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

Abstract

The application provides a multi-station cooperative selenium drum automatic filling device, method and apparatus, and a storage medium. The device comprises a rotating disc, four operation stations are equidistantly arranged along the circumference of the rotating disc, a mounting groove for mounting a target clamp is arranged at the operation station, the target clamp is used for mounting a selenium drum, a feeding window is arranged at a first side of the rotating disc, a powder filling device is arranged at a second side of the rotating disc, a cover mounting device is arranged at a third side of the rotating disc, and a discharging device is arranged at a fourth side of the rotating disc. When the rotating disc rotates under the driving of a first motor at the bottom side, each operation station can sequentially perform the feeding of the selenium drum at the operation station at the first side, complete powder filling at the operation station at the second side, complete cover mounting at the operation station at the third side, and complete the discharging of the selenium drum at the operation station at the fourth side. The selenium drum can sequentially reach different operation stations one by one through the driving of the first motor, the whole process of selenium drum filling is realized, and each operation station can synchronously perform operation, thereby improving production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a multi-station cooperative selenium drum automatic filling device, method, apparatus and storage medium. BACKGROUND

[0002] The selenium drum is a common printing consumable, and filling carbon powder in the selenium drum is an important link in production. One end of the selenium drum is provided with a filling port. Since the weight of the carbon powder filled in the selenium drum is fixed, the existing process usually places the selenium drum in a weighing device, manually fills the carbon powder according to the reading of the weighing device, and then screws a sealing cover on the filling port, which is low in production efficiency.

[0003] In some related technologies, some automatic filling devices capable of outputting a fixed weight of carbon powder are proposed. The production personnel place the selenium drum on the filling station of the automatic filling device, start the automatic filling device to complete the filling, take away the selenium drum filled with carbon powder from the filling station, replace the next batch of unfilled selenium drums, and continue to perform the filling operation. Although the efficiency of the filling process is effectively improved, manual feeding and discharging at the filling station are still required, and the filled selenium drum also needs to be manually capped. 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

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes a multi-station cooperative selenium drum automatic filling device, method, apparatus and storage medium, which can automatically complete the whole process of selenium drum filling and improve the production efficiency of the selenium drum.

[0005] In a first aspect, an embodiment of the present application provides a multi-station cooperative selenium drum automatic filling device, comprising:

[0006] A turntable is provided with four operation stations at equal distances in the circumferential direction. Each operation station is provided with a plurality of mounting slots for setting a target clamp with a selenium drum. The bottom side of the turntable is provided with a first motor for driving the rotation of the turntable so that any operation station is sequentially located at the first side, the second side, the third side and the fourth side of the turntable. The first side of the turntable is provided with a feeding window of the target clamp.

[0007] A powder filling device is located at the second side of the turntable. The powder filling device is provided with a powder bin and a plurality of weighing and filling devices. The powder bin is used to store carbon powder and is connected to each weighing and filling device. The weighing and filling device fills the selenium drum with carbon powder based on a preset weight.

[0008] An upper cover device is arranged on the third side of the rotating disc, and is provided with a first track for feeding a cover body and a plurality of movable vacuum suction cups for sealing the cover body to the filling port of the selenium drum after suction.

[0009] A discharging device is arranged on the fourth side of the rotating disc, and is used for taking out the selenium drum from the mounting slot.

[0010] The number of the weighing and powder filling devices, the vacuum suction cups and the mounting slots of the same operation station is the same.

[0011] According to some embodiments of the present application, the rotating disc is a hollow annular structure, and the hollow part of the rotating disc is provided with a fixed disc. The second side of the fixed disc is provided with a first mounting frame, the first mounting frame is mounted 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 or move away from the inner side of the selenium drum located on the second side, and the first receiving end of the infrared emitter faces the outside of the rotating disc.

[0012] The outside of the second side of the rotating disc is further provided with a second mounting frame, the second mounting frame is located below the powder filling device, the top end 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 or move away from the outer side of the selenium drum located on the second side, and the second receiving end of the infrared receiver faces the inside of the rotating disc.

[0013] 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 receiving end is aligned with a second receiving end, and each selenium drum of the operation station mounted on the second side is located between a group of first receiving ends and second receiving ends.

[0014] According to some embodiments of the present application, the lower side of the second side of the rotating disc is provided with a plurality of sixth motors, the number of the sixth motors is equal to and aligned with the number of the mounting slots of the same operation station, the sixth motor is located below the aligned mounting slot, the upper end of the sixth motor is provided with a weighing device, the upper end of the weighing device is provided with a weighing contact, and the sixth motor is used to drive the weighing device to rise and fall, so that the weighing contact abuts the target clamp in the corresponding mounting slot.

[0015] According to some embodiments of the present application, the upper cover device comprises:

[0016] A gantry is arranged on the upper side and the outer side of the third side of the rotating disc, a fourth motor is arranged on the side of the gantry close to the fixed disc, a third clamping arm is connected to the fourth motor, and the fourth motor is used to drive the third clamping arm to abut or move away from the inner side of the selenium drum located on the third side; a fifth motor is arranged on the side of the gantry away from the rotating disc, a fourth clamping arm is connected to the fifth motor, and the fifth motor is used to drive the third clamping arm to abut or move away from the outer side of the selenium drum located on the third side; the upper side of the gantry is provided with a third track extending in the inner-outer direction, and the vacuum suction disc can be mounted on the third track and can move in the inner-outer direction;

[0017] A loading carrier plate is arranged on the outer side of the gantry, the first track is mounted on one side of the loading carrier plate, the loading carrier plate is provided with a second track distributed transversely, the second track is mounted with a loading arm, and the loading carrier plate is provided with a plurality of loading columns on the side close to the gantry, the loading arm is used to place the cover loaded through the first track on 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 operation station one by one, and the upper side of the loading column is provided with an optical fiber sensor.

[0018] In a second aspect, the embodiment of the present application also provides a multi-station cooperative selenium drum automatic filling method applied to the upper computer of the multi-station cooperative selenium drum automatic filling device in the first aspect, and the method comprises the following steps of:

[0019] In response to a start signal, the powder filling device is marked as an active device, and a target instruction is executed once, wherein the target instruction comprises a first instruction and a second instruction executed in sequence, the first instruction is used to drive the rotating disc to rotate by 90 degrees in a target direction, the target direction is a direction in which the rotating disc points from the first side to the second side, and the second instruction is used to control all the active devices to execute a target operation once, and the target operation of the powder filling device is to control the weighing and powder filling device to execute a powder filling operation in the selenium drum located on the second side of the rotating disc based on a preset weight;

[0020] When a powder filling completion signal fed back by the powder filling device is acquired, the upper cover device is marked as the active device, and the target instruction is executed again, wherein the target operation of the upper cover device is to control the vacuum suction disc to adsorb the cover loaded on the first track and encapsulate the cover into the selenium drum located on the third side of the rotating disc;

[0021] When the powder filling completion signal and the upper cover completion signal fed back by the upper cover device are acquired, the lower device is marked as the active device, and the target instruction is executed again, wherein the target operation of the lower device is to perform lower feeding on the toner cartridge located at the fourth side of the rotating disc;

[0022] The target instruction is executed once every time the powder filling completion signal, the upper cover completion signal and the lower feeding completion signal fed back by the lower device are acquired.

