Toothbrush feeding equipment, toothbrush packaging production line and toothbrush feeding method

Abstract

The invention relates to toothbrush feeding equipment, a toothbrush packaging production line and a toothbrush feeding method.The toothbrush feeding equipment can feed toothbrushes of different colors and comprises a feeding unit, the feeding unit comprises a first feeding device and a second feeding device, and the first feeding device is used for providing first toothbrushes of the first color and second toothbrushes of the second color; the second feeding device is used for providing a third toothbrush with a third color and a fourth toothbrush with a fourth color; the conveying and color matching unit comprises a rack, a temporary storage device, a conveying assembly and a rotating assembly, the temporary storage device is arranged at one end, in the first direction, of the rack, and the rotating assembly is arranged at the other end, in the first direction, of the rack. According to the full-automatic feeding device for the toothbrushes, the space utilization rate is increased, good feeding accuracy is ensured, the feeding efficiency of the toothbrushes is effectively improved, and therefore the problems of misoperation and low efficiency caused by manual operation are effectively avoided, the production efficiency can be improved, manual operation is replaced, automatic operation of full-automatic feeding of the toothbrushes is achieved, and the human input cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of toothbrush production, in particular to toothbrush feeding equipment, a toothbrush packaging production line and a toothbrush feeding method. Background Art

[0002] Toothbrushes are consumable daily necessities with high demand. The toothbrush manufacturing process involves multiple steps, including raw material preparation, handle molding, bristle processing, quality inspection, and packaging. During the toothbrush packaging process, toothbrushes are packaged using toothbrush packaging machines. Currently, the loading process of toothbrush packaging machines is mostly manual, requiring operators to neatly arrange the scattered toothbrushes and then place them into the blister packaging of the packaging box for subsequent packaging.

[0003] However, the deficiency of the existing technology is that the toothbrush packaging machine is loaded with materials manually, which is a cumbersome process. Since toothbrushes come in different colors, they need to be distinguished and then accurately placed in designated packaging boxes. On the one hand, the loading efficiency is low. On the other hand, it is greatly affected by human factors and may be placed incorrectly, which leads to low production efficiency, insufficient production capacity, and high labor costs. Summary of the Invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a toothbrush feeding device, a toothbrush packaging production line and a toothbrush feeding method, so as to realize the automation of toothbrushes from being messy to being neatly arranged and then color matching and feeding. The messy toothbrushes with planted bristles are neatly arranged through the feeding device, and then the robot grabs and visually identifies the toothbrushes of different colors and puts them into the transmission component. The transmission component transports the toothbrushes with assigned colors to the front, and finally the swing arm structure grabs the toothbrushes and places them at the discharging position of the packaging machine, thereby realizing fully automatic operation, effectively improving the feeding efficiency of the toothbrush loader, and ensuring the accuracy of feeding, avoiding confusion of toothbrushes of different colors.

[0005] In order to solve the above technical problems, the present invention provides a toothbrush feeding device, which can feed toothbrushes of different colors, including: A feeding unit comprising a first feeding device and a second feeding device, wherein the first feeding device is used to provide a first toothbrush of a first color and a second toothbrush of a second color; and the second feeding device is used to provide a third toothbrush of a third color and a fourth toothbrush of a fourth color; A conveying and color matching unit, comprising a frame, a buffer device, a transmission component, and a rotating component, wherein the buffer device is arranged at one end of the frame along a first direction, and the rotating component is arranged at the other end of the frame along the first direction; the transmission component is arranged on the frame along the first direction, and at least a portion of the transmission component is located below the buffer device to transmit the toothbrush temporarily stored in the buffer device to the rotating component, and the rotating component positions and clamps the toothbrush; wherein the buffer device comprises a first buffer component and a second buffer component sequentially arranged along the first direction, the first buffer component being used to buffer the first toothbrush and the third toothbrush, and the second buffer component being used to buffer the second toothbrush and the fourth toothbrush; a first material placement unit, capable of grabbing the first and third toothbrushes from the first feeding device and placing them in the buffer device; and grabbing the second and fourth toothbrushes from the second feeding device and placing them in the buffer device; the first material placement unit includes a camera module, which is capable of identifying the first, second, third, and fourth toothbrushes; The second material placement unit is used to grab the first toothbrush, the second toothbrush, the third toothbrush and the fourth toothbrush from the rotating assembly and place them at designated positions.

[0006] In one embodiment of the present invention, the first cache assembly includes a first cache box and a first opening and closing drive member, one end of the first cache box has an opening, and the other end is provided with a first openable and closable bottom support plate, the first bottom support plate is connected to the first opening and closing drive member to open or close under the drive of the first opening and closing drive member; the first cache box is arranged in plurality along the first direction; the second cache assembly has the same structure as the first cache assembly.

