An automatic plug-in panel box changing device

Abstract

The application discloses an automatic box changing device for plug-in panels and belongs to the technical field of automation. The device comprises an online work station, a box changing work station, a detection work station and an offline work station. The online work station is used for stacking, splitting and conveying injection molded boxes and vacuum molded boxes to the box changing work station. The box changing work station is used for converting plug-in panels in the injection molded boxes to the vacuum molded boxes and conveying the plug-in panels to the detection work station. The detection work station is used for detecting defects of the plug-in panels in the vacuum molded boxes and conveying the plug-in panels to the offline work station. The offline work station is used for stacking empty injection molded boxes and separately stacking qualified and unqualified plug-in panels. The application splits the online material boxes, respectively conveys the material boxes to the box changing work stations, automatically transfers the plug-in panels to the material boxes, automatically identifies whether the plug-in panels have defects when the material boxes are conveyed to the detection work stations, and separately stacks the qualified and unqualified products at the offline work station, thereby facilitating subsequent processing and improving the automation level of the box changing and detection.

Description

Technical Field

[0001] This invention relates to an automatic box-changing device for plug-in panels, belonging to the field of automation technology. Background Technology

[0002] The plug-in panels used in power system protection and automation devices involve multiple processing steps and are produced by different automated equipment. Due to the large differences in processing conditions of each automated equipment, the matching material boxes cannot be used for all equipment. The material box structures vary greatly, and the storage quantities are also inconsistent. The material box changing work between the preceding and following processes relies on manual labor. After the plug-in panels are processed, the finished products are transferred to the inspection stage. The efficiency of single-piece inspection is low, and manual assistance is still required for loading and unloading, resulting in a low degree of automation.

[0003] Compared to the manual box changing and single-machine inspection operation mode of plug-in panel, the plug-in panel automatic box changing device and inspection system adopts a modular design, which has the functions of automatic online box sorting, unequal distance and unequal quantity box changing, multi-camera automatic inspection, and automatic material unloading and stacking. It can be compatible with automatic box changing of multiple different types of boxes and meet the automated production needs of different processes.

[0004] In the field of electrical equipment, most small automated handling and vision inspection equipment on the market is used for single-piece gripping and inspection or handling of multiple products of a single model. However, the automatic box changing device and inspection system for plug-in panels is compatible with the handling and batch inspection of multiple models of plug-in panels. According to the set model, the system algorithm adjusts the spacing and number of various blade cylinders to complete the handling of plug-in panels between boxes with different storage quantities in the optimal handling method. The inspection system inspects four products in the box in sequence from right to left, which greatly improves the efficiency of universal inspection. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic box changing device for plug-in panels, which solves the problem of labor waste caused by manual switching of equipment-specific material boxes, handling of plug-in panels, and visual inspection of plug-in panels during the production process of various automated equipment.

[0006] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution: An automatic box-changing device for plug-in panels includes: an online workstation, a box-changing workstation, an inspection workstation, and an offline workstation; The online workstation is used for stacking, splitting, and conveying injection molded boxes and blister boxes to the box changing workstation; The box-changing station is used to convert the plug-in panel inside the injection molded box into a blister box and transport it to the inspection station; The inspection station is used to inspect the plug-in panels inside the blister box for defects and then transport them to the off-line station. The offline workstation is used for stacking empty injection molded boxes and separating qualified and unqualified plug-in panels for stacking.

[0007] Optionally, the online workstation includes an online module one for temporarily storing and stacking injection molded boxes filled with plug-in panels. The online module one includes a frame one, a conveying roller one, and an electric lifting system one. The frame one is provided with a positioning mechanism one for positioning the injection molded boxes. The positioning mechanism one is provided with clamping cylinders one on both sides for fixing the injection molded boxes. The conveying roller one is located at the conveying end of the online module one. The electric lifting system one is located below the positioning mechanism one and is used to lift the injection molded boxes to the plane of the conveying roller one.

[0008] Optionally, the online workstation also includes an online module two for temporarily storing and stacking empty blister boxes. The online module two includes a frame two and a pneumatic lifting system. The frame two is provided with a positioning mechanism two for positioning the blister boxes. The positioning mechanism two is provided with clamping cylinders two for fixing the blister boxes on both sides. The frame two is provided with conveying rollers two at both ends. The pneumatic lifting system is located below the positioning mechanism two and is used to lift the blister boxes to the plane of the conveying rollers two. The frame two is provided with separation cylinders around the blister boxes to pull the blister boxes out and separate them to the plane of the conveying rollers two.

[0009] Optionally, the online workstation also includes blister packs for temporarily storing and stacking plug-in panels. The online module three includes a frame three and an electric lifting system two. The frame three is provided with a positioning mechanism three for positioning the blister packs. The positioning mechanism three is provided with clamping cylinders three for fixing the blister packs on both sides. The frame three is provided with conveying rollers three at both ends. The electric lifting system two is located below the positioning mechanism three and is used to lift the blister packs to the plane of the conveying rollers three.