[0023] According to some embodiments of the present application, the rotating disc is a hollow annular structure, the hollow part of the rotating disc is provided with a fixed disc, the second side of the fixed disc is provided with a first mounting frame, the first mounting frame is mounted 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 or move away from the inner side of the toner cartridge located at the second side, and the first receiving end of the infrared emitter faces the outside of the rotating disc; the outside of the second side of the rotating disc is also provided with a second mounting frame, the second mounting frame is located below the powder filling device, the top end 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 or move away from the outer side of the toner cartridge located at the second side, and the second receiving end of the infrared receiver faces the inside of the rotating disc; 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 receiving end is aligned with one second receiving end, and each toner cartridge of the operation station mounted on the second side is located between a group of first receiving ends and second receiving ends;

[0024] The powder filling operation in the toner cartridge located at the second side of the rotating disc is controlled based on the preset weight, which includes:

[0025] Start each infrared emitter to determine a first station and / or a second station of the operation station currently located at the second side, wherein the first station corresponds to the mounting slot aligned with the infrared receiver receiving the infrared light, and the second station corresponds to the mounting slot aligned with the infrared receiver not receiving the infrared light;

[0026] When at least one second station is determined, the second motor and the third motor are started to clamp the toner cartridge located at the second side of the rotating disc by using the first clamping arm and the second clamping arm.

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

[0028] According to some embodiments of the present application, the lower side of the second side of the rotating disc is provided with a plurality of sixth motors, the number of the sixth motors is equal to and aligned with the number of the mounting slots of the same operation station, the sixth motor is located below the aligned mounting slot, the upper end of the sixth motor is provided with a weighing device, the upper end of the weighing device is provided with a weighing contact, and the sixth motor is used to drive the weighing device to lift to make the weighing contact abut the target clamp in the corresponding mounting slot;

[0029] The starting of the second station corresponding to the weighing powder filling device, the execution of the powder filling operation in the selenium drum installed in the second station, comprises:

[0030] Obtaining the model information of the selenium drum, determining a target height based on the model information and a preset mapping table, wherein the preset mapping table records the mapping relationship between the selenium drum model and the sixth motor lifting height;

[0031] Based on the target height, the sixth motor corresponding to the second station is started to lift the corresponding target clamp by using the corresponding weighing device;

[0032] The second station corresponding to the weighing device is started, the first weighing value of each weighing powder filling device is obtained after the completion of the powder filling operation of the second station corresponding to the weighing powder filling device;

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

[0034] According to some embodiments of the present invention, the upper cover device includes a gantry, which is distributed on the upper and outer sides of the third side of the turntable, and 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, and the fourth motor is used to drive the third clamping arm to abut 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, and the fifth motor is used to drive the third clamping arm to abut or move away from the outer side of the toner cartridge located on the third side; the upper side of the gantry is provided with inner and outer motors. a third track extending toward the front, the vacuum suction cup can be mounted 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 mounted 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 onto 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;

[0035] 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:

[0036] Determine the target loading post corresponding to the second station and the loading distance corresponding to each target loading post, wherein 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 post;

[0037] Controlling the loading arm to move in the second track based on each of the traverse distances, so as to transport the cover from the first track to the target loading column by the loading arm;

[0038] 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;

[0039] 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 turntable using the third clamping arm and the fourth clamping arm;

[0040] 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.

[0041] In a third aspect, an embodiment of the present application provides a multi-station cooperative toner cartridge automatic filling device, comprising at least one control processor and a memory connected in communication with 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 perform the multi-station cooperative toner cartridge automatic filling method according to the second aspect.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for performing the multi-station cooperative toner cartridge automatic filling method according to the second aspect.

[0043] The multi-station cooperative toner cartridge automatic filling device according to the embodiment of the present application has at least the following beneficial effects: the turntable is provided with four operation stations at equal distances in the circumferential direction, each of the operation stations is provided with a plurality of mounting slots for setting a target clamp with a toner cartridge, the bottom side of the turntable is provided with a first motor for driving the turntable to rotate so that any of the operation stations is sequentially located at a first side, a second side, a third side and a fourth side of the turntable, and the first side of the turntable is provided with a feeding window of the target clamp; the powder filling device is located at the second side of the turntable and is provided with a powder bin and a plurality of weighing powder filling devices, the powder bin is used for storing toner and is connected to each of the weighing powder filling devices, and the weighing powder filling devices fill the toner cartridges with toner based on a preset weight; the upper cover device is located at the third side of the turntable and is provided with a first track for feeding a cover body and a plurality of movable vacuum suction cups for encapsulating the cover body to a filling port of the toner cartridge after adsorption; the unloading device is located at the fourth side of the turntable and is used for taking out the toner cartridge from the mounting slot; and the number of the weighing powder filling devices, the number of the vacuum suction cups and the number of the mounting slots of the same operation station are the same. According to the technical solution of the embodiment of the present application, the feeding of the toner cartridge is performed at the operation station of the first side, the powder filling is completed at the operation station of the second side, the upper cover is completed at the operation station of the third side, and the unloading of the toner cartridge is completed at the operation station of the fourth side. The first motor drives the turntable so that the toner cartridges can sequentially reach different operation stations in order to realize the whole process of toner cartridge filling. Each operation station can perform operations synchronously to improve the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 FIG. 1 is a perspective view of a multi-station cooperative toner cartridge automatic filling device according to an embodiment of the present application;

[0045] Figure 2is a top view of the multi-station coordinated selenium drum automatic filling equipment provided by another embodiment of the present application;

[0046] Figure 3 is a front view of the multi-station coordinated selenium drum automatic filling equipment provided by another embodiment of the present application;

[0047] Figure 4 is a perspective view of the equipment after the upper cover and the feeding equipment are removed, provided by another embodiment of the present application;

[0048] Figure 5 is a perspective view of the equipment after the powder filling assembly is removed, provided by another embodiment of the present application;

[0049] Figure 6 is a flow chart of the multi-station coordinated selenium drum automatic filling method provided by another embodiment of the present application;

[0050] Figure 7 is a structural diagram of the multi-station coordinated selenium drum automatic filling device provided by another embodiment of the present application. DETAILED DESCRIPTION

[0051] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0052] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as a limitation of the present application, which indicates or implies that the device or element indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