[0007] In one embodiment of the present invention, the transmission assembly includes a first rotating shaft, a second rotating shaft, a conveying chain and a positioning block assembly, the first rotating shaft and the second rotating shaft are respectively arranged at both ends of the frame, the conveying chain is respectively connected to the first rotating shaft and the second rotating shaft, and is tensioned on the first rotating shaft and the second rotating shaft; the positioning block assembly is arranged on the conveying chain, and the positioning block assembly is used to support the toothbrush falling from the cache device and transport the toothbrush to the rotating assembly.

[0008] In one embodiment of the present invention, the positioning block assembly includes positioning blocks spaced apart from each other on the conveying chain, and a first limiting groove is provided on the top of the positioning block.

[0009] In one embodiment of the present invention, the rotating assembly includes a clamping block assembly, a connecting plate, a lifting drive member and a rotating drive assembly, the lifting drive member is arranged on the frame, the connecting plate is arranged at the movable end of the lifting drive member, the rotating drive assembly is arranged on the connecting plate, and the clamping block assembly is rotatably arranged on the connecting plate through the rotating drive assembly; the clamping block assembly includes relatively arranged clamping blocks, and a second limiting groove is provided on the clamping block.

[0010] In one embodiment of the present invention, the first material placement unit also includes a support frame, a first grabbing device, and a second grabbing device; the first grabbing device and the second grabbing device are arranged side by side on the support frame; the first grabbing device is used to grab the first toothbrush and the third toothbrush, and place them in the cache device; the second grabbing device is used to grab the second toothbrush and the fourth toothbrush, and place them in the cache device; the camera module includes a first camera, a second camera, a third camera and a fourth camera arranged on the support frame.

[0011] In one embodiment of the present invention, the first grasping device includes a first robot and a first clamping mechanism, and the first clamping mechanism is arranged at the movable end of the first robot; the second grasping device includes a second robot and a second clamping mechanism, and the second clamping mechanism is arranged at the movable end of the second robot.

[0012] In one embodiment of the present invention, the first feeding device includes a first conveying component and a second conveying component, the first conveying component includes a first silo conveyor belt, a first lifting conveyor belt, a first transfer conveyor belt, a first elevator and a first sorting conveyor belt, the first silo conveyor belt is placed with the first toothbrush, along the material transmission direction, the first silo conveyor belt is docked with the first lifting conveyor belt, the first lifting conveyor belt is docked with the first transfer conveyor belt, the first transfer conveyor belt is docked with the first elevator, and the first elevator is docked with the first sorting conveyor belt, and the first toothbrushes can form an interval array on the first sorting conveyor belt; wherein the first elevator includes a plurality of step-shaped lifting blocks, each of the lifting blocks can accommodate one of the first toothbrush, and there is a gap between two adjacent lifting blocks; the structure of the second conveying component is the same as that of the first conveying component, and the second conveying component is used to convey the second toothbrush.

[0013] In one embodiment of the present invention, the structure of the second feeding device is the same as that of the first feeding device to feed the third toothbrush and the fourth toothbrush; the first feeding device and the second feeding device are symmetrically arranged on both sides of the conveying and color matching unit.

[0014] In one embodiment of the present invention, the second material placement unit includes a base, a driving mechanism, a swing arm assembly, a third clamping mechanism and an adjusting mechanism, the driving mechanism is installed on the base, one end of the swing arm assembly is connected to the movable end of the driving mechanism, and the other end of the swing arm assembly is connected to the adjusting mechanism, the third clamping mechanism is arranged at the movable end of the adjusting mechanism, and the third clamping mechanism can move in the horizontal direction and the height direction under the drive of the adjusting mechanism; the third clamping mechanism includes a connecting plate and a suction nozzle assembly, and the suction nozzle assembly is installed on the connecting plate.

[0015] The present invention also provides a toothbrush packaging production line, comprising a toothbrush packaging machine and the toothbrush feeding device as described above, wherein the toothbrush feeding device is used to feed the toothbrush packaging machine.

[0016] The present invention also provides a toothbrush feeding method, which uses the toothbrush feeding device as described above to feed the toothbrush into a toothbrush packaging machine. The toothbrush feeding method includes: Step S1, providing a first toothbrush, a second toothbrush, a third toothbrush, and a fourth toothbrush; Step S2, identifying the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush; Step S3, grabbing a specified number of the first toothbrush and the third toothbrush, and placing them in a first buffer assembly at intervals; grabbing a specified number of the second toothbrush and the fourth toothbrush, and placing them in a second buffer assembly at intervals; Step S4: controlling the first buffer assembly to move so that the first toothbrush and the second toothbrush fall to the transmission assembly and form a spaced position on the transmission assembly; the transmission assembly moves for the first time to move the first toothbrush and the third toothbrush to below the second buffer assembly; Step S5, controlling the second buffer assembly to move so that the second toothbrush and the fourth toothbrush fall to the transmission assembly and are located at the intervals formed in step S4; the transmission assembly moves a second time to transfer the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush to the rotating assembly; Step S6, the rotating assembly lifts and rotates the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush to a specified angle, grabs the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush, and places them in the toothbrush packaging machine; Step S7, looping through the above steps until all the first toothbrush, the second toothbrush, the third toothbrush and the fourth toothbrush to be loaded are loaded into the toothbrush packaging machine.