[0010] Optionally, the box-changing station includes a frame four, a three-way module one, a variable pitch module and a positioning mechanism four. The frame four is respectively provided with conveying rollers four for conveying injection molded boxes and blister boxes. The three-way module one is provided on the frame four and is provided with a variable pitch module for converting plug-in panels. The positioning mechanism is provided on the frame four at the corresponding positions of the injection molded box and the blister box.

[0011] Optionally, the variable pitch module includes a transmission module, a stepper motor, and multiple blade cylinders. The output end of the stepper motor is connected to the central shaft of the transmission module, and the multiple blade cylinders are respectively connected to the central shaft in the transmission module through sliders. The bottom of each blade cylinder is provided with a vacuum suction cup.

[0012] Optionally, the positioning mechanism includes a blocking cylinder, a side-push cylinder, and a corner clamp. The side-push cylinder is used to position the four corners of the injection molding box. The corner clamp is located at the telescopic end of the side-push cylinder. The blocking cylinder is located at the bottom of the output end of the injection molding box and blocks the injection molding box by extending the blocking cylinder.

[0013] Optionally, the inspection station includes a frame five, a conveying roller five, a three-way module two, a vision module, and a positioning mechanism five. The positioning mechanism five is located on the frame five corresponding to the stopping position of the blister box and is used to clamp the blister box. The three-way module two is located on the frame five and drives the vision module to perform quality inspection on the plug-in panel in the blister box. The whole tray of qualified products is conveyed to the offline module three of the offline station through the conveying roller five, and the whole tray of unqualified products is conveyed to the offline module two of the offline station.

[0014] Optionally, the vision module includes a camera, a camera mounting assembly, a vision control module, and a circular light source. The camera is mounted on the camera mounting assembly, which is connected to the three-way module two. The vision control module is used to control the camera to take pictures according to a request, and the circular light source is used to cooperate with the camera to take pictures.

[0015] Optionally, the unloading station further includes an unloading module one, which includes a frame six, a conveying roller six, a positioning mechanism six, a check mechanism, and a pneumatic lifting system two. The conveying roller six is ​​located at the output end of the frame six, the positioning mechanism six is ​​located on both sides of the frame six for fixing the injection molded box, and the check mechanism is located on both sides of the frame six for preventing the injection molded box from returning.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The first online module of this invention uses an electric lifting system with three different height settings. In conjunction with the extension and retraction of the clamping cylinders, the electric lifting system reaches the first height to lift the stacked injection molded boxes, while the clamping cylinders retract simultaneously. The electric lifting system then descends to the height of one injection molded box, while the clamping cylinders extend to support the stacked injection molded boxes. The electric lifting system continues to descend until the injection molded boxes reach the roller plane, achieving automatic separation and conveying. It integrates box separation and conveying functions, has a simple structure and operation process, and is fully functional and can be used as an independent module. No manual intervention is required within one loading cycle, resulting in a high degree of automation.

[0017] The second online module of this invention employs a pneumatic lifting system with two different height settings. This, combined with the extension and retraction of the clamping cylinder and the rising and falling retraction of the separation cylinder, allows the pneumatic lifting system to rise to the height of the stacked blister packs below the clamping cylinder's support surface. The clamping cylinder extends to support the second stacked blister pack at the bottom. The separation cylinder rises and extends, contacting the edge of the first blister pack at the bottom. The pneumatic lifting system then descends to below the roller plane. The separation cylinder first descends and then retracts, causing the interlocking blister packs to separate. The blister packs reach the roller plane, achieving automatic separation and conveying. This module integrates box separation and conveying functions, has a simple structure, low cost, and complete functionality, and can be used as an independent module.

[0018] The box-changing module of this invention is applicable to eight different spacing injection molded boxes and blister boxes. It adopts a variable spacing module to automatically adjust the spacing to match the spacing of the injection molded boxes. It relies on a blade cylinder to pick up and transport the insert panel. During the movement of the variable spacing module, it automatically adjusts the spacing again to match the spacing of the blister box. After reaching the position of the blister box, it is released at an equal distance. There is no need to use special tooling to adjust the spacing conversion. The operation process is simple and highly automated.

[0019] The box-changing module method described in this invention is applicable to eight different storage quantities of injection molded boxes and blister boxes. It uses a blade cylinder with a variable pitch module for separate control. The number of insert panels that can be picked up at one time ranges from 1 to 4. The blade cylinder is controlled on the left side of the injection molded box and blister box according to the maximum picking up quantity of 4 pieces. The maximum picking up quantity cannot be picked up or stored. The blade cylinder picks up or fills as needed from the right side, which minimizes the number of programmed setting points and the frequency of movement within a box-changing cycle, so as to realize automatic box changing of insert panels in injection molded boxes and blister boxes with different storage quantities.