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

[0054] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0055] The embodiment of the present application provides a multi-station cooperative toner cartridge automatic filling device, method, apparatus and storage medium, wherein the multi-station cooperative toner cartridge automatic filling device comprises: a turntable, four operation stations are arranged at equal distances in the circumferential direction, each operation station is provided with a plurality of mounting slots, the mounting slots are used for arranging target clamps provided with toner cartridges, the bottom side of the turntable is provided with a first motor, the first motor is used for driving the turntable to rotate, so that any operation station is sequentially located at the first side, the second side, the third side and the fourth side of the turntable, and the first side of the turntable is provided with a feeding window of the target clamp; a powder filling device is located at 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 for storing toner and is communicated with each weighing powder filling device, and the weighing powder filling device fills toner into the toner cartridge based on a preset weight; a cover device is located at 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 a cover body, and the vacuum suction cups are used for adsorbing the cover body and packaging the toner cartridge; a discharging device is located at the fourth side of the turntable, and the discharging device is used for taking the toner cartridge out of the mounting slot; wherein the number of the weighing powder filling devices, the vacuum suction cups and the mounting slots of the same operation station is the same. According to the technical scheme of the embodiment of the present application, the feeding of the toner cartridge can be performed at the operation station at the first side, the powder filling can be completed at the operation station at the second side, the cover feeding can be completed at the operation station at the third side, and the discharging of the toner cartridge can be completed at the operation station at the fourth side. The first motor drives the turntable, so that the toner cartridge can sequentially reach different operation stations one by one, the whole process of toner cartridge filling is realized, each operation station can synchronously perform the operation, and the production efficiency is improved.

[0056] Firstly, refer to Figure 1 and Figure 2 , Figure 1 the perspective view of the multi-station cooperative toner cartridge automatic filling device provided by the embodiment of the present application, Figure 2 the top view of the multi-station cooperative toner cartridge automatic filling device. The multi-station cooperative toner cartridge automatic filling device comprises:

[0057] a turntable 10, four operation stations are arranged at equal distances in the circumferential direction, each operation station is provided with a plurality of mounting slots 101, the mounting slots 101 are used for arranging target clamps 21 provided with toner cartridges 22, the bottom side of the turntable 10 is provided with a first motor 11, the first motor 11 is used for driving the turntable 10 to rotate, so that any operation station is sequentially located at the first side, the second side, the third side and the fourth side of the turntable 10, and the first side of the turntable 10 is provided with a feeding window of the target clamp 21;

[0058] a powder filling device is located at the second side of the turntable 10, the powder filling device is provided with a powder bin 31 and a plurality of weighing powder filling devices 32, the powder bin 31 is used for storing toner and is communicated with each weighing powder filling device 32, and the weighing powder filling device 32 fills toner into the toner cartridge 22 based on a preset weight;

[0059] The upper cover device 40 is located at the third side of the turntable 10, and is provided with a first track 411 for feeding the cover body 46 and a plurality of movable vacuum suction cups 45 for adsorbing the cover body 46 to the filling port of the selenium drum 22 after packaging;

[0060] The lower feeding device 50 is located at the fourth side of the turntable 10, and is used for taking out the selenium drum 22 from the mounting groove 101;

[0061] The number of the mounting groove 101 of the same operation station is the same as that of the weighing and powder filling device 32 and the vacuum suction cup 45.

[0062] It should be noted that the turntable 10 of the embodiment is a circular turntable 10, and each operation station includes a plurality of mounting grooves 101, for example Figure 1 and Figure 2 Each operation station includes three mounting grooves 101, and since the shape of the selenium drum 22 is not a regular cuboid, the mounting groove 101 of the embodiment is used for mounting the target clamp 21, and the selenium drum 22 is mounted on the target clamp 21, so that the selenium drum 22 is mounted into the turntable 10. Of course, not every mounting groove 101 needs to mount the selenium drum 22, and the actual production quantity demand can be adjusted, for example, in the case of three mounting grooves 101, if two selenium drums 22 need to be produced, only two mounting grooves 101 need to be selected for feeding.

[0063] It should be noted that the operation stations of the embodiment are circumferentially and equidistantly arranged, and the embodiment is provided with a feeding window at the first side of the turntable 10, a powder filling device at the second side, an upper cover device 40 at the third side, and a lower feeding device 50 at the fourth side, so that one operation station can be arranged every 90 degrees of the turntable 10, and each operation station is aligned with one device, so that the first motor 11 drives the turntable 10 to rotate 90 degrees every time, so that the operation station can reach the working area of each device in turn, thereby realizing the full-process deployment of selenium drum 22 production in one turntable 10.

[0064] For example, as shown in Figure 2 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 first side as the station A as an example, after starting the first motor 11, the turntable 10 rotates counterclockwise by 90 degrees, the station A reaches the second side and is aligned with the powder filling device, the first motor 11 is started again, and the turntable 10 rotates counterclockwise by 90 degrees again, the station A reaches the third side and is aligned with the upper cover device 40, the first motor 11 is started again, and the turntable 10 rotates counterclockwise by 90 degrees again, the station A reaches the fourth side and is aligned with the lower feeding device 50, the first motor 11 is started again, and the turntable 10 rotates counterclockwise by 90 degrees again, the station A reaches the first side, and completes one filling cycle.

[0065] It should be noted that each operation station of the embodiment can be installed with a selenium drum 22, since the deployment sequence of the powder filling device, the upper cover device 40 and the discharging device 50 is determined according to the production process, the movement of the selenium drum 22 of the operation station can actually realize the progression of the production process. After the loading of the selenium drum 22 is completed at the loading window on the first side, the selenium drum 22 is moved to the powder filling device on the second side to complete the carbon powder filling, then moved to the upper cover device 40 on the third side to complete the filling port sealing, and then moved to the discharging device 50 on the fourth side to complete the discharging of the selenium drum 22. When the operation station returns to the loading window on the first side, the mounting groove 101 of the operation station is in an empty state, and the selenium drum 22 can be placed again to enter the next cycle.

[0066] It should be noted that the embodiment has four operation stations, and they are distributed equidistantly along the circumference. Therefore, during the production process, operations can be performed simultaneously on the four sides of the turntable 10. While the selenium drum 22 is loaded on the first side, the powder filling operation is performed on the operation station on the second side, the upper cover operation is performed on the operation station on the third side, and the discharging operation is performed on the operation station on the fourth side. The devices on each side are operated synchronously, thereby improving the production efficiency.

[0067] It should be noted that, as shown in Figure 1 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 grooves 101 of the same operation station, so that each mounting groove 101 can meet the powder filling demand when the selenium drum 22 is installed therein. For example, as shown in Figure 2 Each operation station includes three mounting grooves 101, and the powder filling device 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 carbon powder 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 carbon powder reaches the preset weight, the powder outlet of the powder bin 31 is closed, and the powder outlet of the weighing powder filling device 32 is opened to fill the carbon powder into the selenium drum 22.