[0017] The above technical solution of the present invention has the following advantages over the prior art: The toothbrush loading device described in the present invention is provided with a feeding unit, a conveying and color matching unit, a first material placement unit, and a second material placement unit, wherein the feeding unit can realize the orderly placement of toothbrushes from messy incoming materials, and the toothbrushes can be assigned colors according to specified requirements through the conveying and color matching unit. The first material placement unit is used to grab the toothbrush from the feeding unit and place it on the conveying and color matching unit, and the second material placement unit is used to grab the toothbrush from the conveying and color matching unit and place it in a specified position for subsequent processing steps. With the mutual cooperation of the above structures, the present invention can avoid space waste and improve space utilization. In addition, the device can ensure better loading accuracy and effectively improve the loading efficiency of the toothbrush, thereby effectively avoiding operational errors and inefficiency caused by manual operations, and further improving production efficiency, replacing manual operations to realize the automated operation of fully automatic toothbrush loading, and reducing manpower input costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 It is a schematic diagram of the overall structure of a preferred embodiment of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the first feeding device of the preferred embodiment of the present invention.

[0021] Figure 3 It is a structural schematic diagram of the second feeding device of the preferred embodiment of the present invention.

[0022] Figure 4 3 is a schematic diagram of a first viewing angle of a conveying and color matching unit according to a preferred embodiment of the present invention.

[0023] Figure 5 2 is a schematic diagram of a conveying and color matching unit according to a preferred embodiment of the present invention from a second viewing angle.

[0024] Figure 6 It is a third perspective schematic diagram of the conveying and color matching unit according to the preferred embodiment of the present invention.

[0025] Figure 7 It is a structural schematic diagram of the first material placement unit in a preferred embodiment of the present invention.

[0026] Figure 8 This is a first perspective schematic diagram of the second material placement unit of the preferred embodiment of the present invention.

[0027] Figure 9 This is a schematic diagram from a second perspective of the second material placement unit in a preferred embodiment of the present invention.

[0028] Explanation of the reference numerals in the specification: 1. first feeding device; 110. first silo conveyor belt; 111. first lifting conveyor belt; 112. first transfer conveyor belt; 113. first elevator; 114. first sorting conveyor belt; 120. second silo conveyor belt; 121. second lifting conveyor belt; 123. second elevator; 124. second sorting conveyor belt; 2. second feeding device; 21. third conveying assembly; 22. fourth conveying assembly; 3. conveying and color matching unit; 30. rack; 31. cache device; 311. first cache assembly; 3110. first cache box; 3111. first opening and closing cylinder; 3112. first connecting rod; 312. second cache assembly; 3120. second cache box; 3121. second opening and closing cylinder; 3122. second connecting rod; 32. transmission assembly; 320. first rotating shaft; 321. second rotating shaft; 322 , conveyor chain; 3220, positioning block; 33, rotating assembly; 330, first connecting plate; 331, rotating drive assembly; 332, first clamping block; 333, mounting block; 334, second clamping block; 4, first material placement unit; 40, supporting frame; 41, first grasping device; 410, first robot; 411, first clamping mechanism; 42, second grasping device; 420, second robot; 421, second clamping mechanism; 43, first camera; 44, second camera; 45, third camera; 46, fourth camera; 5, second material placement unit; 50, base; 51, driving mechanism; 52, swing arm assembly; 520, swing arm body; 521, output connecting rod; 53, third clamping mechanism; 530, connecting plate; 531, nozzle assembly; 54, adjusting mechanism; 540, telescopic assembly; 541, compensation assembly; 6, toothbrush packaging machine. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention. Example 1

[0030] Reference Figures 1 to 9 As shown, the present invention discloses a toothbrush loading device, which can load toothbrushes of different colors. In this embodiment, toothbrushes with four different colors of brush handles are loaded.

[0031] The toothbrush feeding device includes a feeding unit, and the feeding unit includes a first feeding device 1 and a second feeding device 2.

[0032] The first feeding device 1 is used to provide a first toothbrush of a first color and a second toothbrush of a second color; the second feeding device 2 is used to provide a third toothbrush of a third color and a fourth toothbrush of a fourth color; The toothbrush loading equipment also includes a conveying and color matching unit 3, which includes a frame 30, a cache device 31, a transmission component 32, and a rotating component 33, wherein the cache device 31 is arranged at one end of the frame 30 along the first direction, and the rotating component 33 is arranged at the other end of the frame 30 along the first direction.

[0033] It should be explained that the first direction is the same as the length direction of the rack 30 .

[0034] The transmission component 32 is arranged on the frame 30 along the first direction, and at least a part of the transmission component 32 is located below the cache device to transmit the toothbrush temporarily stored in the cache device 31 to the rotating component 33. The rotating component 33 positions and clamps the toothbrush. Specifically, the rotating component 33 can lift the toothbrush and rotate it to a specified angle to facilitate subsequent processes.