[0020] The testing station described in this invention uses a three-camera splicing test to acquire images of the plug-in panel in one go. This avoids the inefficiency of multiple lens movements during inspection. It covers the plug-in panel's shape, laser engraving content, presence or absence of rivets, and presence or absence of locks. The vision control module communicates with the electrical control system. For plug-in panels that fail the feedback test, they are automatically removed from the line for further processing. This avoids the impact of busy lines on the efficiency of the entire device and has a higher degree of automation than manual inspection.

[0021] The first offline module of this invention uses a pneumatic lifting system with two different height settings. In conjunction with the force-shrinking action of the check mechanism, the roller conveyor delivers the injection molded box to its position. The pneumatic lifting system rises and lifts the injection molded box. During the rise, the support of the check mechanism is compressed back. The pneumatic lifting system carries the injection molded box to the upper plane of the check mechanism support. The support of the check mechanism is no longer compressed and returns to its original state. The pneumatic lifting system then descends back to its starting position, and the injection molded box falls onto the check mechanism support, achieving automatic stacking. It has a simple structure, low cost, and complete functionality, and can be used as an independent module.

[0022] The workstations described in this invention are modular and can automatically detect full boxes upon arrival, automatically replace empty boxes upon arrival, automatically replace and detect empty boxes upon arrival, and select a mode for separating different product states after production. At the same time, the line connections of each workstation adopt aviation plug docking, and workstations can be removed or added according to the site layout requirements. The whole system has high versatility, diverse modes, rich application scenarios, and strong flexibility. Attached Figure Description

[0023] Figure 1 The figure shown is a schematic diagram of the overall structure of the plug-in panel automatic box changing device of the present invention. Figure 2 The diagram shown is a schematic diagram of the online workstation of the plug-in panel automatic box changing device of the present invention. Figure 3 The diagram shown is a structural schematic of the online module one of the plug-in panel automatic box changing device of the present invention. Figure 4 The diagram shown is a schematic diagram of the online module two of the plug-in panel automatic box changing device of the present invention. Figure 5 The diagram shown is a structural schematic of the online module three of the plug-in panel automatic box changing device of the present invention. Figure 6 The diagram shown is a structural schematic of the box changing station of the automatic box changing device for the plug-in panel of the present invention. Figure 7 The diagram shown is a structural schematic of the pitch-changing module of the plug-in panel automatic box-changing device of the present invention. Figure 8 The diagram shown is a structural schematic of the testing station of the automatic box-changing device for the plug-in panel of the present invention. Figure 9 The diagram shown is a structural schematic of the offline workstation of the plug-in panel automatic box changing device of the present invention. Figure 10 The diagram shown is a structural schematic of the offline module one of the plug-in panel automatic box changing device of the present invention. Figure 11 The diagram shown is a structural schematic of the positioning mechanism four of the automatic box changing device for the plug-in panel of the present invention. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] like Figures 1-10 As shown, an automatic box-changing device for insert panels is disclosed, including an online station 1, a box-changing station 2, an inspection station 3, and an offline station 4. The online station 1 is used for stacking, splitting, and conveying injection molded boxes 5 and blister boxes 6. The box-changing station 2 is used for transferring insert panels 7 from injection molded boxes 5 to blister boxes 6 and conveying them. The inspection station 3 is used for detecting defects in insert panels and conveying them. The offline station 4 is used for stacking empty injection molded boxes 5 and stacking insert panels of blister boxes 6 separately in the qualified and unqualified states.

[0028] like Figures 2-3 As shown, the online workstation 1 includes online module 1-1, online module 2-2, and online module 3-3. Online module 1-1 is used to temporarily store the injection molded boxes 5 filled with plug-in panels 7, online module 2-2 is used to temporarily store the empty blister boxes 6, and online module 3-3 is used to temporarily store the blister boxes 6 filled with plug-in panels 7. The purpose of online modules 1-1, online module 1-2, and online module 1-3 is to split the corresponding stacked blister boxes 6 or injection molded boxes 5 according to the selection of box changing and detection functions, so that each box is transported to the designated workstation position.