[0068] It should be noted that, as shown in Figure 1As shown, the upper cover device 40 is provided with a first track 411 which is communicated with an upper cover device for feeding the cover body 46. The specific structure of the upper cover device can adopt the existing scheme, and will not be described again. In the embodiment, the upper cover device 40 is provided with a vacuum chuck 45. After the cover body 46 fed on the first track 411 is adsorbed by the vacuum chuck 45, the vacuum chuck 45 is controlled to move to the upper side of the toner cartridge 22 on the third side, and then the cover body 46 can be accurately packaged into the filling port of the toner cartridge 22 by lowering the vacuum chuck 45. The moving structure of the vacuum chuck 45 can be selected according to actual needs, and can realize the carrying function of the cover body 46. The number of the vacuum chucks 45 is the same as the number of the mounting grooves 101 of the same operation position, so that the operation position can be filled with the toner cartridge 22, and the upper cover can be completed.

[0069] It should be noted that the discharging device 50 can be provided with a related clamp or mechanical arm. The clamp or mechanical arm clamps the toner cartridge 22 on the fourth side of the operation position, and the toner cartridge 22 is taken out from the turntable 10 to complete the discharging. The specific type of the discharging device 50 can be selected according to actual needs, and the improvement of the discharging device 50 is not involved in the embodiment, and will not be described again.

[0070] In addition, in an embodiment, referring to Figure 2 and Figure 4 , the turntable 10 is a hollow annular structure, and the hollow part of the turntable 10 is provided with a fixed disc 12. The second side of the fixed disc 12 is provided with a first mounting frame 1313, the first mounting frame 1313 is installed with a second motor 131 and a plurality of infrared emitters 1312, the second motor 131 is connected with a first clamping arm 1311, and the second motor 131 is used to drive the first clamping arm 1311 to abut 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] The outside of the second side of the turntable 10 is also provided with a second mounting frame 333, the second mounting frame 333 is located below the powder filling device, and the top end of the second mounting frame 333 is provided with a third motor 33. The third motor 33 is connected with 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 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 the weighing and powder filling device 32. Each first transceiver end is aligned with one second transceiver end. Each toner cartridge 22 installed on the operation position on the second side is located between a group of first transceiver ends and second transceiver ends.

[0073] It should be noted that the rotating disc 10 of the hollow annular structure in the embodiment can have sufficient space to set the operation station. A fixed disc 12 that cannot rotate is arranged in the middle of the rotating disc 10. The required auxiliary devices on each side, such as the first clamping arm 1311 and the infrared emitter 1312 in the embodiment, can be increased or reduced on the fixed disc 12 according to actual needs.

[0074] It should be noted that the first mounting frame 1313 is arranged on the second side of the fixed disc 12, the second mounting frame 333 is arranged on the outer side of the second side of the rotating disc 10, the first motor 11 and the first clamping arm 1311 are arranged on the first mounting frame 1313, and the second motor 131 and the second clamping arm 331 are arranged on the second mounting frame 333, as shown in Figure 3 The height of the first mounting frame 1313 and the second mounting frame 333 can be adjusted to align the height of the first clamping arm 1311 and the second clamping arm 331, and the first clamping arm 1311 and the second clamping arm 331 are aligned. When powdering the selenium drum 22, the selenium drum 22 can be clamped by the first clamping arm 1311 and the second clamping arm 331 to ensure that the carbon powder will not leak out due to the movement of the selenium drum 22, and the powdering accuracy is improved. Of course, the specific shape of the first clamping arm 1311 and the second clamping arm 331 can be adjusted according to the selenium drum 22, and the two can be clamped together to clamp the selenium drum 22.

[0075] It should be noted that the first mounting frame 1313 further comprises a plurality of infrared emitters 1312, and the second mounting frame 333 comprises an infrared receiver 332. The number of the infrared emitters 1312 and the infrared receiver 332 is the same, and each set is aligned with an installation slot 101. If the selenium drum 22 is installed in the installation slot 101, the infrared light of the infrared emitter 1312 will be blocked by the selenium drum 22, so that the infrared receiver 332 will not receive the infrared light. The host computer can determine that the corresponding installation slot 101 is installed with the selenium drum 22 to control the corresponding weighing powdering device 32 to perform powdering. If the installation slot 101 is not installed with the selenium drum 22, the infrared light of the infrared emitter 1312 will enter the infrared receiver 332 without being blocked, so that the infrared receiver 332 generates an electric signal. The host computer can determine that the corresponding installation slot 101 is not installed with the selenium drum 22, so as not to control the weighing powdering device 32 at the corresponding position to perform powdering, thereby improving the accuracy of powdering.

[0076] Exemplarily, Figure 2 and Figure 3As shown, 3 infrared emitters 1312 are arranged in the first mounting frame 1313, and 3 infrared receivers 332 are arranged in the second mounting frame 333. Taking the operation stations including No. 1 operation station, No. 2 operation station and No. 3 operation station as an example, if all of the operation stations are provided with the toner cartridge 22, all of the infrared receivers 332 have no electric signal, and all of the weighing and powder filling devices 32 are controlled to perform the powder filling operation. If the infrared receiver 332 corresponding to the No. 1 operation station generates an electric signal, it can be determined that the No. 1 operation station is not provided with the toner cartridge 22, and only the weighing and powder filling devices 32 of the No. 2 operation station and the No. 3 operation station are controlled to perform the powder filling operation.

[0077] In addition, in an 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 slots 101 of the same operation station, the sixth motor 61 is located on the lower side of the aligned mounting slot 101, the upper end of the sixth motor 61 is provided with a weighing device 62, the upper end of the weighing device 62 is provided with a weighing contact 63, and the sixth motor 61 is used to drive the weighing device 62 to ascend so that the weighing contact 63 abuts against the target clamp 21 in the corresponding mounting slot 101.

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

[0079] It should be noted that since the lengths of different models of the toner cartridge 22 are different, it is necessary to ensure that the filling ports of different models of the toner cartridge 22 are at the same height during filling, so as to match the powder outlet of the weighing and powder filling device 32. In the embodiment, the weighing device 62 is arranged on the upper side of the sixth motor 61, the weighing device 62 is provided with the weighing contact 63, the weighing device 62 can be lifted under the drive of the sixth motor 61, and after the weighing contact 63 abuts against the lower side of the target clamp 21, the weighing device 62 is continuously lifted, so that the target clamp 21 is away from the mounting slot 101, thereby reaching the height at which the powder filling operation can be performed.

[0080] It should be noted that after the target clamp 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, so as to ensure that the weight of the toner filled into the toner cartridge 22 meets the requirement.

