner cartridge installed at the second station.

[0028] According to some embodiments of the present invention, a plurality of sixth motors are provided on the lower side of the second side of the turntable. The number of the sixth motors is equal to and aligned one by one with the number of the mounting grooves at the same operation station. The sixth motors are located on the lower side of the aligned mounting grooves. A weighing device is provided at the upper end of the sixth motor, and a weighing contact is provided at the upper end of the weighing device. The sixth motor is used to drive the weighing device to lift, so that the weighing contact abuts against the target fixture in the corresponding mounting groove.

[0029] Starting the weighing and powder filling device corresponding to the second station and performing the powder filling operation in the toner cartridge installed at the second station includes:

[0030] Obtaining the model information of the toner cartridge, and determining the target height based on the model information and a preset mapping table, where the preset mapping table records the mapping relationship between the toner cartridge model and the lifting height of the sixth motor.

[0031] Starting the sixth motor corresponding to the second station based on the target height to lift the corresponding target fixture by using the corresponding weighing device.

[0032] Setting the weighing device corresponding to the second station, starting the weighing and powder filling device corresponding to the second station, and obtaining the first weighing value of each weighing and powder filling device after completing the powder filling operation.

[0033] Obtaining the second weighing value of each weighing device, and generating the powder filling completion signal when the difference between the corresponding first weighing value and the second weighing value in each group is less than a preset threshold.

[0034] According to some embodiments of the present invention, the upper cover device includes a gantry, which is distributed on the upper side and the outer side of the third side of the turntable. A fourth motor is provided on the side of the gantry close to the fixed disk, and the fourth motor is connected to a third clamping arm. The fourth motor is used to drive the third clamping arm to abut against or move away from the inner side of the toner cartridge located on the third side; a fifth motor is provided on the side of the gantry away from the turntable, and the fifth motor is connected to a fourth clamping arm. The fifth motor is used to drive the third clamping arm to abut against or move away from the outer side of the toner cartridge located on the third side; a third track extending in the inner and outer directions is provided on the upper side of the gantry. The vacuum chuck can be installed on the third track and can move in the inner and outer directions; a loading plate, which is located outside the gantry. The first track is installed on one side of the loading plate. The loading plate is provided with a second track distributed horizontally. The second track is equipped with a loading arm. A plurality of loading columns are provided on the side of the loading plate close to the gantry. The loading arm is used to place the cover body fed through the first track on the upper side of the loading columns. The number and position of the loading columns correspond one by one to the number and position of the installation slots at the same operation station. An optical fiber sensor is provided on the upper side of the loading columns;

[0035] Controlling the vacuum chuck to adsorb the cover body fed through the first track and encapsulating the cover body to the toner cartridge located on the third side of the turntable includes:

[0036] Determine the target loading column corresponding to the second station, and the loading distance corresponding to each target loading column, where the loading distance is used to indicate the lateral movement distance of the loading arm from the loading position of the first track to the target loading column;

[0037] Based on each of the lateral movement distances, control the loading arm to move in the second track to transport the cover body from the first track to the target loading column through the loading arm;

[0038] When the optical fiber sensing signal of each target loading column is obtained, control the vacuum chuck to move along the third track to above the corresponding loading column;

[0039] When the target instruction is obtained, start the fourth motor and the fifth motor to clamp the toner cartridge located on the third side of the turntable by using the third clamping arm and the fourth clamping arm;

[0040] After controlling the vacuum chuck corresponding to the second station to descend to adsorb the cover body placed on the target loading column, move along the third track to above the toner cartridge located on the third side of the turntable, and control the vacuum chuck to descend to encapsulate the cover body to the corresponding toner cartridge.

[0041] In a third aspect, an embodiment of the present invention provides an automatic drum filling device for multi-station cooperation, including at least one control processor and a memory communicatively connected to the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to execute the automatic drum filling method for multi-station cooperation as described in the second aspect above.

[0042] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for executing the automatic drum filling method for multi-station cooperation as described in the second aspect above.

[0043] The automatic drum filling device for multi-station cooperation according to an embodiment of the present invention has at least the following beneficial effects: A turntable is provided with four operating stations equidistantly arranged in the circumferential direction. Each operating station is provided with a plurality of mounting grooves for mounting a target fixture with a drum. A first motor is provided on the bottom side of the turntable for driving the turntable to rotate so that any one of the operating stations is successively located on the first side, the second side, the third side, and the fourth side of the turntable. A loading window for the target fixture is provided on the first side of the turntable; a powder filling device is located on the second side of the turntable. The powder filling device is provided with a powder bin and a plurality of weighing and powder filling devices. The powder bin is used for storing toner and is connected to each of the weighing and powder filling devices. The weighing and powder filling devices fill toner into the drum based on a preset weight; a capping device is located on the third side of the turntable, provided with a first track and a plurality of movable vacuum suckers. The first track is used for loading the cover body, and the vacuum suckers are used for adsorbing the cover body and then sealing it to the filling port of the drum; a discharging device is located on the fourth side of the turntable, and the discharging device is used for taking out the drum from the mounting groove; wherein, the number of the weighing and powder filling devices, the vacuum suckers, and the mounting grooves of the same operating station is the same. According to the technical solution of the embodiment of the present invention, the loading of the drum can be performed at the operating station on the first side, the powder filling can be completed at the operating station on the second side, the capping can be completed at the operating station on the third side, and the discharging of the drum can be completed at the operating station on the fourth side. The first motor drives the turntable so that the drums can reach different operating stations one by one in sequence, realizing the whole process of drum filling. Each operating station can perform operations synchronously, improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a perspective view of an automatic drum filling device for multi-station cooperation provided by an embodiment of the present invention;

[0045] Figure 2It is the top view of the automatic filling device for toner cartridges with multi-station cooperation provided by another embodiment of the present invention;

[0046] Figure 3 It is the front view of the automatic filling device for toner cartridges with multi-station cooperation provided by another embodiment of the present invention;

[0047] Figure 4 It is the three-dimensional view after removing the upper cover device and the blanking device provided by another embodiment of the present invention;

[0048] Figure 5 It is the three-dimensional view after removing the powder filling assembly provided by another embodiment of the present invention;

[0049] Figure 6 It is the flow chart of the automatic filling method for toner cartridges with multi-station cooperation provided by another embodiment of the present invention;

[0050] Figure 7 It is the structural diagram of the automatic filling device for toner cartridges with multi-station cooperation provided by another embodiment of the present invention. Detailed Description of the Embodiment

[0051] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0052] In the description of the present invention, it should be understood that the orientation descriptions such as up, down, front, back, left, right, etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is 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 should not be construed as a limitation to the present invention.

[0053] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence of the indicated technical features.