[0029] like Figure 3As shown, the online module 1-1 is used to store injection molded boxes 5 filled with plug-in panels 7. It consists of a frame 1-1-1, a conveying roller 1-1-2, a positioning mechanism 1-1-3, a clamping cylinder 1-1-4, and an electric lifting system 1-1-5. The stacked injection molded boxes 5 filled with plug-in panels 7 are placed into the positioning mechanism 1-1-3. The clamping cylinder 1-1-4 is initially extended to support the slots on both sides of the stacked injection molded boxes 5. When the injection molded boxes 5 need to be loaded onto the online platform, the electric lifting system 1-1-5... -5 The bottom of the stacked injection molded box 5 is raised and lifted out of the support surface of the clamping cylinder 1-1-4. The clamping cylinder 1-1-4 retracts, and the electric lifting system 1-1-5 lowers the injection molded box 5 by one box height. The clamping cylinder 1-1-4 extends and inserts into the slots on both sides of the upper stacked injection molded box 5. After the electric lifting system 1-1-5 carries the bottom injection molded box 5 to the roller conveyor plane, the electric lifting system 1-1-5 continues to descend to the starting position. The conveyor roller 1-1-2 transports the injection molded box 5 to the next work station.

[0030] like Figure 4 As shown, the second online module 1-2 is used for loading empty blister packs 6. It consists of a frame 1-2-1, a conveying roller 1-2-2, a positioning mechanism 1-2-3, a clamping cylinder 1-2-4, a separating cylinder 1-2-5, and a pneumatic lifting system 1-2-6. Stacked empty blister packs 6 are placed into the positioning mechanism 1-2-3. The clamping cylinder 1-2-4 initially extends to support the stacked blister packs 6. When the blister packs 6 need to be loaded, the pneumatic lifting system 1-2-6 rises to the height of the next stacked blister pack supported by the clamping cylinder 1-2-4. At position 6, clamping cylinder 3 (1-3-4) retracts, and blister box 6 falls onto the support surface of pneumatic lifting system 1-2-6. Clamping cylinder 3 (1-3-4) extends to support the upper stack of blister boxes 6. Pneumatic lifting system 1-2-6 descends to its initial position. Separation cylinder 1-2-5 first extends vertically and then horizontally into the upper side of the bottom blister box 6. Separation cylinder 1-2-5 descends vertically to pull out and separate blister box 6 to the plane of conveyor roller 2 (1-2-2). Separation cylinder 1-2-5 retracts horizontally, and conveyor roller 3 (1-3-2) transports blister box 6 to the next workstation.

[0031] like Figure 5As shown, the loading module 3 1-3 is used to temporarily store the blister boxes 6 filled with insert panels 7 for loading. It consists of frame 3 1-3-1, conveying roller 3 1-3-2, positioning mechanism 3 1-3-3, clamping cylinder 3 1-3-4, and electric lifting system 1-3-5. The stacked blister boxes 6 filled with insert panels 7 are manually placed into the positioning mechanism 3 1-3-3. The clamping cylinder 3 1-3-4 initially extends to support the stacked blister boxes 6. When the blister boxes 6 need to be loaded, the electric lifting system... System 1-3-5 rises to support the bottom of the stacked blister boxes 6, pushing out the plane of clamping cylinder 3 1-3-4. Clamping cylinder 3 1-3-4 retracts, and electric lifting system 1-3-5 descends by the height of one blister box 6. Clamping cylinder 3 1-3-4 extends to support the upper stacked blister boxes 6. After electric lifting system 1-3-5 carries one blister box 6 to the roller conveyor plane, electric lifting system 1-3-5 continues to descend to the starting position, and the conveyor roller 3 1-3-2 conveys the blister box 6 to the rear.

[0032] like Figure 6 As shown, the box-changing station 2 comprises a frame 2-1, a conveying roller 2-2, a three-way module 2-3, a pitch-changing module 2-4, a positioning mechanism 2-5, and an electrical control system 2-6. The three-way module 2-3 drives the pitch-changing module 2-4 to pick up the insert panel 7 from the injection molded box 5 clamped by the positioning mechanism 2-6 and transfer it into the blister box 6, thereby realizing the automatic box-changing of the insert panel 7 in injection molded boxes 5 and blister boxes 6 of various specifications. The injection molded box 5 and blister box 6 after the box-changing is completed are automatically transferred to the next station.

[0033] like Figure 7 As shown, the variable pitch module 2-4 consists of a transmission module 2-4-1, a stepper motor 2-4-2, a blade cylinder 2-4-3, and a vacuum suction cup 2-4-4. The stepper motor 2-4-2 drives the central shaft 2-4-6 of the transmission module 2-4-1 to rotate, thereby adjusting the spacing of the four sets of blade cylinders 2-4-3. By controlling the number of blade cylinders 2-4-3 that are pushed out from 1 to 4, the insertion panels between injection molded boxes 5 and blister boxes 6 with different storage quantities can be transported and placed. Two sets of vacuum suction cups 2-4-4 are used to adsorb a single insertion panel 7, avoiding interference with the material box cavity, protecting the appearance of the insertion panel 7, and the adsorption is rapid and firm.