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

[0082] The gantry 44 is distributed on the upper side and the outer side of the third side of the turntable 10, and the gantry 44 is provided with a fourth motor 132 on the side close to the fixed disc 12, the fourth motor 132 is connected with a third clamping arm 1321, and the fourth motor 132 is used to drive the third clamping arm 1321 to abut or move away from the inner side of the toner cartridge 22 located on the third side; the gantry 44 is provided with a fifth motor 443 on the side away from the turntable 10, the fifth motor 443 is connected with a fourth clamping arm 442, and the fifth motor 443 is used to drive the third clamping arm 1321 to abut or move away from the outer side of the toner cartridge 22 located on the third side; the upper side of the gantry 44 is provided with a third track 441 extending in the inner-outer direction, and the vacuum suction cup 45 can be installed on the third track 441 and can move in the inner-outer direction;

[0083] The loading carrier plate 421 is located on the outer side of 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 transversely, the second track 422 is installed with a loading arm 423, and the loading carrier plate 421 is provided with a plurality of loading columns 431 on the side 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 column 431, the number of the loading columns 431 corresponds to the number and position of the mounting grooves 101 of the same operation station, and the upper side of the loading column 431 is provided with an optical fiber sensor.

[0084] It should be noted that the fourth motor 132, the third motor 33 and the third track 441 are installed by the gantry 44 in the embodiment, and the specific shape and structure of the gantry 44 can be adjusted according to the actual installation requirements of the above-mentioned equipment, for example Figure 5 As shown, the upper side of the gantry 44 is provided with three third tracks 441, and one liftable vacuum suction cup 45 is installed on the lower side of each third track 441, so that the vacuum suction cup 45 can move close to or 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, be fixedly connected at the fixed disc 12 through a plurality of columns, and be provided with a cross beam at a corresponding position to facilitate installation of the fourth motor 132 facing the outer side of the turntable 10, and similarly, a longitudinal beam and a cross beam are arranged on the outer side of the turntable 10 close to the turntable 10 to facilitate installation of the fifth motor 443 facing the inner side 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, and the specific moving away can refer to the first clamping arm 1311 and the second clamping arm 331. The embodiment aims to complete the installation of related components by using the cross beam and longitudinal beam structure of the gantry 44.

[0085] It should be noted that, as Figure 5As shown, the loading carrier plate 421 is located outside the gantry 44, a first track 411 is arranged on the side of the loading carrier plate 421, and a second track 422 transverse to the loading carrier plate 421 is arranged, so that the loading arm 423 can move transversely in the second track 422. The specific transverse driving mode is a technology known to those skilled in the art.

[0086] It should be noted that the embodiment sets a plurality of loading columns 431 on the side of the loading carrier plate 421 close to the gantry 44, and the number of the loading columns 431 is the same as the number of the mounting grooves 101 of one operating station. Each cover body 46 of the selenium drum 22 is placed through the loading column 431. Therefore, the loading column 431 needs to be aligned with the positions of the vacuum suction cup 45 and the mounting groove 101, so that the vacuum suction cup 45 can move in a straight line to carry the cover body 46 from the loading column 431 to the selenium drum 22. Since the second track 422 is arranged transversely, the loading arm 423 is arranged to be transversely and longitudinally movable, so that the loading arm 423 can be transversely moved to the first track 411 to clamp the cover body 46, then transversely moved to the corresponding position of the loading column 431, and then longitudinally moved to place the cover body 46 on the top end of the loading column 431. In the case that the positions of the components at each step are known, the specific loading control is a technology known to those skilled in the art, and will not be described again.

[0087] It should be noted that the embodiment sets an optical fiber sensor on the loading column 431. When the optical fiber sensor detects an object on the upper side, an electrical signal is generated, which is used as a basis to determine that the cover body 46 has been placed on the loading column 431, so as to avoid the failure of the vacuum suction cup 45 to suck the cover body 46 and cause the packaging failure of the selenium drum 22.

[0088] In addition, based on Figures 1 to 5 As shown, the multi-station cooperative selenium drum automatic filling equipment provided by the embodiment of the present application also provides a multi-station cooperative selenium drum automatic filling method, such as Figure 6 As shown, the multi-station cooperative selenium drum automatic filling method includes but is not limited to the following steps:

[0089] S11, in response to a start signal, marking the powder filling equipment as an active equipment, and executing a target instruction once, wherein 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 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 active equipment to execute a target operation once, the target operation of the powder filling equipment is to control the weighing powder filling device to perform the powder filling operation in the selenium drum located on the second side of the turntable based on the preset weight;

[0090] S12, when the powder filling completion signal fed back by the powder filling device is acquired, the upper cover device is marked as an active device, and the target instruction is executed again, wherein the target operation of the upper cover device is to control the vacuum chuck to adsorb the cover body fed on the first track, and to package the cover body to the selenium drum located at 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 acquired, the unloading device is marked as an active device, and the target instruction is executed again, wherein the target operation of the unloading device is to perform unloading on the selenium drum located at the fourth side of the turntable;

[0092] S14, the target instruction is executed once every time the powder filling completion signal, the upper cover completion signal, and the unloading completion signal fed back by the unloading device are acquired.

[0093] It should be noted that the specific structure of the multi-station cooperative selenium drum automatic filling device can refer to the description of the above-mentioned embodiments, and the specific structure connection relationship and position relationship will not be repeated.

[0094] It should be noted that at the first start, only the first side operation station is placed with the target clamp 21 and the selenium drum 22 through the feeding window, so the powder filling device, the upper cover device 40 and the unloading device 50 do not need to be started, and according to the description of the above-mentioned structure embodiment, the operation station will pass through the powder filling device, the upper cover device 40 and the unloading device 50 in turn during the rotation of the turntable 10, and the above-mentioned devices are activated in turn according to the number of rotations of the turntable 10, and finally the four operation stations can execute the target operation synchronously after each device is determined as an active device, thereby realizing multi-station cooperation and improving the production efficiency of the selenium drum 22.

[0095] It should be noted that the target instruction of the present embodiment includes a first instruction and a second instruction executed in turn, the first instruction is used to control the first motor 11 to drive the turntable 10 to rotate, and the target direction can adopt the counterclockwise direction of the above-mentioned embodiment, which can be adjusted according to the position of each device to ensure that it can reach each device in turn according to the production order. The second instruction is used to control the active device to execute the target operation, that is, the present embodiment executes the rotation first and then executes the target operation when responding to the target instruction, so the active device should at least include the device after rotation. At the first start, the operation station located at the first side will reach the second side after rotation, that is, the position of the powder filling device, so the present embodiment marks the powder filling device as an active device to trigger the target instruction, so that the powder filling device can execute the target operation after rotation. The target operation of the powder filling device can refer to the principle description of the above-mentioned structure embodiment, and the carbon powder can be filled into the selenium drum 22 through the weighing powder filling device 32.

[0096] It should be noted that, since the embodiment can perform operations synchronously in multiple stations, in order to complete the station switching by one rotation, it is necessary to ensure that each operation station has completed the corresponding target operation, that is, the powder filling device has completed powder filling, the upper cover device 40 has completed upper cover, the discharging device 50 has completed discharging, and after obtaining the completion signals of all activated devices, the next target instruction is executed. The same applies to subsequent activated devices, and the subsequent description is not repeated. The loading at the loading window is usually faster than the devices at other positions, so there is no need to consider the completion signal of the toner cartridge 22 loading. Even if the toner cartridge 22 loading in all installation slots 101 is not completed, subsequent recognition by the second station can ensure correct powder filling. For details, refer to the description of steps S21 to S23.