[0054] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0055] An embodiment of the present invention provides a multi-station collaborative automatic filling device, method, apparatus, and storage medium for toner cartridges. The multi-station collaborative automatic filling device for toner cartridges includes: a turntable, which is provided with four operating stations at equal intervals in the circumferential direction. Each operating station is provided with a plurality of mounting grooves. The mounting grooves are used to set a target fixture for mounting a toner cartridge. A first motor is provided on the bottom side of the turntable. The first motor is used to drive the turntable to rotate so that any one of the operating stations is successively located on the first side, the second side, the third side, and the fourth side of the turntable. A loading window for the target fixture is provided on the first side of the turntable; a powder filling device, which is located on the second side of the turntable. The powder filling device is provided with a powder bin and a plurality of weighing and powder filling devices. The powder bin is used to store toner powder and is connected to each weighing and powder filling device. The weighing and powder filling device fills the toner cartridge with toner powder based on a preset weight; a capping device, which is located on the third side of the turntable, is provided with a first track and a plurality of movable vacuum suction cups. The first track is used for loading the cover body, and the vacuum suction cup is used to adsorb the cover body and then encapsulate it to the filling port of the toner cartridge; a blanking device, which is located on the fourth side of the turntable. The blanking device is used to take out the toner cartridge from the mounting groove. Among them, the number of the weighing and powder filling devices, the vacuum suction cups, and the mounting grooves of the same operating station is the same. According to the technical solution of the embodiment of the present invention, the loading of the toner cartridge can be performed at the operating station on the first side, the powder filling can be completed at the operating station on the second side, the capping can be completed at the operating station on the third side, and the blanking of the toner cartridge can be completed at the operating station on the fourth side. The first motor drives the turntable so that the toner cartridges can reach different operating stations one by one in sequence, realizing the whole process of toner cartridge filling. Each operating station can perform operations synchronously, improving production efficiency.

[0056] First, refer to Figure 1 and Figure 2 , Figure 1 FIG. Figure 2 is a perspective view of the multi-station collaborative automatic filling device for toner cartridges provided by the embodiment of the present invention,

[0057] FIG.

[0058] is a top view of the multi-station collaborative automatic filling device for toner cartridges. The multi-station collaborative automatic filling device for toner cartridges in this embodiment includes:

[0059] The upper cover device 40 is located on the third side of the turntable 10 and is provided with a first track 411 and a plurality of movable vacuum suction cups 45. The first track 411 is used for loading the cover body 46, and the vacuum suction cups 45 are used for adsorbing the cover body 46 and then encapsulating it to the filling port of the toner cartridge 22.

[0060] The blanking device 50 is located on the fourth side of the turntable 10, and the blanking device 50 is used to take out the toner cartridge 22 from the installation groove 101.

[0061] Wherein, the number of the weighing and powder filling device 32, the vacuum suction cups 45 and the installation grooves 101 at the same operation station is the same.

[0062] It should be noted that the turntable 10 in this embodiment is a circular turntable 10, and each operation station includes a plurality of installation grooves 101. For example Figure 1 and Figure 2 as shown in, each operation station includes 3 installation grooves 101. Since the shape of the toner cartridge 22 is not a regular cuboid, the installation groove 101 in this embodiment is used to install the target fixture 21, and the toner cartridge 22 is installed on the target fixture 21, so as to install the toner cartridge 22 into the turntable 10. Of course, it is not necessary to install the toner cartridge 22 in each installation groove 101, and it can be adjusted according to the actual production quantity requirements. For example, in the case of 3 installation grooves 101, if 2 toner cartridges 22 need to be produced, only 2 installation grooves 101 need to be selected for feeding.

[0063] It should be noted that the operation stations in this embodiment are equidistantly arranged circumferentially. And in this embodiment, a feeding window is arranged on the first side of the turntable 10, a powder filling device is arranged on the second side, an upper cover device 40 is arranged on the third side, and a blanking device 50 is arranged on the fourth side. Therefore, an operation station can be set every 90 degrees on the turntable 10, and each operation station is aligned with a device, so that each time the first motor 11 runs, it drives the turntable 10 to rotate 90 degrees, so that the operation stations can successively reach the working areas of each device, thereby realizing the full-process deployment of the production of the toner cartridge 22 in one turntable 10.

[0064] Exemplarily, as Figure 2 shown, the first side is the lower side in the figure, the second side is the right side in the figure, the third side is the upper side in the figure, and the fourth side is the left side in the figure. Taking the current position at the first side as station A as an example, after starting the first motor 11, the turntable 10 rotates counterclockwise by 90 degrees, and station A reaches the second side and is aligned with the powder filling device. After starting the first motor 11 again, the turntable 10 rotates counterclockwise by 90 degrees again, and station A reaches the third side and is aligned with the upper cover device 40. After starting the first motor 11 again, the turntable 10 rotates counterclockwise by 90 degrees again, and station A reaches the fourth side and is aligned with the blanking device 50. After starting the first motor 11 again, the turntable 10 rotates counterclockwise by 90 degrees again, and station A reaches the first side, completing one filling cycle.

[0065] It should be noted that each operating station of the present embodiment can be installed with a toner cartridge 22. Since the deployment order of the powder filling device, the upper cover device 40 and the unloading device 50 is determined according to the production process, the movement of the toner cartridge 22 at the operating station can actually realize the advancement of the production process. After completing the loading of the toner cartridge 22 at the loading window on the first side, move to the powder filling device on the second side to complete the carbon powder filling, then move to the upper cover device 40 on the third side to complete the filling port sealing, and then move to the unloading device 50 on the fourth side to complete the unloading of the toner cartridge 22. When returning to the loading window on the first side, the installation slot 101 of the operating station is in an unloaded state, and the toner cartridge 22 can be put in again to enter the next cycle.

[0066] It is worth noting that the present embodiment has four operating stations, which are equidistantly distributed along the circumference. Therefore, during the production process, operations can be performed synchronously on the four sides of the turntable 10. While the toner cartridge 22 is being loaded on the first side, the powder filling operation is performed at the operating station on the second side, the covering operation is performed at the operating station on the third side, and the unloading operation is performed at the operating station on the fourth side. The equipment on each side runs synchronously, thereby improving production efficiency.

[0067] It should be noted that if Figure 1 As shown, the powder filling device includes a powder bin 31 and a plurality of weighing powder filling devices 32. The number of weighing powder filling devices 32 is the same as the number of mounting slots 101 at the same operating station, ensuring that each mounting slot 101 is equipped with a toner cartridge 22 to meet the powder filling requirements. Figure 2 As shown, each operating station includes three mounting slots 101, and the powder filling equipment is provided with three weighing powder filling devices 32. The weighing powder filling device 32 can fill powder according to a preset weight, that is, a weight sensor is built in the weighing powder filling device 32. When the powder filling starts, the toner is first injected from the powder bin 31 into the weighing powder filling device 32. After the weight sensor detects that the weight of the toner reaches the preset weight, the powder outlet of the powder bin 31 is closed, and then the powder outlet of the weighing powder filling device 32 is opened so that the toner is filled into the toner cartridge 22.