[0034] In this embodiment, a detailed description is required. The blade cylinder 2-4-3 is connected to a slider 2-4-5. The slider is slidably connected to the transmission module 2-4-1. The central shaft 2-4-6 is connected to the slider. By rotating the central shaft, the slider is driven to move backward. Figure 7 For example, the two on the left move to the left, and the two on the right move to the right.

[0035] The electrical control system 2-6 provides a quick allocation method for switching between injection molded boxes 5 and blister boxes 6 with different storage capacities for the plug-in panel 7. Taking the change from a 10-piece storage capacity injection molded box 5 to a 12-piece storage capacity blister box 6 as an example, it basically adopts a 4-4-3 suction mode with 4 sets + 2 sets of blade cylinders. The 8 pieces on the left side of the blister box 6 are defined as the whole storage area, and the 4 pieces on the right side are defined as the scattered storage area. The 2-4-3 suction mode with 2 sets of blade cylinders is only used to fill the scattered storage area. The injection molded box 5 is filled according to the 4 sets of plug-in panels 7, which first fills the whole storage area and then fills the scattered storage area. In this way, the minimum number of programmable positions can complete the cyclic box replacement from 6 full plug-in panel 7 injection molded boxes 5 to 5 full blister boxes 6, which greatly reduces the number of programming lines and thus can increase the storage capacity of more models of plug-in panel 7 box replacement system positions.

[0036] like Figure 11 As shown, the positioning mechanism 2-5 consists of a blocking cylinder 2-5-1, a side-push cylinder 2-5-2, and a corner clamp 2-5-3. The blister box 6 and the injection box 5 are driven by the roller and held in place by the blocking cylinder 2-5-1. The side-push cylinder 2-5-2 and the corner clamp 2-5-3 clamp and position them at their four corners or two sides to ensure the accuracy of the position of the plug-in panel 7 each time.

[0037] like Figure 8 As shown, the inspection station 3 consists of a frame 3-1, a conveying roller 3-2, a three-way module 3-3, a vision module 3-4, an electrical control system 3-5, and a positioning mechanism 3-6. The positioning mechanism 3-6 clamps the blister box 6, and the three-way module 3-3 drives the vision module 3-4 to perform quality inspection on the plug-in panel 7 of the blister box 6. The qualified products are transported in a whole tray to the unloading module 4-3 of the unloading station 4, and the unqualified products are transported in a whole tray to the unloading module 4-2 of the unloading station 4.

[0038] In this embodiment, the three-axis module 1 2-3 and the three-axis module 2 3-3 are both existing technologies, moving in three directions: X-axis, Y-axis and Z-axis, which will not be elaborated on here.

[0039] like Figure 8As shown, the vision module 3-4 comprises a camera 3-4-1, a camera mounting assembly 3-4-2, a vision control module 3-4-3, and a circular light source 3-4-4. The camera mounting assembly 3-4-2 has a consistent center distance between its front and rear sections. Images captured by the three cameras 3-4-1 under the circular light source 3-4-4 are stitched together to acquire the plug-in panel 7 image in one go while maintaining detection accuracy. This method is more efficient than single-camera detection, covering all detection points without the risk of missing items. The vision control module 3-4-3 communicates with the electrical control system 3-5. Upon receiving a test request, the electrical control system 3-5 executes the corresponding program to test the plug-in panels 7 in groups. When the vision control module 3-4-3 outputs a qualified test result, it continues to test the next group at the corresponding position. When the number of qualified plug-in panels reaches the number set by the electrical control system 3-5 program, the qualified plug-in panels 7 are sent to the offline module 3 4-3 of the offline workstation 4 for automatic stacking. When the vision control module 3-4-3 outputs a failed test result, the failed plug-in panels 7 are sent to the offline module 3 4-2 of the offline workstation 4 for automatic stacking to avoid line congestion affecting the overall line efficiency.

[0040] like Figures 9-10 As shown, the offline workstation 4 includes offline module one 4-1, offline module two 4-2, and offline module three 4-3. Offline module one 4-1 is used for the automatic stacking and collection of injection molded boxes 5, offline module two 4-2 is used for the automatic stacking and collection of blister boxes 6 with unqualified plug-in panels 7, and offline module three 4-3 is used for the automatic stacking and collection of blister boxes with qualified plug-in panels 7. Each module has independent functions, which is easy to identify and operate. Automatic stacking and collection reduces manual input.

[0041] The unloading module 4-1 comprises a frame 4-1-1, a conveying roller 4-1-2, a positioning mechanism 4-1-3, a check mechanism 4-1-4, and a pneumatic lifting system 4-1-5. The conveying roller 4-1-2 transports the injection molded box 5 to its position. The pneumatic lifting system 4-1-5 lifts the injection molded box 5 away from the conveying roller 4-1-2. During the ascent of the pneumatic lifting system 4-1-5, the check mechanism 4-1-4 is compressed and returned to its original position. When the pneumatic lifting system 4-1-5 rises to the upper plane of the check mechanism 4-1-4, the pressure on the check mechanism 4-1-4 disappears, and the support returns to its original position, lifting the injection molded box 5 to complete one automatic stacking and collection cycle. The pneumatic lifting system 4-1-5 then descends to its starting position. This unloading module has a simple structure, low cost, requires less programming work, and is convenient for debugging and maintenance.