[0035] In detail, the cache device 31 includes a first cache component 311 and a second cache component 312 arranged in sequence along a first direction. The first cache component 311 is used to cache the first toothbrush and the third toothbrush, and the second cache component 312 is used to cache the second toothbrush and the fourth toothbrush. The toothbrush feeding device further includes a first material placement unit 4, which is capable of grabbing the first toothbrush and the third toothbrush from the first feeding device 1 and placing them in the first buffer component of the buffer device 31; and the first material placement unit 4 is capable of grabbing the second toothbrush and the fourth toothbrush from the second feeding device 2 and placing them in the second buffer component of the buffer device 31; The first material placement unit 4 includes a camera module, and the camera module can identify the first toothbrush, the second toothbrush, the third toothbrush and the fourth toothbrush.

[0036] The toothbrush loading device further includes a second material placement unit 5, which is used to grab the first toothbrush, the second toothbrush, the third toothbrush and the fourth toothbrush from the rotating assembly 33 respectively and place them at designated positions.

[0037] When working, the first feeding device 1 and the second feeding device 2 respectively feed toothbrushes of four different colors in an orderly manner; specifically, the first toothbrush and the second toothbrush are arranged in a horizontal direction with a close interval between them on the first feeding device 1, and the first toothbrush and the second toothbrush are placed separately in different areas of the first feeding device, thereby effectively distinguishing the first toothbrush from the second toothbrush to avoid confusion; similarly, the third toothbrush and the fourth toothbrush are arranged in a horizontal direction with a close interval between them on the second feeding device 2, and the third toothbrush and the fourth toothbrush are placed separately in different areas of the second feeding device 2, thereby effectively distinguishing the third toothbrush from the fourth toothbrush to avoid confusion.

[0038] Next, the camera module of the first material placement unit 4 identifies the different toothbrushes and grabs a specified number of them before placing them in the buffer device 31 of the conveying and color matching unit 3. Furthermore, the buffer device 31 must also be placed in a specific manner. Once the placement is complete, the buffer device 31 is controlled to open, allowing the toothbrushes placed there to fall onto the conveying assembly 32, which then transports them to the rotating assembly 33.

[0039] Then, the second material placement unit 5 grabs the toothbrush located at the rotating assembly 33 again and places it at a designated position for the next step.

[0040] It can be seen from this that the toothbrush loading device to be protected by the present invention is provided with a feeding unit, a conveying and color matching unit, a first material placement unit and a second material placement unit, wherein the feeding unit can realize the orderly placement of the toothbrushes from the messy incoming materials, and the toothbrushes can be assigned colors according to specified requirements through the conveying and color matching unit. The first material placement unit is used to grab the toothbrush from the feeding unit and place it on the conveying and color matching unit, and the second material placement unit is used to grab the toothbrush from the conveying and color matching unit and place it in a specified position for subsequent processing steps. With the mutual cooperation of the above structures, the present invention can avoid space waste and improve space utilization. In addition, the device can ensure better loading accuracy and effectively improve the loading efficiency of the toothbrush, thereby effectively avoiding operational errors and inefficiency caused by manual operations, and thus can also improve production efficiency, replace manual operations to realize the automated operation of fully automatic toothbrush loading, and reduce manpower input costs.

[0041] Furthermore, the first cache assembly 311 includes a first cache box 3110 and a first opening and closing drive member. The first cache box has an opening at one end along the height direction, and a first openable and closable bottom support plate is provided at the other end. One end of the first bottom support plate is hinged to the side wall of the first cache box 3110 through a hinge, and the other end of the first bottom support plate is also connected to the first opening and closing drive member so as to be opened or closed by the first opening and closing drive member.

[0042] Specifically, a plurality of the first cache boxes 3110 are provided along the first direction. As a preferred embodiment, the number of the first cache boxes is 12.

[0043] As a preferred embodiment, the first opening and closing drive member includes a first opening and closing cylinder 3111 and a first connecting rod 3112. The first opening and closing cylinder 3111 is mounted on the frame 30. The movable end of the first opening and closing cylinder 3111 moves in the height direction. The first connecting rod 3112 is connected to the movable end of the first opening and closing cylinder 3111. At the same time, the first connecting rod 3112 is connected to the first bottom support plate of each first buffer box 3110. In this configuration, when the first opening and closing cylinder 3111 is controlled to move, the first bottom support plate can be driven to move synchronously. When the first opening and closing cylinder 3111 moves upward, the first bottom support plate closes. When the first opening and closing cylinder 3111 moves downward, the first bottom support plate opens, thereby allowing the toothbrush in the first buffer box 3110 to fall to the transmission assembly 32 below. In detail, to ensure that the force on the first connecting rod 3112 is even, two first opening and closing cylinders 3111 are provided, one connecting each end of the first connecting rod 3112.

[0044] The second cache component 312 has the same structure as the first cache component 311 .