[0068] It should be noted that if Figure 1As shown, the upper cover device 40 is provided with a first track 411, and the first track 411 is connected to the feeding device. The feeding device is used for feeding the cover body 46. The specific structure of the feeding device can adopt the existing scheme and will not be elaborated here again. In this embodiment, a vacuum chuck 45 is provided on the upper cover device 40. After the vacuum chuck 45 adsorbs the cover body 46 fed by the first track 411, the vacuum chuck 45 is controlled to move to the upper side of the toner cartridge 22 on the third side, and then the vacuum chuck 45 is lowered so that the cover body 46 can be accurately packaged to the filling port of the toner cartridge 22. The moving structure of the vacuum chuck 45 can be selected according to actual needs as long as it can realize the handling function of the cover body 46. The number of vacuum chucks 45 is the same as the number of mounting grooves 101 at the same operation position to ensure that the upper cover can be completed even when the operation station is full of toner cartridges 22.

[0069] It should be noted that the discharging device 50 can be provided with relevant jigs or robotic arms to clamp the toner cartridge 22 at the operation station on the fourth side through the jigs or robotic arms, and take out the toner cartridge 22 from the turntable 10 to complete the discharging. The specific type of the discharging device 50 can be selected according to actual needs. This embodiment does not involve the improvement of the discharging device 50 and will not be elaborated here again.

[0070] In addition, in an embodiment, referring to Figure 2 and Figure 4 , the turntable 10 is a hollow annular structure. A fixed disk 12 is provided in the hollow part of the turntable 10. A first mounting frame 1313 is provided on the second side of the fixed disk 12. The first mounting frame 1313 is equipped with a second motor 131 and a plurality of infrared emitters 1312. The second motor 131 is connected to a first clamping arm 1311. The second motor 131 is used to drive the first clamping arm 1311 to abut against or move away from the inner side of the toner cartridge 22 on the second side. The first transceiver end of the infrared emitter 1312 faces the outside of the turntable 10;

[0071] On the outside of the second side of the turntable 10, a second mounting frame 333 is further provided. The second mounting frame 333 is located under the powder filling device. A third motor 33 is provided at the top of the second mounting frame 333. The third motor 33 is connected to a second clamping arm 331 and a plurality of infrared receivers 332. The third motor 33 is used to drive the second clamping arm 331 to abut against or move away from the outer side of the toner cartridge 22 on the second side. The second transceiver end of the infrared receiver 332 faces the inside of the turntable 10;

[0072] Among them, the number of infrared emitters 1312 and infrared receivers 332 is the same as the number of weighing and powder filling devices 32. Each first transceiver end is aligned with a second transceiver end, and each toner cartridge 22 installed at the operation station on the second side is respectively located between a group of first transceiver ends and second transceiver ends.

[0073] It should be noted that in this embodiment, the turntable 10 with a hollow annular structure is adopted, and it is only necessary to have enough space to set up the operation stations. A non-rotatable fixed disk 12 is arranged in the middle of the turntable 10, and auxiliary devices required on each side are arranged through the fixed disk 12. For example, the first clamping arm 1311, the infrared emitter 1312, etc. in this embodiment can be added or reduced on the fixed disk 12 according to actual requirements.

[0074] It should be noted that in this embodiment, a first mounting bracket 1313 is arranged on the second side of the fixed disk 12, and a second mounting bracket 333 is arranged outside the second side of the turntable 10. A first motor 11 and a first clamping arm 1311 are mounted on the first mounting bracket 1313, and a second motor 131 and a second clamping arm 331 are mounted on the second mounting bracket 333. As Figure 3 shown, the heights of the first clamping arm 1311 and the second clamping arm 331 can be adjusted so that they are aligned in height, and the first clamping arm 1311 and the second clamping arm 331 are aligned. When filling the toner cartridge 22 with toner, the toner cartridge 22 can be clamped by the first clamping arm 1311 and the second clamping arm 331 to ensure that toner leakage does not occur due to the movement of the toner cartridge 22, thereby improving the filling accuracy. Of course, the specific shapes of the first clamping arm 1311 and the second clamping arm 331 can be adjusted according to the toner cartridge 22 as long as they can cooperate to clamp the toner cartridge 22.

[0075] It should be noted that in this embodiment, a plurality of infrared emitters 1312 are further arranged on the first mounting bracket 1313, and an infrared receiver 332 is arranged on the second mounting bracket 333. The number of infrared emitters 1312 and infrared receivers 332 is the same, and each group is aligned with an installation slot 101. If a toner cartridge 22 is installed in the installation slot 101, the toner cartridge 22 will block the infrared light of the infrared emitter 1312, so that the infrared receiver 332 will not receive the infrared light. The host computer can thereby determine that a toner cartridge 22 is installed in the corresponding installation slot 101 to control the corresponding weighing and filling device 32 to perform filling; if no toner cartridge 22 is installed in the installation slot 101, the infrared light of the infrared emitter 1312 will be incident on the infrared receiver 332 without being blocked, causing the infrared receiver 332 to generate an electrical signal. The host computer can thereby determine that there is no toner cartridge 22 in the corresponding installation slot 101, and thus does not control the weighing and filling device 32 at the corresponding position to perform filling, improving the filling accuracy.

[0076] Exemplarily, as Figure 2 and Figure 3As shown in the figure, three infrared transmitters 1312 are arranged in the first mounting bracket 1313, and three infrared receivers 332 are arranged in the second mounting bracket 333. Taking the operation stations including Station No. 1, Station No. 2, and Station No. 3 as an example, if all are installed with toner cartridges 22, there is no electrical signal in all the infrared receivers 332, and then all the weighing and powder filling devices 32 are controlled to perform the powder filling operation. If an electrical signal is generated in the infrared receiver 332 corresponding to Station No. 1, it can be determined that there is no toner cartridge 22 at Station No. 1, and only the weighing and powder filling devices 32 at Station No. 2 and Station No. 3 are controlled to perform the powder filling operation.

[0077] In addition, in one embodiment, referring to Figure 3 and Figure 4 , a plurality of sixth motors 61 are arranged on the lower side of the second side of the turntable 10. The number of the sixth motors 61 is equal to and aligned with the number of the mounting grooves 101 in the same operation station one by one. The sixth motors 61 are located on the lower side of the aligned mounting grooves 101. A weighing device 62 is arranged at the upper end of the sixth motor 61, and a weighing contact 63 is arranged at the upper end of the weighing device 62. The sixth motor 61 is used to drive the weighing device 62 to lift and lower, so that the weighing contact 63 abuts against the target fixture 21 in the corresponding mounting groove 101.