[0097] It should be noted that, after completing powder filling, the powder filling device generates a powder filling completion signal, that is, obtains the completion signals of all activated devices. After the next rotation, the upper cover operation needs to be performed, so the upper cover device 40 is marked as an activated device. After executing the target instruction, the toner cartridge 22 that has completed powder filling will be rotated to the third side for upper cover operation, and the new toner cartridge 22 loaded at the loading window will be rotated to the second side for powder filling operation. Similarly, after obtaining the powder filling completion signal and the upper cover completion signal, the last discharging device 50 is marked as an activated device, and the three operation stations continue to switch stations under the rotation of the turntable 10. The first operation station reaches the discharging station to complete discharging, and the remaining operation stations follow suit, thereby realizing multi-station cooperation and switching different processes at the same turntable 10, improving the automation degree of toner cartridge 22 production.

[0098] It should be noted that, after the discharging device 50 is marked as an activated device, the four operation stations are in a working state. According to the above description, after obtaining the powder filling completion signal, the upper cover completion signal, and the discharging completion signal, it is ensured that all devices have completed the target operation, and the next target instruction is executed to enter the cycle.

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

[0100] S21, start each infrared emitter, determine the first station and / or the second station at the operation station currently located at the second side, wherein the first station corresponds to the installation slot aligned with the infrared receiver receiving the infrared light, and the second station corresponds to the installation slot aligned with the infrared receiver not receiving the 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 and powder filling device corresponding to the second station, and performing a powder filling operation in the toner cartridge installed at the second station.

[0103] It should be noted that, according to the description of the above-mentioned structural embodiment, the infrared emitter 1312 and the infrared receiver 332 are aligned with each other. When the toner cartridge 22 is installed at the corresponding work station, 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 emitter 1312 is started. When the infrared receiver 332 does not receive infrared light, it is determined to be the second work station. When it receives infrared light, it is determined to be the first work station.

[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 station; 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 mounting groove 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 after starting the second motor 131 and the third motor 33, controlling the first clamping arm 1311 and the second clamping arm 331 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, if 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 will not be 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 to raise the corresponding target fixture using the corresponding weighing device;

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

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

[0111] It should be noted that according to the description of the above structural embodiment, the sixth motor 61 can lift the target clamp 21 to a set height by the weighing device 62, so that the turntable 10 can be suitable for different specifications of the selenium drum 22. For example, when a selenium drum 22 with a shorter length is placed, the sixth motor 61 is controlled to lift to a higher height, and when a selenium drum 22 with a longer length is placed, the sixth motor 61 is controlled to lift to a smaller height, so that the position of the filling port of the selenium drum 22 after lifting can meet the filling requirements of the weighing and powder filling device 32. The present embodiment maintains a preset mapping table on the host computer, and after inputting the model of the selenium drum 22 produced this time on the host computer, the target height is determined by querying the preset mapping table, and the sixth motor 61 is controlled based on the target height to make the selenium drum 22 at the appropriate height.

[0112] It should be noted that according to the description of the above embodiment, only the second station is provided with the selenium drum 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 clamp 21, and after completing the lifting, the weight of the target clamp 21 and the selenium drum 22 is the initial reading of the weighing device 62. The present embodiment resets the reading of the weighing device 62 to zero before starting the powder filling, so that the reading of the weighing device 62 after starting the powder filling is the weight of the toner filled into the selenium drum 22. The weighing and powder filling device 32 is filled based on a preset weight, and there may be some loss during the filling process. Therefore, the present embodiment simultaneously obtains the first weighing value of the weighing and powder filling device 32 and the second weighing value of the weighing device 62. The first weighing value is the weight of the output toner, and the second weighing value is the weight of the filled toner. If the difference between the two is less than a preset threshold value, it can be determined that the toner filling is normal, and a powder filling completion signal is generated. If the difference between the two is greater than the preset threshold value, it can be determined that the toner filling is abnormal, for example, the lifting height of the sixth motor 61 is insufficient, resulting in spilling during the powder filling process, and an alarm information is generated to prompt the production personnel to investigate.

[0114] In addition, in an embodiment, with reference to Figure 1 , Figure 2 and Figure 5In the target operation corresponding to the upper cover device 40, the structure shown controls the vacuum chuck 45 to adsorb the cover body 46 fed on the first track 411 and encapsulate the cover body 46 to the toner cartridge 22 located at the third side of the rotating disc 10, which specifically includes but is not limited to the following steps:

[0115] S31, determine the target feeding column corresponding to the second station and the feeding distance corresponding to each target feeding column, wherein the feeding distance is used to indicate the transverse movement distance of the feeding arm from the feeding position of the first track to the target feeding column;

[0116] S32, control the feeding arm to move in the second track based on the respective transverse movement distance, so as to carry the cover body from the first track to the target feeding column by the feeding arm;

[0117] S33, when the optical fiber sensing signal of each target feeding column is acquired, control the vacuum chuck to move to above the corresponding feeding column along the third track;

[0118] S34, when the target instruction is acquired, start the fourth motor and the fifth motor to clamp the toner cartridge located at the third side of the rotating disc by the third clamping arm and the fourth clamping arm;

[0119] S35, control the vacuum chuck corresponding to the second station to descend to adsorb the cover body placed in the target feeding column, and then move to above the toner cartridge located at the third side of the rotating disc along the third track, and control the vacuum chuck to descend to encapsulate 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 moved from the first track 411 to the feeding column 431, and according to the description of the above embodiment, not every installation slot 101 in the operation station is necessarily installed with a toner cartridge 22. Since the feeding device is located after the powder filling device, after the powder filling device determines the second station, the upper computer can control the feeding of the feeding device according to the second station, and the cover body 46 can be moved from the first track 411 to the feeding column 431 before the target instruction is acquired, for example, after the second station is determined, the feeding arm 423 directly performs the related operation without waiting for the toner cartridge 22 to rotate to the third side, fully utilizing the standby time of the device and improving the production efficiency.

[0121] It should be noted that since the position of the feeding column 431 is fixed, the transverse movement distance from the first track 411 to each feeding column 431 can be pre-set. In this embodiment, after the target feeding column corresponding to the second station is determined, the corresponding feeding distance is directly acquired, and the feeding arm 423 is controlled to move in the second track based on the feeding distance, so as to move to the position where the target feeding column is located, and then the cover body 46 is placed on the top end of the target feeding column through the 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 top end of the corresponding feeding column 431 is placed with the cover 46, and the embodiment takes the optical fiber sensing signal of all target feeding columns as the signal of the operation completion of the feeding arm 423, and controls the vacuum chuck 45 to move to the upper side of the feeding column 431 along the third rail 441 to standby.