[0045] Specifically, the second cache assembly 312 includes a second cache box 3120 and a second opening and closing drive. The second cache box has an opening at one end along the height direction, and a second bottom support plate that can be opened and closed is provided at the other end. One end of the second bottom support plate is hinged to the side wall of the second cache box 3120 through a hinge, and the other end of the second bottom support plate is also connected to the second opening and closing drive so as to be opened or closed by the second opening and closing drive.

[0046] As a preferred embodiment, each of the first cache box 3110 is provided with two first bottom support plates, thereby forming a hinged door structure that opens onto the bottom of the first cache box 3110; each of the second cache box 3120 is provided with two second bottom support plates, thereby forming a hinged door structure that opens onto the bottom of the second cache box 3120.

[0047] Specifically, a plurality of the second cache boxes 3120 are provided along the first direction. As a preferred embodiment, the number of the first cache boxes is 12.

[0048] As a preferred embodiment, the second opening and closing drive member includes a second opening and closing cylinder 3121 and a second connecting rod 3122. The second opening and closing cylinder 3121 is mounted on the frame 30. The movable end of the second opening and closing cylinder 3121 moves in the height direction. The second connecting rod 3122 is connected to the movable end of the second opening and closing cylinder 3121. At the same time, the second connecting rod 3122 is connected to the second bottom support plate of each second buffer box 3120. In this arrangement, when the second opening and closing cylinder 3121 is controlled to move, the second bottom support plate can be synchronously driven to move. When the second opening and closing cylinder 3121 moves upward, the second bottom support plate closes. When the second opening and closing cylinder 3121 moves downward, the second bottom support plate opens, allowing the toothbrushes in the second buffer box 3120 to fall to the transmission assembly 32 below. In detail, to ensure that the force on the second connecting rod 3122 is evenly distributed, two second opening and closing cylinders 3121 are provided, one connecting each end of the second connecting rod 3112.

[0049] Furthermore, the transmission assembly 32 includes a first rotating shaft 320, a second rotating shaft 321, a conveyor chain 322, and a positioning block assembly. The first rotating shaft 320 and the second rotating shaft 321 are respectively disposed at both ends of the frame 30. The conveyor chain 322 connects the first rotating shaft 320 and the second rotating shaft 321, respectively, and can be tensioned on the first rotating shaft 320 and the second rotating shaft 321. The positioning block assembly is disposed on the conveyor chain 322 and is used to support the toothbrush dropped from the buffer device 31 and transport the toothbrush to the rotating assembly 32.

[0050] As a preferred embodiment, the positioning block assembly includes positioning blocks 3220 spaced apart on the conveyor chain 322. A plurality of positioning blocks 3220 are provided, and preferably, the spacing between two adjacent positioning blocks 3220 is consistent with the spacing between two adjacent first buffer boxes 3110. A first limiting groove is provided on the top of each positioning block 3220 to help retain a toothbrush that falls onto the positioning block 3220 and prevent it from falling during movement.

[0051] In detail, the rotating assembly 33 includes an active module and a passive module, and the active module and the passive module are relatively arranged on both sides of the transmission assembly 32; the passive module can move synchronously with the active module under the drive of the active module.

[0052] The active module includes a first connecting plate 330, a lifting drive member, a rotation drive assembly 331, and a first clamping assembly. The lifting drive member is disposed on the frame 30, the first connecting plate 330 is disposed at the movable end of the lifting drive member, and the first clamping assembly is rotatably disposed on the first connecting plate 330 via the rotation drive assembly 331. Specifically, the first clamping assembly includes a plurality of first clamping blocks 332 spaced apart along the first direction, with the spacing between two adjacent first clamping blocks 332 being consistent with the spacing between two adjacent positioning blocks 3220. In addition, a second limiting groove is provided on the first clamping block 332. This configuration enables the toothbrush handle to be engaged with the second limiting groove when clamping the toothbrush, thereby achieving stable clamping. Furthermore, the driven module includes a mounting block 333 and a second clamping assembly, the second clamping assembly is movably connected to the frame 30 through the mounting block 333, the second clamping assembly includes a plurality of second clamping blocks 334 arranged along the first direction, the second clamping block 334 is rotatably connected to the mounting block 333, and a third limiting groove is provided on the second clamping block 334 to limit the toothbrush. In this way, when the ends of the toothbrush are respectively limited in the second limiting groove and the third limiting groove, when the first clamping block 332 rotates, the second clamping block 334 can also rotate synchronously.

[0053] It should be noted that the driven module is floatingly connected to the frame 30 in the height direction, so that when the toothbrush is clamped between the first clamping assembly and the second clamping assembly, when the first clamping assembly is lifted and lowered under the drive of the lifting drive member, the driven module can also be lifted and lowered accordingly to achieve synchronous lifting action.