[0078] It should be noted that in this embodiment, a plurality of sixth motors 61 are arranged on the lower side of the second side of the turntable 10. The plurality of sixth motors 61 can be arranged side by side. For example, when there are 3 mounting grooves 101 in the operation station, 3 sixth motors 61 are arranged, and each sixth motor 61 is aligned with the position of one mounting groove 101.

[0079] It should be noted that since the lengths of toner cartridges 22 of different models are different, it is necessary to ensure that the filling ports of toner cartridges 22 of different models are at the same height during filling to cooperate with the powder outlet of the weighing and powder filling device 32. In this embodiment, a weighing device 62 is arranged above the sixth motor 61, and there is a weighing contact 63 on the weighing device 62. After the weighing device 62 can be lifted by the drive of the sixth motor 61 and the weighing contact 63 abuts against the lower side of the target fixture 21, the weighing device 62 is further lifted, so that the target fixture 21 leaves the mounting groove 101, and thus reaches the height at which the powder filling operation can be performed.

[0080] It should be noted that after the target fixture 21 is lifted, the weighing device 62 can weigh the toner cartridge 22, so as to determine the weight of the toner filled into the toner cartridge 22. In the case that the weighing and powder filling device 32 can quantitatively output toner, the weight of the filled toner is further determined by the weighing device 62 to ensure that the weight of the toner filled into the toner cartridge 22 meets the requirements.

[0081] In addition, in one embodiment, referring to Figure 1 , Figure 2 and Figure 5 , the upper cover device 40 includes:

[0082] The gantry 44 is distributed on the upper side and the outer side of the third side of the turntable 10. A fourth motor 132 is arranged on the side of the gantry 44 close to the fixed disk 12. The fourth motor 132 is connected to a third clamping arm 1321. The fourth motor 132 is used to drive the third clamping arm 1321 to abut against or move away from the inner side of the toner cartridge 22 located on the third side. A fifth motor 443 is arranged on the side of the gantry 44 away from the turntable 10. The fifth motor 443 is connected to a fourth clamping arm 442. The fifth motor 443 is used to drive the third clamping arm 1321 to abut against or move away from the outer side of the toner cartridge 22 located on the third side. A third track 441 extending in the inner and outer direction is arranged on the upper side of the gantry 44. The vacuum chuck 45 can be installed on the third track 441 and can move in the inner and outer direction.

[0083] The loading carrier plate 421 is located outside the gantry 44. The first track 411 is installed on one side of the loading carrier plate 421. The loading carrier plate 421 is provided with a second track 422 distributed horizontally. The second track 422 is installed with a loading arm 423. A plurality of loading columns 431 are arranged on the side of the loading carrier plate 421 close to the gantry 44. The loading arm 423 is used to place the cover body 46 loaded through the first track 411 on the upper side of the loading columns 431. The number and positions of the loading columns 431 correspond one by one to the number and positions of the mounting grooves 101 at the same operation station. A fiber optic sensor is arranged on the upper side of the loading columns 431.

[0084] It should be noted that in this embodiment, the fourth motor 132, the third motor 33 and the third track 441 are installed through the gantry 44. The specific shape and structure of the gantry 44 can be adjusted according to the actual installation requirements of the above equipment. For example Figure 5 As shown, three third tracks 441 are arranged on the upper side of the gantry 44. A liftable vacuum chuck 45 is installed under each third track 441, so that the vacuum chuck 45 can approach or move away from the turntable 10 along the third track 441. The side of the gantry 44 close to the turntable 10 can extend into the turntable 10, and is fixedly connected to the fixed disk 12 through several columns, and cross beams are arranged at corresponding positions to facilitate the installation of the fourth motor 132 facing the outside of the turntable 10. Similarly, longitudinal beams and cross beams are arranged close to the turntable 10 outside the turntable 10 to facilitate the installation of the fifth motor 443 facing the inside of the turntable 10, so that the third clamping arm 1321 driven by the fourth motor 132 and the fourth clamping arm 442 driven by the fifth motor 443 can clamp the toner cartridge 22 at the corresponding position. The specific movement away can refer to the first clamping arm 1311 and the second clamping arm 331. The purpose of this embodiment is to complete the installation of relevant components by using the cross beam and longitudinal beam structure of the gantry 44.

[0085] It should be noted that as Figure 5As shown in the figure, the loading carrier 421 is located outside the gantry 44. A first track 411 is provided on the side of the loading carrier 421, and a transverse second track 422 is provided at the loading carrier 421, so that the loading arm 423 can move horizontally in the second track 422. The specific horizontal movement driving method is a technique well-known to those skilled in the art.

[0086] It should be noted that in this embodiment, a plurality of loading columns 431 are provided on the side of the loading carrier 421 close to the gantry 44. The number of the loading columns 431 is the same as the number of the installation slots 101 of one operation station. The cover bodies 46 of each toner cartridge 22 are placed by the loading columns 431. Therefore, the loading columns 431 need to be aligned with the positions of the vacuum suction cups 45 and the installation slots 101, so that the vacuum suction cups 45 can move in a straight line to carry the cover bodies 46 from the loading columns 431 to the toner cartridges 22. Since the second track 422 is horizontally arranged, and the loading arm 423 is arranged to be horizontally and vertically movable, after the loading arm 423 can move horizontally to the first track 411 to clamp the cover body 46, it moves horizontally to the position corresponding to the loading column 431, and then the cover body 46 is placed on the top of the loading column 431 by vertical movement. When the positions of the components in each step are known, the specific loading control is a technique well-known to those skilled in the art and will not be elaborated here again.

[0087] It should be noted that in this embodiment, fiber optic sensors are provided on the loading columns 431. When the fiber optic sensors detect an object on the upper side, electrical signals will be generated, and based on this, it is determined that the cover bodies 46 have been placed on the loading columns 431, so as to avoid the failure of the toner cartridge 22 packaging caused by the vacuum suction cups 45 being unable to suck the cover bodies 46.

[0088] In addition, based on Figures 1 to 5 the drum automatic filling equipment with multi-station cooperation shown in the figure, the embodiment of the present invention also provides a drum automatic filling method with multi-station cooperation. As Figure 6 shown in the figure, the drum automatic filling method with multi-station cooperation includes but is not limited to the following steps:

[0089] S11, in response to a start signal, mark the powder filling equipment as an activated equipment and execute a target instruction once. The target instruction includes a first instruction and a second instruction executed in sequence. The first instruction is used to drive the turntable to rotate 90 degrees in the target direction, and the target direction is the direction in which the turntable points from the first side to the second side. The second instruction is used to control all the activated equipment to execute a target operation once. The target operation of the powder filling equipment is to control the weighing and powder filling device to perform a powder filling operation in the toner cartridge located on the second side of the turntable based on a preset weight.