[0042] The insertion panel 7 undergoes box changing and inspection via modules 1-1, 2-2, box changing station 2, inspection station 3, 4-1, 4-2, and 4-3. Specifically, a composite robot places multi-layer empty blister boxes 6 into 2-2 along positioning mechanism 1-2-3, and multi-layer injection molded boxes 5 filled with insertion panels 7 into 1-1 along positioning mechanism 1-1-3. The process begins with 2-2-2 separating one layer of blister box 6 and conveying it to conveyor roller 1-2-2, then to box changing station 2. 1-1-1 further separates one layer of injection molded box 5 and conveys it to conveyor roller 1-2-2. The conveyor roller 1-1-2 transports the material to the box changing station 2. Upon reaching the positioning mechanism 2-5 at the box changing station 2, it is clamped, and then the box changing process begins. According to the program logic, the three-way module 1-2-3 moves to the position of the first set of insert panels 7 above the injection molded box 5. The Z-axis descends to the set height, and the transmission module 2-4-1 rotates to open the blade cylinder 2-4-3 to the distance between the insert panels 7 and the injection molded box 5. The vacuum suction cup 2-4-4 is then pushed out to suction the insert panels 7. After completion, the blade cylinder 2-4-3 retracts, the Z-axis of the three-way module 1-2-3 rises to its original position, and the XY-axis moves to the first empty material position of the blister box 6. The transmission module 2-4-1 then runs again to open the blade cylinder... Cylinder 2-4-3 retracts to the distance between the insert panel 7 and the blister box 6, the Z-axis descends to the set height, the blade cylinder 2-4-3 extends, the vacuum suction cup 2-4-4 closes, and the insert panel 7 falls into the slot of the blister box 6; the above box changing process is repeated continuously. When the insert panel 7 in the injection box 5 is emptied, the conveyor roller 4 2-2 transports the empty injection box 5 to the off-line module 1 4-1 for stacking. The empty injection boxes 5 are stacked to the maximum height limit for recycling; when the slots of the insert panel 7 in the blister box 6 at the box changing station 2 are all full, the conveyor roller 4 2-2 transports the blister box 6 filled with insert panel 7 to the inspection station 3, and the three-way module 2 3-3 moves to one side of the blister box 6. Above the center of the four plug-in panels 7, the vision module 3-4 takes photos and matches the feature template to check whether the processing and engraving content of the plug-in panels 7 are qualified. If all four are qualified, the XYZ three-axis module moves to the next group of four plug-in panels 7 for photo inspection. This continues until all plug-in panels 7 are qualified. The conveyor roller 3-2 then transports the qualified plug-in panels 7 blister boxes 6 to the off-line module 4-3 for qualified product stacking. If the vision module 3-4 detects that the plug-in panels 7 are unqualified, the three-axis module 3-3 immediately returns to the origin. The conveyor roller 3-2 then transports the unqualified plug-in panels 7 blister boxes 6 to the off-line module 4-2 for unqualified product stacking. Example

[0043] The specific implementation of this embodiment is as follows: the automatic box changing device and detection system for plug-in panels performs the detection of plug-in panels 7 through the upper module 3 1-3, the detection station 3, the lower module 2 4-2, and the lower module 3 4-3. Specifically, the multi-layer blister box 6 filled with plug-in panels 7 to be detected is placed into the clamping cylinder 3 1-3-4 of the upper module 3 1-3 along the positioning mechanism 3 1-3-3. The operation begins, and the upper module 3 1-3 splits one layer of blister box 6 onto the conveying roller 3 1-3-2, which transports it to the detection station 3. As in Example 1, the detection station 3 transports the qualified plug-in panels 7 to the lower module 3 4-3 for qualified product stacking. If the detection fails, the unqualified plug-in panels 7 blister box 6 is transported to the lower module 2 4-2 for unqualified product stacking. Example