[0054] As a preferred embodiment, the first material placement unit 4 includes a support frame 40, a first grabbing device 41, and a second grabbing device 42; the first grabbing device 41 and the second grabbing device 42 are arranged side by side on the support frame 40. The first grabbing device 41 is used to grab the first toothbrush and the third toothbrush and place them in the buffer device 31; the second grabbing device 42 is used to grab the second toothbrush and the fourth toothbrush and place them in the buffer device 31; The camera module includes a first camera 43, a second camera 44, a third camera 45 and a fourth camera 46 arranged on the support frame 40; wherein, the first camera 43 photographs the first toothbrush located in the feeding unit, the second camera 44 photographs the second toothbrush located in the feeding unit, the third camera 45 photographs the third toothbrush located in the feeding unit, and the fourth camera 46 photographs the fourth toothbrush located in the feeding unit.

[0055] The first grasping device 41 includes a first robot 410 and a first clamping mechanism 411 , which is disposed at the movable end of the first robot 410 . The second grasping device 42 includes a second robot 420 and a second clamping mechanism 421 , which is disposed at the movable end of the second robot 420 .

[0056] Preferably, the first grasping device and the second grasping device may be DELTA robots (parallel robots).

[0057] Furthermore, the first feeding device 1 includes a first conveying component and a second conveying component.

[0058] The first conveying assembly includes a first silo conveyor belt 110, a first lifting conveyor belt 111, a first transfer conveyor belt 112, a first elevator 113 and a first sorting conveyor belt 114. The first silo conveyor belt 110 is placed with the first toothbrush. Along the material transmission direction, the first silo conveyor belt 110 is connected to the first lifting conveyor belt 111, the first lifting conveyor belt 111 is connected to the first transfer conveyor belt 112, the first transfer conveyor belt 112 is connected to the first elevator 113, and the first elevator 113 is connected to the first sorting conveyor belt 114. The first toothbrushes can form an interval array on the first sorting conveyor belt 114.

[0059] During operation, the first silo conveyor belt 110 moves to transfer the toothbrushes to the silo below the first lifting conveyor belt 111, the first lifting conveyor belt 111 lifts the toothbrushes in the silo below to the first transfer conveyor belt 112, the first transfer conveyor belt 112 then transfers the toothbrushes to the silo below the first elevator 113, the first elevator 113 lifts the toothbrushes in the silo below to the top in order, and then drops them onto the first sorting conveyor belt 114, forming a horizontal orderly state with a close spacing on the first sorting conveyor belt 114.

[0060] As a preferred embodiment, the first silo conveyor belt 110, the first lifting conveyor belt 111, the first transfer conveyor belt 112, the first elevator 113 and the first sorting conveyor belt 114 form a "U-shaped" structure to make the structure compact and achieve the purpose of saving space.

[0061] In detail, the first elevator 113 includes a plurality of step-shaped lifting blocks, each of which can accommodate one of the first toothbrushes, and there is a gap between two adjacent lifting blocks, so that when the elevator is working, the lifting block is driven to move upward, which can drive the first toothbrush to be lifted, and because there is a gap in the height direction between the two adjacent lifting blocks, when the first toothbrushes are moved from the first elevator 113 to the first sorting conveyor belt, they can form an array placed at intervals on the first sorting conveyor belt 114, so that the first machine grasping device 41 can grasp them.

[0062] The structure of the second conveying assembly is the same as that of the first conveying assembly, and the second conveying assembly is used to convey the second toothbrush.

[0063] In detail, the second conveying assembly includes a second silo conveyor belt 120, a second lifting conveyor belt 121, a second transfer conveyor belt, a second elevator 123 and a second sorting conveyor belt 124. The second silo conveyor belt 120 is placed with the second toothbrush. Along the material transmission direction, the second silo conveyor belt 120 is docked with the second lifting conveyor belt 121, the second lifting conveyor belt 121 is docked with the second transfer conveyor belt, the second transfer conveyor belt is docked with the second elevator 123, and the second elevator 123 is docked with the second sorting conveyor belt 124. The second toothbrushes can form a spaced array on the second sorting conveyor belt 124.

[0064] As a preferred embodiment, the second silo conveyor belt 120, the second lifting conveyor belt 121, the second transfer conveyor belt, the second elevator 123 and the second sorting conveyor belt 124 form a "U-shaped" structure to make the structure compact and achieve the purpose of saving space.

[0065] As a preferred embodiment, the structure of the second feeding device 2 is the same as that of the first feeding device 1, so as to convey the third toothbrush and the fourth toothbrush.

[0066] The first feeding device 1 and the second feeding device 2 are symmetrically arranged on both sides of the conveying and color matching unit 3 and are arranged in a mirror image.

[0067] Specifically, the second feeding device 2 includes a third conveying component 21 and a fourth conveying component 22. The third conveying component 21 is used to convey the third toothbrush, and the fourth conveying component 22 is used to convey the fourth toothbrush.