[0090] S12. When the powder filling completion signal fed back by the powder filling device is obtained, mark the upper cover device as the activated device and execute the target instruction again. The target operation of the upper cover device is to control the vacuum suction cup to adsorb the cover body fed on the first track and package the cover body to the toner cartridge located on the third side of the turntable.

[0091] S13. When the powder filling completion signal and the upper cover completion signal fed back by the upper cover device are obtained, mark the blanking device as the activated device and execute the target instruction again. The target operation of the blanking device is to perform blanking on the toner cartridge located on the fourth side of the turntable.

[0092] S14. Whenever the powder filling completion signal, the upper cover completion signal, and the blanking completion signal fed back by the blanking device are obtained, execute the target instruction once.

[0093] It should be noted that the specific structure of the multi-station collaborative toner cartridge automatic filling device can refer to the description of the above embodiments, and the subsequent specific structural connection relationships and positional relationships will not be repeated.

[0094] It should be noted that at the first startup, only the operation station on the first side has the target fixture 21 and the toner cartridge 22 placed through the loading window. Therefore, the powder filling device, the upper cover device 40, and the blanking device 50 do not need to be started. According to the description of the above structural embodiments, the operation station will sequentially pass through the powder filling device, the upper cover device 40, and the blanking device 50 during the rotation of the turntable 10. In this embodiment, the above devices are sequentially activated according to the rotation times of the turntable 10. After each device is finally determined to be the activated device, the four operation stations can synchronously execute the target operation, thereby realizing multi-station collaboration and improving the production efficiency of the toner cartridge 22.

[0095] It is worth noting that the target instruction in this embodiment includes a first instruction and a second instruction that are executed in sequence. The first instruction is used to control the first motor 11 to drive the turntable 10 to rotate. The target direction can adopt the counterclockwise direction of the above embodiment and be adjusted according to the positions of the respective devices to ensure that it can reach each device in sequence according to the production order. The second instruction is used to control the activated device to execute the target operation. That is, when this embodiment responds to the target instruction, it first executes a rotation and then executes the target operation. Therefore, the activated device should at least include the device after the rotation is completed. At the first startup, the operation station on the first side will reach the second side, that is, the position where the powder filling device is located, after the rotation. Therefore, in this embodiment, the powder filling device is first marked as the activated device and then the target instruction is triggered, so that the powder filling device can execute the target operation after the rotation. The target operation of the powder filling device can refer to the principle description of the above structural embodiment, and the toner can be filled into the toner cartridge 22 through the weighing powder filling device 32.

[0096] It should be noted that since this embodiment can perform operations synchronously at multiple stations, to complete one rotation for station switching, it is necessary to ensure that each operation station has completed the corresponding target operation, that is, powder filling is completed in the powder filling device, capping is completed in the capping device 40, blanking is completed in the blanking device 50. After obtaining the completion signals of all activated devices, the next target instruction is executed. The same applies when additional activated devices are added later, and it will not be repeated hereinafter. Manual feeding is performed at the feeding window, and usually the completion speed is faster than that of the devices at other positions. Therefore, it is not necessary to consider the completion signal of the feeding of the toner cartridge 22. Even if the feeding of the toner cartridge 22 in all installation slots 101 is not completed, correct powder filling can be ensured through the identification at the second station. For specific reference, please refer to the description of steps S21 to S23.

[0097] It should be noted that after powder filling is completed, the powder filling device generates a powder filling completion signal, that is, the completion signals of all activated devices are obtained. After rotating again, the capping operation needs to be executed. Therefore, the capping device 40 is marked as an activated device. After executing the target instruction, the toner cartridge 22 that has completed powder filling will rotate to the third side for capping operation, and the new toner cartridge 22 fed at the feeding window will rotate to the second side for powder filling operation. Similarly, after obtaining the powder filling completion signal and the capping completion signal, the last blanking device 50 is marked as an activated device. The three operation stations will continue to switch stations under the rotation of the turntable 10. The first operation station reaches the blanking station to complete blanking, and the remaining operation stations follow the same pattern, so as to achieve multi-station cooperation and realize the switching of different processes at the same turntable 10, improving the automation degree of toner cartridge 22 production.

[0098] It should be noted that after the blanking device 50 is marked as an activated device, all 4 operation stations have entered the working state. According to the above description, whenever the powder filling completion signal, the capping completion signal, and the blanking completion signal are obtained, it is ensured that all devices have completed the target operation, and the next target instruction is executed to enter a loop.

[0099] In addition, in one embodiment, based on Figure 1 、 Figure 2 and Figure 4 the structures shown, in the target operation corresponding to the powder filling device, based on a preset weight, the weighing powder filling device 32 performs a powder filling operation in the toner cartridge 22 located on the second side of the turntable 10, specifically including but not limited to the following steps:

[0100] S21, Start each infrared emitter, and determine the first station and / or the second station at the operation station currently located on the second side. Among them, the first station corresponds to the installation slot aligned with the infrared receiver that receives infrared light, and the second station corresponds to the installation slot aligned with the infrared receiver that does not receive infrared light;

[0101] S22, when at least one second station is determined, starting the second motor and the third motor to clamp the toner cartridge located on the second side of the turntable using the first clamping arm and the second clamping arm;

[0102] S23, starting the weighing powder filling device corresponding to the second station, and performing a powder filling operation in the toner cartridge installed in the second station.

[0103] It should be noted that, according to the description of the above-mentioned structural embodiment, the infrared transmitter 1312 and the infrared receiver 332 are aligned with each other. When the toner cartridge 22 is installed in the corresponding workstation, the infrared light will not be obtained due to the obstruction of the toner cartridge 22, thereby causing the electrical signal to be disconnected. Therefore, in this embodiment, after the powder filling device is activated, each infrared transmitter 1312 is started. When the infrared receiver 332 does not receive infrared light, it is determined to be the second workstation, and when it receives infrared light, it is determined to be the first workstation.

[0104] For example, Figure 2 , taking the operating stations including station No. 1, station No. 2 and station No. 3 as an example, if all of them are installed with toner cartridges 22, then all the infrared receivers 332 do not receive infrared light and there is no electrical signal. As long as there is no electrical signal, the upper computer will determine the corresponding position as the second station, that is, at this time all three stations are the second stations; if the infrared receiver 332 corresponding to station No. 1 generates an electrical signal, it can be determined that there is no toner cartridge 22 at station No. 1, and station No. 1 is determined as the first station, and stations No. 2 and No. 3 are determined as the second stations.