[0044] In this specific implementation, the automatic box-changing device and detection system for the plug-in panel performs the box-changing operation from 10-slot injection molded boxes 5 to 12-slot blister boxes 6 for the 25-width plug-in panel 7 through the upper-line module 1-1, upper-line module 2-2, box-changing station 2, and lower-line module 3-3. Specifically, a composite robot places multi-layer empty blister boxes 6 into upper-line module 2-2 along positioning mechanism 2-2-3, and multi-layer injection molded boxes 5 filled with plug-in panel 7 into upper-line module 1-1 along positioning mechanism 1-1-3. The operation begins, and upper-line module 2-2 separates one layer of blister box 6 to the conveyor roller. The second module 1-2-2 is then conveyed to the box changing station 2. The first layer of injection molded box 5 is split off by the first module 1-1 and conveyed to the conveyor roller 1-1-2, then to the box changing station 2. Upon reaching the box changing station 2, it is clamped at the positioning mechanism 2-5. According to the quick allocation method, the 10-piece insert panel 7 of the injection molded box 5 is defined as the first group of 4 pieces, the second group of 4 pieces, and the third group of 2 pieces. The 12-piece insert panel 7 of the blister box 6 is defined as the first group of 4 pieces, the second group of 4 pieces, and the third group of 4 pieces, or the third group of 2 pieces and the fourth group of 2 pieces. The first group of 4 pieces of injection molded box 5 can fill the second group of 4 pieces and the third group of 4 pieces of blister box 6. The second group of 4 pieces of injection molded box 5 can fill the blister box. 6. The first group has 4 pieces and the second group has 4 pieces. The third group of injection molded boxes 5 has 2 pieces, which can be filled into the third group of blister boxes 6. The third group has 2 pieces and the fourth group has 2 pieces. The boxes are changed according to the above allocation. After the first box of injection molded boxes 5 is empty, it goes to the next line module 4-1 for stacking. The first box of injection molded boxes 6 is missing 2 pieces from the fourth group. After the third component of the second box of injection molded boxes 5 is filled, the first box of injection molded boxes 6 with the plug-in panel 7 is full and goes to the next line module 4-3. The second box of injection molded boxes 5 is empty. The second box of blister boxes 6 is missing 4 pieces from the third group. The first group of 4 pieces of the third box of injection molded boxes 5 fills the second box of blister boxes 6 and is full. The third box of blister boxes 6 continues to be filled. The third box of injection molded boxes 5 is empty. The third... Blister box 6 is missing the second group of 4 pieces and the third group of 2 pieces. After the fourth injection molded box 5 fills the third blister box 6, the remaining second group of 4 pieces fills the empty slot of the first group of 4 pieces in the fourth blister box 5. The first group of 4 pieces and the second group of 4 pieces in the fifth injection molded box 5 fill the fourth blister box 6. The remaining third group of 2 pieces is placed into the fourth group of 2 pieces in the fifth blister box. The sixth injection molded box 5 fills the remaining empty slot of the fifth blister box 6, thus completing one cycle. The box-changing operation is repeated according to the cycle. This method only requires setting 6 sets of interpolation movement points. If a sequential box-changing method is used, more than 10 sets of points need to be set, and the filling method becomes chaotic. For other quantities of carrier materials, the above method can be used to allocate slots to reduce the layout of handling points and avoid algorithm complexity.

[0045] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic box-changing device for plug-in panels, characterized in that, include: The workstations are: (1) for going online, (2) for changing boxes, (3) for testing, and (4) for going offline. The online workstation (1) is used for stacking and splitting injection molded boxes (5) and blister boxes (6), and transporting them to the box changing workstation (2). The box-changing station (2) is used to convert the plug-in panel (7) in the injection molded box (5) to the blister box (6) and transport it to the inspection station (3). The inspection station (3) is used to inspect the plug-in panel (7) inside the blister box (6) for defects and transport it to the off-line station (4). The offline workstation (4) is used for stacking empty injection molded boxes (5) and for separating and stacking qualified and unqualified plug-in panels (7). The box-changing station (2) includes a frame four (2-1), a three-way module one (2-3), a pitch-changing module (2-4), and a positioning mechanism four (2-5). The frame four (2-1) is provided with conveying rollers four (2-2) for conveying injection molded boxes (5) and blister boxes (6). The three-way module one (2-3) is located on the frame four (2-1). The three-way module one (2-3) is provided with a pitch-changing module (2-4) for changing the plug-in panel (7). The positioning mechanism four (2-5) is located on the frame four (2-1) at the corresponding positions of the injection molded box (5) and the blister box (6). The variable pitch module (2-4) includes a transmission module (2-4-1), a stepper motor (2-4-2), and multiple blade cylinders (2-4-3). The output end of the stepper motor (2-4-2) is connected to the central shaft (2-4-6) of the transmission module (2-4-1). The multiple blade cylinders (2-4-3) are respectively connected to the central shaft (2-4-6) in the transmission module (2-4-1) through sliders (2-4-5). The bottom of the blade cylinder (2-4-3) is provided with a vacuum suction cup (2-4-4). The positioning mechanism four (2-5) includes a blocking cylinder (2-5-1), a side-push cylinder (2-5-2), and a corner clamp (2-5-3). The side-push cylinder (2-5-2) is used to position the four corners of the injection molded box (5). The corner clamp (2-5-3) is located at the telescopic end of the side-push cylinder (2-5-2). The blocking cylinder (2-5-1) is located at the bottom of the output end of the injection molded box (5). The blocking cylinder (2-5-1) extends to block the injection molded box (5).