[0068] Going further, the second material placement unit 5 includes a base 50, a driving mechanism 51, a swing arm assembly 52, a third clamping mechanism 53 and an adjusting mechanism 54. The driving mechanism 51 is installed on the base 50, one end of the swing arm assembly 52 is connected to the movable end of the driving mechanism 51, and the other end of the swing arm assembly 52 is connected to the adjusting mechanism 54. The third clamping mechanism 53 is arranged at the movable end of the adjusting mechanism 54, and the third clamping mechanism 53 can move in the horizontal direction and the height direction under the drive of the adjusting mechanism 54.

[0069] The output shaft of the drive mechanism 51 extends horizontally. The swing arm assembly 52 includes a swing arm body 520 and an output connecting rod 521. One end of the swing arm body 520 is connected to the output end of the drive mechanism 51 and can swing up and down around the output shaft of the drive mechanism 51 under the drive mechanism 51. The output connecting rod 521 is connected to the other end of the swing arm body 520 so that it can swing synchronously with the swing arm body 520, thereby driving the adjustment mechanism 54 to operate.

[0070] The driving mechanism 51 includes but is not limited to a driving motor.

[0071] In detail, the adjustment mechanism 54 includes a telescopic component 540 and a compensation component 541. The telescopic component 540 can be raised and lowered during grasping, thereby compensating for the shortcoming that the swing arm body 520 cannot be raised and lowered vertically in the height direction; the compensation component 541 can drive the third clamping mechanism 53 to move in the horizontal direction, thereby adjusting the horizontal displacement during grasping, so that the third clamping mechanism 53 can grasp the toothbrush more accurately.

[0072] As a preferred embodiment, the telescopic assembly 540 includes a driving cylinder arranged along the height direction, and the compensation assembly 541 includes a driving cylinder arranged along the horizontal direction.

[0073] Specifically, the third clamping mechanism 53 includes a connecting plate 530 and a suction nozzle assembly 531, the connecting plate 530 is connected to the telescopic assembly 540, and the suction nozzle assembly 531 is installed on the connecting plate 530. The suction nozzle assembly 531 includes multiple groups of suction nozzles, and the multiple groups of suction nozzles are arranged in parallel on the connecting plate 530 to facilitate the simultaneous adsorption of multiple toothbrushes.

[0074] Preferably, the suction nozzle assembly 531 is provided with six groups of suction nozzles.

[0075] The first feeding device 1 and the first feeding device 2 of the toothbrush loading equipment of the present invention are arranged in a mirror-symmetrical manner during assembly, and adopt a combined structure, so that each feeding device can supply toothbrushes of two different colors. This first avoids the problem of space waste, thereby allowing the first material placement unit 4 to grab toothbrushes on the first feeding device 1 and the first feeding device 2 nearby.

[0076] The first material placement unit 4 of the toothbrush loading equipment of the present invention is composed of a first machine grasping device 41 and a second grasping device 42, which include a first robot 410 and a second robot 420. In addition, the camera module also includes a first camera 43, a second camera 44, a third camera and a fourth camera 45 arranged around the first robot 410 and the second robot 420. Each DELTA robot is equipped with two cameras to identify the posture and position of the toothbrush in turn, and grasp it in turn, saving camera recognition time and avoiding conflicts between grasping and recognition.

[0077] The conveying and color matching unit 3 of the toothbrush feeding equipment of the present invention is used for matching the colors of and transporting toothbrushes with four different colors of brush handles. The first cache box 3110 and the second cache box 3120 are provided with a bottom support plate with a hinge door structure, and are driven by the first opening and closing cylinder 3111 and the second opening and closing cylinder 3121 respectively. After the first robot 410 and the second robot 420 place three toothbrushes of two colors in the first cache box 3110 and the second cache box 3120 respectively, the first opening and closing cylinder 3111 and the second opening and closing cylinder 3121 are opened once to make the tooth handles in the first cache box 3110 and the second cache box 3120 fall onto the conveyor chain 322. The conveyor chain 322 runs six grids in the direction of the rotating component 33 each time. After running twice, the first opening and closing cylinder 3111 and the second opening and closing cylinder 3121 are opened once.

[0078] The rotating assembly 33 clamps the toothbrush from the conveyor chain 322 , then lifts it up, and then rotates it at a certain angle, waiting to be grabbed by the second material placement unit 5 . Example 2

[0079] The present invention also discloses a toothbrush packaging production line, referring to Figures 1 to 9 As shown, it includes a toothbrush packaging machine 6 and a toothbrush feeding device as described in Example 1, and the toothbrush feeding device is used to feed the toothbrush packaging machine 6. Example 3