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

[0124] It should be noted that the vacuum chuck 45 can be lifted, after obtaining the target instruction, the vacuum chuck 45 of the second station is controlled to descend to suck the cover 46 and then rise a certain distance, and then move to the upper side of the selenium drum 22 on the third side along the third rail 441, and then press the cover 46 to the filling port by descending. Of course, if the cover 46 is a rotating cover 46, a vacuum chuck 45 capable of rotating can also be used to complete the cover, and the specific function of the vacuum chuck 45 can be selected according to the actual cover requirement. In the case of knowing the positions of the second station and the operation station, the lifting height of the vacuum chuck 45 and the transverse movement control along the third rail 441 are all known technologies for those skilled in the art, and will not be repeated here.

[0125] As shown in Figure 7 , the Figure 7 is a structural diagram of a multi-station cooperative selenium drum automatic filling device provided by an embodiment of the application. The application also provides a multi-station cooperative selenium drum automatic filling device, which comprises:

[0126] The processor 401 can be implemented in 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 related programs to realize the technical solutions provided by the embodiments of the 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, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 402 and are called and executed by the processor 401 to implement the multi-station cooperative automatic filling method of the toner cartridge;

[0128] The input / output interface 403 is configured to realize information input and output.

[0129] The communication interface 404 is configured to realize the communication interaction between the device and other devices, and the communication can be realized by a wired manner (for example, a USB, a network cable, etc.) or a wireless manner (for example, a mobile network, WI FI, Bluetooth, etc.).

[0130] The bus 405 is configured to transmit information between various components (for example, the processor 401, the memory 402, the input / output interface 403, and the communication interface 404) of the device.

[0131] The processor 401, the memory 402, the input / output interface 403, and the communication interface 404 are connected to each other through the bus 405 to realize the communication connection between the devices.

[0132] The embodiments of the present application also provide a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program. The computer program is executed by a processor to implement the above-mentioned multi-station cooperative automatic filling method of the toner cartridge.

[0133] The memory is a non-transitory computer readable storage medium, which can be used to store a non-transitory software program and a non-transitory computer executable program. In addition, the memory can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory remotely arranged relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The above-described device embodiments are only schematic, and the units described as separate components can be or can not be physically separated, and can be implemented in one place, or can be distributed on a plurality of network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0134] As will be appreciated by one of ordinary skill in the art, all or some of the steps, systems, etc. in the above-disclosed methods can be embodied in software, firmware, hardware, and / or suitable combinations thereof. Some or all of the physical components can be implemented with software executed by a processor, such as a central processing unit, a digital signal processor, or microprocessor, or can be implemented with hardware, or can be implemented with an integrated circuit, such as an application- specific integrated circuit. Such software can be distributed on computer readable media, which can comprise computer storage media (or non-transitory media), and communication media (or transitory media). As is well known to those of ordinary skill in the art, computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of 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 technology, 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 which can be used to store the desired information and which can be accessed by a computer. Further, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as carrier waves or other transport mechanisms, and includes any information delivery media.

[0135] The above description is that of the preferred embodiments of the application. Various modifications and changes can be made thereto without departing from the spirit and scope of the application as set forth in the claims.

Claims

1. A multi-station cooperative toner cartridge automatic filling device, characterized in that, The application relates to a powder filling device and a toner cartridge loading and unloading device. The powder filling device comprises a rotary disc, a powder filling equipment, an upper cover equipment and a discharging equipment. The rotary disc is provided with four operation stations at equal intervals in the circumferential direction, each of the operation stations is provided with a plurality of mounting slots for arranging target clamps with toner cartridges, the bottom side of the rotary disc is provided with a first motor for driving the rotary disc to rotate so that any operation station is sequentially located at a first side, a second side, a third side and a fourth side of the rotary disc, and the first side of the rotary disc is provided with a feeding window of the target clamps. The powder filling equipment is located at the second side of the rotary disc and is provided with a powder bin and a plurality of weight powder filling devices, the powder bin is used for storing carbon powder and is communicated with each weight powder filling device, and the weight powder filling device fills the carbon powder into the toner cartridge based on a preset weight. The upper cover equipment is located at the third side of the rotary disc and is provided with a first track for feeding a cover body and a plurality of movable vacuum suction cups for encapsulating the cover body to a filling port of the toner cartridge after adsorption. The discharging equipment is located at the fourth side of the rotary disc and is used for taking out the toner cartridge from the mounting slot. The number of the weight powder filling devices, the number of the vacuum suction cups and the number of the mounting slots of the same operation station are the same. The rotary disc is a hollow annular structure, the hollow part of the rotary disc is provided with a fixed disc, the second side of the fixed disc is provided with a first mounting frame, 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 for driving the first clamping arm to abut or move away from an inner side of the toner cartridge located at the second side, and a first receiving end of the infrared emitter faces the outside of the rotary disc. The outside of the second side of the rotary disc is also provided with a second mounting frame, the second mounting frame is located below the powder filling equipment, the top end 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 for driving the second clamping arm to abut or move away from an outer side of the toner cartridge located at the second side, and a second receiving end of the infrared receiver faces the inside of the rotary disc. The number of the infrared emitters and the number of the infrared receivers are the same as the number of the weight powder filling devices, each first receiving end is aligned with one second receiving end, and each toner cartridge of the operation station located at the second side is located between a group of first receiving ends and second receiving ends. The upper cover equipment comprises: A gantry is arranged on the upper side and the outer side of the third side of the rotating disc, a fourth motor is arranged on the side of the gantry close to the fixed disc, a third clamping arm is connected to the fourth motor, and the fourth motor is used to drive the third clamping arm to abut or move 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 away from the rotating disc, a fourth clamping arm is connected to the fifth motor, and the fifth motor is used to drive the third clamping arm to abut or move away from the outer side of the toner cartridge located on the third side; the upper side of the gantry is provided with a third track extending in the inner-outer direction, and the vacuum suction disc can be mounted on the third track and can move in the inner-outer direction; A feeding carrier plate is arranged on the outer side of the gantry, the first track is mounted on one side of the feeding carrier plate, the feeding carrier plate is provided with a second track arranged transversely, the second track is mounted with a feeding arm, and the feeding carrier plate is provided with a plurality of feeding columns on the side close to the gantry, the feeding arm is used to place the cover bodies fed through the first track on the upper side of the feeding columns, the number of the feeding columns corresponds to the number and position of the mounting slots of the same operation station, and the upper side of the feeding column is provided with an optical fiber sensor.

2. The multi-station cooperative toner cartridge automatic filling apparatus according to claim 1, characterized in that, A plurality of sixth motors are arranged on the lower side of the second side of the rotating disc, the number of the sixth motors is equal to and aligned with the number of the mounting slots of the same operation station, the sixth motor is located below the aligned mounting slot, the upper end of the sixth motor is provided with a weighing device, the upper end of the weighing device is provided with a weighing contact, and the sixth motor is used to drive the weighing device to ascend and descend, so that the weighing contact abuts against the target clamp in the corresponding mounting slot.