[0105] It is worth noting that since the installation slot 101 and the weighing powder filling device 32 are necessarily aligned, after determining the second station, it can be determined that there is currently a toner cartridge 22 on the second side of the turntable 10, and the second motor 131 and the third motor 33 are started, and after the first clamping arm 1311 and the second clamping arm 331 are controlled to clamp the toner cartridge 22, only the weighing powder filling device 32 corresponding to the second station is controlled to perform the powder filling operation. For example, when there is no toner cartridge 22 at the above-mentioned station No. 1, only the weighing powder filling devices 32 at stations No. 2 and No. 3 are controlled to perform the powder filling operation. The specific powder filling operation is a technology well known to those skilled in the art and is not limited here.

[0106] In addition, in one embodiment, referring to Figure 3 In the structure shown in FIG. 1 , step S23 specifically includes but is not limited to the following steps:

[0107] S231, obtaining the model information of the toner cartridge, and determining the target height based on the model information and a preset mapping table, wherein the preset mapping table records the mapping relationship between the toner cartridge model and the lifting height of the sixth motor;

[0108] S232, starting the sixth motor corresponding to the second station based on the target height, so as to raise the corresponding target fixture by using the corresponding weighing device;

[0109] S233. Set the weighing device corresponding to the second station, start the weighing and powder filling device corresponding to the second station, and obtain the first weighing value of each weighing and powder filling device after the powder filling operation is completed;

[0110] S234. Obtain the second weighing value of each weighing device. When the difference between the corresponding first weighing value and the second weighing value of each group is less than the preset threshold, generate a powder filling completion signal.

[0111] It should be noted that according to the description of the above structural embodiment, the sixth motor 61 can lift the target fixture 21 through the weighing device 62 according to the set height, so that the turntable 10 can be applicable to the filling of toner cartridges 22 of different specifications. For example, when placing a toner cartridge 22 with a shorter length, control the sixth motor 61 to lift to a higher height; when placing a toner cartridge 22 with a longer length, control the sixth motor 61 to lift to a smaller height, ensuring that the position of the filling port of the toner cartridge 22 after lifting can meet the filling requirements of the weighing and powder filling device 32. In this embodiment, a preset mapping table is maintained in the host computer. After inputting the model of the toner cartridge 22 produced this time in the host computer, determine the target height by querying the preset mapping table, and control the sixth motor 61 based on the target height so that the toner cartridge 22 is at an appropriate height.

[0112] It should be noted that according to the description of the above embodiment, only the second station is provided with the toner cartridge 22, so only the sixth motor 61 corresponding to the second station needs to be controlled.

[0113] It should be noted that the weighing device 62 abuts against the target fixture 21. After the lifting is completed, the weight of the target fixture 21 and the toner cartridge 22 is the initial reading of the weighing device 62. In this embodiment, the weighing device 62 is zeroed before starting the powder filling to ensure that the reading of the weighing device 62 after the powder filling starts is the weight of the toner powder filled into the toner cartridge 22. The weighing and powder filling device 32 fills based on a preset weight, and there may be certain losses during the filling process. Therefore, in this embodiment, the first weighing value of the weighing and powder filling device 32 and the second weighing value of the weighing device 62 are obtained simultaneously. The first weighing value is the weight of the output toner powder, and the second weighing value is the weight of the filled toner powder. If the difference between the two is less than the preset threshold, it can be determined that the toner powder filling is normal and a powder filling completion signal is generated. If the difference between the two is greater than the preset threshold, it can be determined that the toner powder filling is abnormal. For example, the lifting height of the sixth motor 61 is insufficient, resulting in leakage during the powder filling process, etc., and an alarm message is generated to prompt the production personnel to conduct a check.

[0114] In addition, in one embodiment, refer to Figure 1 、 Figure 2 and Figure 5In the structure shown, in the target operation corresponding to the upper cover device 40, the vacuum suction cup 45 is controlled to adsorb the cover body 46 fed on the first track 411 and package the cover body 46 to the toner cartridge 22 located on the third side of the turntable 10, specifically including but not limited to the following steps:

[0115] S31. Determine the target loading column corresponding to the second station and the loading distance corresponding to each target loading column, where the loading distance is used to indicate the lateral movement distance of the loading arm from the loading position on the first track to the target loading column;

[0116] S32. Control the loading arm to move in the second track based on each lateral movement distance, so as to transport the cover body from the first track to the target loading column through the loading arm;

[0117] S33. When the optical fiber sensing signal of each target loading column is obtained, control the vacuum suction cup to move above the corresponding loading column along the third track;

[0118] S34. When the target instruction is obtained, start the fourth motor and the fifth motor to clamp the toner cartridge located on the third side of the turntable by using the third clamping arm and the fourth clamping arm;

[0119] S35. After controlling the vacuum suction cup corresponding to the second station to descend to adsorb the cover body placed on the target loading column, move along the third track to above the toner cartridge located on the third side of the turntable, and control the vacuum suction cup to descend to package the cover body to the corresponding toner cartridge.

[0120] It should be noted that before starting the feeding, according to the description of the above structural embodiment, the cover body 46 needs to be first moved from the first track 411 to the loading column 431. And according to the description of the above embodiment, not every mounting groove 101 in the operation station is necessarily installed with the toner cartridge 22. Since the feeding device is located after the powder filling device, after the powder filling device determines the second station, the host computer can control the feeding of the feeding device according to the second station. Moving the cover body 46 from the first track 411 to the loading column 431 can be executed before obtaining the target instruction. For example, after determining the second station, directly control the loading arm 423 to execute related operations without waiting for the toner cartridge 22 to rotate to the third side, making full use of the standby time of the device and improving the production efficiency.

[0121] It should be noted that since the position of the loading column 431 is fixed, the lateral movement distance from the first track 411 to each loading column 431 can be preset. In this embodiment, after determining the target loading column corresponding to the second station, directly obtain the corresponding loading distance, control the loading arm 423 to laterally move in the second track 422 based on the loading distance, so as to move to the position where the target loading column is located, and then place the cover body 46 on the top of the target loading column through longitudinal movement.

[0122] It should be noted that the feeding column 431 is provided with an optical fiber sensor. When the optical fiber sensor generates an optical fiber sensing signal, it can be determined that the lid 46 is placed at the top of the corresponding feeding column 431. In this embodiment, obtaining the optical fiber sensing signals of all the target feeding columns is used as the signal indicating the completion of the operation of the feeding arm 423, and the vacuum suction cup 45 is controlled to move above the feeding column 431 along the third track 441 for standby.

[0123] It should be noted that after obtaining the target instruction, the fourth motor 132 and the fifth motor 443 are started. The principle of using the third clamping arm 1321 and the fourth clamping arm 442 to clamp the toner cartridge 22 located on the third side of the turntable 10 can refer to the first clamping arm 1311 and the second clamping arm 331, and will not be elaborated here.