2. The automatic box-changing device for the plug-in panel according to claim 1, characterized in that, The online workstation (1) includes an online module (1-1) for temporarily storing and stacking injection molded boxes (5) filled with plug-in panels (7). The online module (1-1) includes a frame (1-1-1), a conveying roller (1-1-2), and an electric lifting system (1-1-5). The frame (1-1-1) is provided with a positioning mechanism (1-1-3) for positioning the injection molded box (5). The positioning mechanism (1-1-3) is provided with clamping cylinders (1-1-4) on both sides for fixing the injection molded box (5). The conveying roller (1-1-2) is located at the conveying end of the online module (1-1). The electric lifting system (1-1-5) is located below the positioning mechanism (1-1-3) and is used to lift the injection molded box (5) to the plane of the conveying roller (1-1-2).

3. The automatic box-changing device for the plug-in panel according to claim 1, characterized in that, The online workstation (1) also includes an online module two (1-2) for temporarily storing and stacking empty blister packs (6). The online module two (1-2) includes a frame two (1-2-1) and a pneumatic lifting system (1-2-6). The frame two (1-2-1) is provided with a positioning mechanism two (1-2-3) for positioning the blister packs (6). The positioning mechanism two (1-2-3) is provided with clamping cylinders two (1-2-6) on both sides for fixing the blister packs (6). 4) The two ends of the frame two (1-2-1) are provided with conveying roller two (1-2-2). The pneumatic lifting system (1-2-6) is located below the positioning mechanism two (1-2-3) and is used to lift the blister box (6) to the plane of the conveying roller two (1-2-2). The frame two (1-2-1) is provided with a separation cylinder (1-2-5) around the blister box to pull the blister box (6) out and separate it to the plane of the conveying roller two (1-2-2).

4. The automatic box-changing device for the plug-in panel according to claim 1, characterized in that, The online workstation (1) also includes a blister box (6) for temporarily storing and stacking the plug-in panel (7). The online module three (1-3) includes a frame three (1-3-1) and an electric lifting system two (1-3-5). The frame three (1-3-1) is provided with a positioning mechanism three (1-3-3) for positioning the blister box (6). The positioning mechanism three (1-3-3) is provided with clamping cylinder three (1-3-4) for fixing the blister box (6) on both sides. The frame three (1-3-1) is provided with conveying roller three (1-3-2) at both ends. The electric lifting system two (1-3-5) is located below the positioning mechanism three (1-3-3) and is used to lift the blister box (6) to the plane of the conveying roller three (1-3-2).

5. The automatic box-changing device for the plug-in panel according to claim 1, characterized in that, The inspection station (3) includes a frame five (3-1), a conveying roller five (3-2), a three-way module two (3-3), a vision module (3-4), and a positioning mechanism five (3-6). The positioning mechanism five (3-6) is located on the frame five (3-1) corresponding to the stopping position of the blister box and is used to clamp the blister box (6). The three-way module two (3-3) is located on the frame five (3-1) and drives the vision module (3-4) to perform quality inspection on the plug-in panel (7) in the blister box (6). The whole tray of qualified products is conveyed to the offline module three (4-3) of the offline station (4) through the conveying roller five (3-2), and the whole tray of unqualified products is conveyed to the offline module two (4-2) of the offline station (4).

6. The automatic box-changing device for the plug-in panel according to claim 5, characterized in that, The vision module (3-4) includes a camera (3-4-1), a camera mounting assembly (3-4-2), a vision control module (3-4-3), and a circular light source (3-4-4). The camera (3-4-1) is mounted on the camera mounting assembly (3-4-2), and the camera mounting assembly (3-4-2) is connected to the three-way module two (3-3). The vision control module (3-4-3) is used to control the camera (3-4-1) to take pictures according to the request. The circular light source (3-4-4) is used to cooperate with the camera (3-4-1) to take pictures.

7. The automatic box-changing device for the plug-in panel according to claim 1, characterized in that, The off-line station (4) also includes an off-line module one (4-1), which includes a frame six (4-1-1), a conveying roller six (4-1-2), a positioning mechanism six (4-1-3), a check mechanism (4-1-4), and a pneumatic lifting system two (4-1-5). The conveying roller six (4-1-2) is located at the output end of the frame six (4-1-1). The positioning mechanism six (4-1-3) is located on both sides of the frame six (4-1-1) for fixing the injection molded box (5). The check mechanism (4-1-4) is located on both sides of the frame six (4-1-1) for preventing the injection molded box (5) from turning back.

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