3. A multi-station cooperative toner cartridge automatic filling method, characterized in that, The application discloses a method for applying to a host computer of a multi-station cooperative toner cartridge automatic filling equipment. In response to a start signal, the filling equipment is marked as an active equipment, and a target instruction is executed once, wherein the target instruction comprises a first instruction and a second instruction executed in sequence, the first instruction is used to drive the rotating disc to rotate by 90 degrees in a target direction, the target direction is a direction in which the rotating disc points from a first side to a second side, and the second instruction is used to control all the active equipment to execute a target operation once, the target operation of the filling equipment is to control the weighing and filling device to execute a filling operation in a toner cartridge located on the second side of the rotating disc based on a preset weight; When a filling completion signal fed back by the filling equipment is acquired, the upper cover equipment is marked as the active equipment, and the target instruction is executed again, wherein the target operation of the upper cover equipment is to control the vacuum suction disc to adsorb the cover body fed on the first track and encapsulate the cover body into the toner cartridge located on the third side of the rotating disc. When the powder filling completion signal and the upper cover completion signal fed back by the upper cover device are acquired, the lower device is marked as the active device, and the target instruction is executed again, wherein the target operation of the lower device is to perform lower feeding on the toner cartridge located at the fourth side of the rotating disc; The target instruction is executed once every time the powder filling completion signal, the upper cover completion signal and the lower feeding completion signal fed back by the lower device are acquired.

4. The multi-station cooperative toner cartridge automatic filling method according to claim 3, characterized in that, The rotating disc is a hollow ring structure, and the hollow part of the rotating disc is provided with a fixed disc. The second side of the fixed disc is provided with a first mounting frame. The first mounting frame is mounted 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 or move away from the inner side of the toner cartridge located at the second side. The first transceiving end of the infrared emitter faces the outside of the rotating disc. The outside of the second side of the rotating disc is also provided with a second mounting frame. The second mounting frame is located below the powder filling device. The top end 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 or move away from the outer side of the toner cartridge located at the second side. The second transceiving end of the infrared receiver faces the inside of the rotating disc. The number of the infrared emitters and the infrared receivers is the same as the number of the weight filling devices. Each first transceiving end is aligned with one second transceiving end. Each toner cartridge of the operation station mounted on the second side is located between a group of first transceiving ends and second transceiving ends. The powder filling operation in the toner cartridge located at the second side of the rotating disc is controlled based on the preset weight, which comprises: Start each infrared emitter to determine a first station and / or a second station of the operation station currently located at the second side. The first station corresponds to the mounting slot aligned with the infrared receiver receiving infrared light. The second station corresponds to the mounting slot aligned with the infrared receiver not receiving the infrared light. When at least one second station is determined, start the second motor and the third motor to clamp the toner cartridge located at the second side of the rotating disc by using the first clamping arm and the second clamping arm. Start the weight filling device corresponding to the second station to perform the powder filling operation in the toner cartridge mounted on the second station.

5. The multi-station cooperative toner cartridge automatic filling method according to claim 4, wherein, The lower side of the second side of the rotating disc is provided with a plurality of sixth motors. The number of the sixth motors is equal to and aligned with the number of the mounting slots of the same operation station. The sixth motor is located below the aligned mounting slot. The upper end of the sixth motor is provided with a weighing device. The upper end of the weighing device is provided with a weighing contact. The sixth motor is used to drive the weighing device to rise and fall, so that the weighing contact abuts the target clamp in the corresponding mounting slot. The starting the weighing powder filling device corresponding to the second station, performing the powder filling operation in the selenium drum installed in the second station, comprises: Obtain the model information of the selenium drum, 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 selenium drum model and the lifting height of the sixth motor; Based on the target height, the sixth motor corresponding to the second station is started to lift the corresponding target clamp by using the corresponding weighing device; The second station corresponding to the weighing device is started, the second station corresponding to the weighing powder filling device is started, and the first weighing value of each weighing powder filling device is obtained after the powder filling operation is completed. When the difference between each corresponding first weighing value and second weighing value is less than a preset threshold, the powder filling completion signal is generated.

6. The multi-station cooperative toner cartridge automatic filling method according to claim 4, wherein, 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, the fourth motor is arranged on the side of the gantry close to the fixed disc, the fourth motor is connected with the third clamping arm, and the fourth motor is used to drive the third clamping arm to abut or move away from the inner side of the selenium drum located on the third side; the fifth motor is arranged on the side of the gantry away from the turntable, the fifth motor is connected with the fourth clamping arm, and the fifth motor is used to drive the third clamping arm to abut or move away from the outer side of the selenium drum located on the third side; the upper side of the gantry is provided with a third track extending in the inner-outer direction, and the vacuum suction cup can be installed on the third track and can move in the inner-outer direction; the upper loading carrier plate is located on the outer side of the gantry, the first track is installed on one side of the upper loading carrier plate, the upper loading carrier plate is provided with a second track distributed transversely, the second track is installed with an upper loading arm, and the upper loading carrier plate is provided with a plurality of upper loading columns on the side close to the gantry. The upper loading arm is used to place the cover body loaded through the first track on the upper side of the upper loading column, the number of the upper loading columns corresponds to the number and position of the mounting slots of the same operation station one by one, and the upper side of the upper loading column is provided with an optical fiber sensor; The control of the vacuum suction cup to adsorb the cover body loaded on the first track and encapsulate the cover body to the selenium drum located on the third side of the turntable comprises: Determine the target upper loading column corresponding to the second station and the upper loading distance corresponding to each target upper loading column, wherein the upper loading distance is used to indicate the transverse movement distance of the upper loading arm from the loading position of the first track to the target upper loading column; Based on each transverse movement distance, the upper loading arm is controlled to move in the second track to carry the cover body from the first track to the target upper loading column by the upper loading arm; When the optical fiber sensing signal of each target upper loading column is obtained, the vacuum suction cup is controlled to move above the corresponding upper loading column along the third track. When the target instruction is acquired, the fourth motor and the fifth motor are started to clamp the toner cartridge located at the third side of the rotating disc by the third clamping arm and the fourth clamping arm; After the vacuum chuck corresponding to the second station is controlled to descend to adsorb the cover placed on the target feeding column, the vacuum chuck is controlled to descend to package the cover to the corresponding toner cartridge.

7. A multi-station cooperative toner cartridge automatic filling device, characterized in that, The computer readable storage medium stores computer executable instructions for causing a computer to perform the multi-station cooperative toner cartridge automatic filling method according to any one of claims 3 to 6.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions for causing a computer to perform the multi-station cooperative toner cartridge automatic filling method according to any one of claims 3 to 6.

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