[0124] It should be noted that the vacuum suction cup 45 can be lifted and lowered. After obtaining the target instruction, the vacuum suction cup 45 at the second station is controlled to descend to suck the lid 46 and then rise a certain distance. After moving above the toner cartridge 22 on the third side along the third track 441, the lid 46 is pressed onto the filling port by descending. Of course, if the lid 46 is a rotating lid 46, a rotatable vacuum suction cup 45 can also be used to complete the lid covering. The specific function of the vacuum suction cup 45 can be selected according to the actual lid covering requirements. Given the positions of the second station and the operation station, the lifting height of the vacuum suction cup 45 and the lateral movement control along the third track 441 are all well-known technologies to those skilled in the art and will not be repeated here.

[0125] As Figure 7 shown, Figure 7 is a structural diagram of a multi-station collaborative automatic toner cartridge filling device provided by an embodiment of the present invention. The present invention also provides a multi-station collaborative automatic toner cartridge filling device, including:

[0126] A processor 401, which can be implemented in ways such as a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present application;

[0127] The memory 402 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM), etc. The memory 402 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 402, and the processor 401 is used to call and execute the automatic filling method for toner cartridges with multi-station collaboration in the embodiments of this application;

[0128] The input / output interface 403 is used to implement information input and output;

[0129] The communication interface 404 is used to implement communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WI FI, Bluetooth, etc.);

[0130] The bus 405 transmits information between various components of the device (such as the processor 401, the memory 402, the input / output interface 403, and the communication interface 404);

[0131] Among them, the processor 401, the memory 402, the input / output interface 403, and the communication interface 404 achieve communication connections with each other inside the device through the bus 405.

[0132] The embodiments of this application also provide a storage medium. The storage medium is a computer-readable storage medium. This storage medium stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned automatic filling method for toner cartridges with multi-station collaboration.

[0133] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory can optionally include memories remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include but are not limited to the Internet, enterprise intranets, local area networks, mobile communication networks, and their combinations. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and may be located in one place, or may also be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solutions in this embodiment.

[0134] Those of ordinary skill in the art will understand that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes but is not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0135] The above is a specific description of the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A multi-station cooperative toner cartridge automatic filling device, characterized in that: include: A turntable, with four operating stations arranged at equal distances along the circumference, each of the operating stations being provided with a plurality of mounting slots, the mounting slots being used to set a target fixture on which a toner cartridge is installed, a first motor being provided at the bottom side of the turntable, the first motor being used to drive the turntable to rotate, so that any of the operating stations is sequentially located at the first side, the second side, the third side and the fourth side of the turntable, and a loading window for the target fixture being provided at the first side of the turntable; A powder filling device is located on the second side of the turntable, the powder filling device is provided with a powder bin and a plurality of weighing powder filling devices, the powder bin is used to store toner and is connected to each of the weighing powder filling devices, and the weighing powder filling devices fill the toner cartridge with toner based on a preset weight; A cover-loading device, located on the third side of the turntable, is provided with a first track and a plurality of movable vacuum suction cups, wherein the first track is used for loading the cover body, and the vacuum suction cups are used for adsorbing the cover body and then sealing it to the filling port of the toner cartridge; A material unloading device, located on the fourth side of the turntable, and used for removing the toner cartridge from the installation slot; Wherein, the weighing powder filling device, the vacuum suction cup and the mounting slots of the same operating station are of the same number.

2. The multi-station cooperative toner cartridge automatic filling equipment according to claim 1 is characterized in that: The turntable is a hollow annular structure, a fixed plate is arranged in the hollow part of the turntable, a first mounting frame is arranged on the second side of the fixed plate, a second motor and a plurality of infrared transmitters are mounted on the first mounting frame, the second motor is connected to a first clamping arm, the second motor is used to drive the first clamping arm to abut against or away from the inner side of the toner cartridge located on the second side, and the first transceiver end of the infrared transmitter faces the outer side of the turntable; A second mounting bracket is further provided on the outer side of the second side of the turntable, the second mounting bracket is located at the lower side of the powder filling device, a third motor is provided on the top of the second mounting bracket, the third motor is connected to a second clamping arm and a plurality of infrared receivers, the third motor is used to drive the second clamping arm to abut against or away from the outer side of the toner cartridge located on the second side, and the second transceiver end of the infrared receiver faces the inner side of the turntable; Among them, the number of the infrared transmitters and the infrared receivers is the same as the number of the weighing and powder filling devices, each of the first transceiver ends is aligned with a second transceiver end, and each of the toner cartridges installed at the operating station on the second side is respectively located between a group of the first transceiver ends and the second transceiver ends.

3. The multi-station cooperative toner cartridge automatic filling equipment according to claim 2 is characterized in that: A plurality of sixth motors are arranged on the lower side of the second side of the turntable, the number of the sixth motors is equal to the number of the mounting slots of the same operating station and are aligned one by one, the sixth motors are located on the lower side of the aligned mounting slots, a weighing device is arranged on the upper end of the sixth motor, a weighing contact is arranged on the upper end of the weighing device, and the sixth motor is used to drive the weighing device to rise and fall so that the weighing contact abuts against the target fixture in the corresponding mounting slot.

4. The multi-station cooperative toner cartridge automatic filling equipment according to claim 2, characterized in that: The upper cover device comprises: A gantry, the gantry is distributed on the upper side and the outer side of the third side of the turntable, a fourth motor is provided on the side of the gantry close to the fixed plate, the fourth motor is connected to a third clamping arm, and the fourth motor is used to drive the third clamping arm to abut against or away from the inner side of the toner cartridge located on the third side; a fifth motor is provided on the side of the gantry away from the turntable, the fifth motor is connected to a fourth clamping arm, and the fifth motor is used to drive the third clamping arm to abut against or away from the outer side of the toner cartridge located on the third side; a third track extending in an inward and outward direction is provided on the upper side of the gantry, and the vacuum suction cup can be installed on the third track and can move in an inward and outward direction; A loading carrier plate, the loading carrier plate is located on the outside of the gantry, the first track is installed on one side of the loading carrier plate, the loading carrier plate is provided with a second track distributed laterally, the second track is installed with a loading arm, a plurality of loading columns are provided on the side of the loading carrier plate close to the gantry, the loading arm is used to place the cover body loaded through the first track to the upper side of the loading column, the number of the loading columns corresponds one by one to the number and position of the mounting slots of the same operating station, and an optical fiber sensor is provided on the upper side of the loading column.

5. A multi-station cooperative toner cartridge automatic filling method, characterized in that: The method applied to the host computer of the multi-station cooperative toner cartridge automatic filling device according to any one of claims 1 to 4 comprises: In response to the start signal, the powder filling device is marked as an activated device, and a target instruction is executed once, wherein the target instruction includes a first instruction and a second instruction which are executed in sequence, the first instruction is used to drive the turntable to rotate 90 degrees in a target direction, the target direction is the direction in which the turntable points from the first side to the second side, and the second instruction is used to control all the activated devices to perform a target operation, the target operation of the powder filling device is to control the weighing powder filling device to perform a powder filling operation in the toner cartridge located on the second side of the turntable based on a preset weight; When a powder filling completion signal fed back by the powder filling device is obtained, the cover device is marked as the activation device, and the target instruction is executed again, wherein the target operation of the cover device is to control the vacuum suction cup to absorb the cover body loaded on the first track, and seal the cover body to the toner cartridge located on the third side of the turntable; When the toner filling completion signal and the cover completion signal fed back by the cover device are obtained, the unloading device is marked as the activation device, and the target instruction is executed again, wherein the target operation of the unloading device is to unload the toner cartridge located on the fourth side of the turntable; Whenever the powder filling completion signal, the cover completion signal and the unloading completion signal fed back by the unloading device are obtained, the target instruction is executed once.

6. The multi-station cooperative toner cartridge automatic filling method according to claim 5, characterized in that: The turntable is a hollow annular structure, a fixed plate is provided in the hollow part of the turntable, a first mounting frame is provided on the second side of the fixed plate, a second motor and a plurality of infrared transmitters are installed on the first mounting frame, the second motor is connected to a first clamping arm, the second motor is used to drive the first clamping arm to abut against or away from the inner side of the toner cartridge located on the second side, and the first transceiver end of the infrared transmitter faces the outer side of the turntable; a second mounting frame is also provided on the outer side of the second side of the turntable, the second mounting frame is located at the lower side of the powder filling device, a third motor is provided on the top of the second mounting frame, the third motor is connected to a second clamping arm and a plurality of infrared receivers, the third motor is used to drive the second clamping arm to abut against or away from the outer side of the toner cartridge located on the second side, and the second transceiver end of the infrared receiver faces the inner side of the turntable; wherein the number of the infrared transmitters and the infrared receivers is the same as the number of the weighing powder filling devices, each of the first transceiver end is aligned with one of the second transceiver ends, and each of the toner cartridges installed at the operating station on the second side is respectively located between a group of the first transceiver end and the second transceiver end; The method of controlling the weighing powder filling device to perform a powder filling operation in the toner cartridge located on the second side of the rotating disk based on a preset weight includes: Start each of the infrared transmitters, and determine a first station and / or a second station at the operation station currently located at the second side, wherein the first station corresponds to the mounting groove aligned with the infrared receiver that receives the infrared light, and the second station corresponds to the mounting groove aligned with the infrared receiver that does not receive the infrared light; When at least one of the second working stations is determined, the second motor and the third motor are started to clamp the toner cartridge located on the second side of the turntable using the first clamping arm and the second clamping arm; The weighing powder filling device corresponding to the second station is started to perform the powder filling operation in the toner cartridge installed in the second station.

7. The multi-station cooperative toner cartridge automatic filling method according to claim 6, characterized in that: A plurality of sixth motors are arranged on the lower side of the second side of the turntable, the number of the sixth motors is equal to the number of the mounting slots of the same operating station and are aligned one by one, the sixth motors are located on the lower side of the aligned mounting slots, a weighing device is arranged on the upper end of the sixth motor, a weighing contact is arranged on the upper end of the weighing device, and the sixth motor is used to drive the weighing device to rise and fall so that the weighing contact abuts against the target fixture in the corresponding mounting slot; The step of starting the weighing powder filling device corresponding to the second station to perform the powder filling operation in the toner cartridge installed at the second station includes: Acquire the model information of the toner cartridge, and determine the target height based on the model information and a preset mapping table, wherein the preset mapping table records the mapping relationship between the toner cartridge model and the lifting height of the sixth motor; Based on the target height, start the sixth motor corresponding to the second station to raise the corresponding target fixture using the corresponding weighing device; The weighing device corresponding to the second station is installed, the weighing powder filling device corresponding to the second station is started, and the first weighing value of each weighing powder filling device is obtained after the powder filling operation is completed; The second weighing value of each weighing device is obtained, and when the difference between the first weighing value and the second weighing value corresponding to each group is less than a preset threshold, the powder filling completion signal is generated.

8. The multi-station cooperative toner cartridge automatic filling method according to claim 6, characterized in that: The upper cover device includes a gantry, which is distributed on the upper side and the outer side of the third side of the turntable; a fourth motor is provided on the side of the gantry close to the fixed plate, the fourth motor is connected to a third clamping arm, and the fourth motor is used to drive the third clamping arm to abut against or away from the inner side of the toner cartridge located on the third side; a fifth motor is provided on the side of the gantry away from the turntable, the fifth motor is connected to a fourth clamping arm, and the fifth motor is used to drive the third clamping arm to abut against or away from the outer side of the toner cartridge located on the third side; a third motor extending inward and outward directions is provided on the upper side of the gantry. Track, the vacuum suction cup can be installed on the third track and can move in the inward and outward directions; a loading carrier, the loading carrier is located on the outside of the gantry, the first track is installed on one side of the loading carrier, the loading carrier is provided with a second track distributed laterally, the second track is installed with a loading arm, a plurality of loading columns are provided on the side of the loading carrier close to the gantry, the loading arm is used to place the cover body loaded through the first track to the upper side of the loading column, the number of the loading columns corresponds to the number and position of the mounting slots of the same operating station, and an optical fiber sensor is provided on the upper side of the loading column; The method of controlling the vacuum suction cup to absorb the cover body of the first track loading material and sealing the cover body to the toner cartridge located on the third side of the turntable includes: Determine the target loading column corresponding to the second station, and the loading distance corresponding to each of the target loading columns, wherein the loading distance is used to indicate the lateral movement distance of the loading arm moving the target loading column from the loading position of the first track; Controlling the loading arm to move in the second track based on each of the lateral movement distances, so as to transport the cover from the first track to the target loading column through the loading arm; When the optical fiber sensing signal of each target loading column is obtained, the vacuum suction cup is controlled to move along the third track to above the corresponding loading column; When the target instruction is obtained, the fourth motor and the fifth motor are started to clamp the toner cartridge located on the third side of the rotating disk by using the third clamping arm and the fourth clamping arm; After controlling the vacuum suction cup corresponding to the second station to descend to adsorb the cover body placed on the target loading column, it moves along the third track to above the toner cartridge located on the third side of the turntable, and controls the vacuum suction cup to descend to seal the cover body to the corresponding toner cartridge.

9. A multi-station cooperative toner cartridge automatic filling device, characterized in that: It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to execute the multi-station collaborative toner cartridge automatic filling method as described in any one of claims 5 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the multi-station collaborative toner cartridge automatic filling method as described in any one of claims 5 to 8.

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