[0080] The present invention also discloses a toothbrush feeding method, combining Figures 1 to 9 As shown, the toothbrush loading device as described in Example 1 is used to load the toothbrush into the toothbrush packaging machine 6. The toothbrush loading method includes: Step S1, providing a first toothbrush, a second toothbrush, a third toothbrush, and a fourth toothbrush; Step S2, identifying the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush; Step S3, grabbing a specified number of the first toothbrush and the third toothbrush, and placing them in the first buffer assembly 311 at intervals; grabbing a specified number of the second toothbrush and the fourth toothbrush, and placing them in the second buffer assembly 312 at intervals; Step S4: Controlling the first buffer assembly 311 to move so that the first toothbrush and the second toothbrush fall to the transmission assembly 32 and form a spaced position on the transmission assembly 32; the transmission assembly 32 moves for the first time to move the first toothbrush and the third toothbrush to below the second buffer assembly 312; Step S5: Controlling the second buffer assembly 312 to operate so that the second toothbrush and the fourth toothbrush fall to the transmission assembly 32 and are positioned at the intervals formed in step S4, so that the colors of the two adjacent toothbrushes are different; the transmission assembly 32 operates a second time to transmit the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush to the rotating assembly 33; In step S6, the rotating assembly 33 lifts and rotates the first toothbrush, the second toothbrush, the third toothbrush and the fourth toothbrush to a specified angle, grabs the first toothbrush, the second toothbrush, the third toothbrush and the fourth toothbrush, and places them in the toothbrush packaging machine 6, so that the first toothbrush, the second toothbrush, the third toothbrush and the fourth toothbrush can be arranged in sequence on the tray in the toothbrush packaging machine 6 to form a specified color array.

[0081] Step S7, looping the above steps, looping the above steps until all the first toothbrushes, second toothbrushes, third toothbrushes and fourth toothbrushes to be loaded are loaded into the toothbrush packaging machine 6.

[0082] As a preferred embodiment, in the step S1 , the first toothbrush and the second toothbrush are provided by a first feeding device 1 , and the third toothbrush and the fourth toothbrush are provided by a second feeding device 1 .

[0083] As a preferred embodiment, in step S2, the first camera 43, the second camera 44, the third camera 45, and the fourth camera 46 are used to identify the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush respectively.

[0084] Specifically, the first camera 43, the second camera 44, the third camera 45, and the fourth camera 46 respectively photograph the first toothbrush and the second toothbrush on the first feeding device 1, and the third toothbrush and the fourth toothbrush on the second feeding device 2, and identify the coordinates and postures.

[0085] Next, the first robot 410 grabs the first toothbrush and the third toothbrush and places them in the first cache box 3110. This process repeats three times, with three toothbrushes in each cycle. The first cache box 3110 is provided with 12 toothbrushes. From left to right, they are respectively equipped with: the first toothbrush, the third toothbrush, and two empty toothbrushes; the first toothbrush, the third toothbrush, and two empty toothbrushes; the first toothbrush, the third toothbrush, and two empty toothbrushes; and the first toothbrush, the third toothbrush, and two empty toothbrushes. The second robot 420 grabs the second toothbrush and the fourth toothbrush and places them in the second cache box 3120, 3 toothbrushes each in each cycle. The second cache box 3120 is also provided with 12, from right to left, respectively, equipped with: the second toothbrush, the fourth toothbrush, two empty, the second toothbrush, the fourth toothbrush, two empty, the second toothbrush, the fourth toothbrush, two empty, the second toothbrush, the fourth toothbrush, two empty.

[0086] Specifically, the conveyor chain 322 moves each time, covering the width of six buffer boxes. After the conveyor chain 322's first movement, the first opening and closing cylinder 3111 activates, causing the first and third toothbrushes in the first buffer box 3110 (which contains three toothbrushes) to drop onto the positioning block 3220. Subsequently, the rotating assembly 33 activates, and the second material placement unit 5, using the third gripping mechanism 53, grabs the six toothbrushes and places them in the toothbrush packaging machine 6.

[0087] After the conveyor chain 322 moves for the second time, the second opening and closing cylinder 3121 works, causing the second toothbrush and the fourth toothbrush in the second buffer box 3120 to fall to the positioning block 3220, where there are three second toothbrushes and three fourth toothbrushes respectively; then, the second material placement unit 5 grabs the above six toothbrushes through the third clamping mechanism 53 and places them on the toothbrush packaging machine 6.

[0088] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0089] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0090] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. Toothbrush feeding equipment, characterized by: The toothbrush feeding device is capable of feeding toothbrushes of different colors, including: A feeding unit comprising a first feeding device and a second feeding device, wherein the first feeding device is used to provide a first toothbrush of a first color and a second toothbrush of a second color; and the second feeding device is used to provide a third toothbrush of a third color and a fourth toothbrush of a fourth color; A conveying and color matching unit, comprising a frame, a buffer device, a transmission component, and a rotating component, wherein the buffer device is arranged at one end of the frame along a first direction, and the rotating component is arranged at the other end of the frame along the first direction; The transmission assembly is arranged on the frame along the first direction, and at least a portion of the transmission assembly is located below the buffer device to transmit the toothbrushes temporarily stored in the buffer device to the rotating assembly, and the rotating assembly positions and clamps the toothbrushes; wherein the buffer device includes a first buffer assembly and a second buffer assembly sequentially arranged along the first direction, the first buffer assembly being used to buffer the first toothbrush and the third toothbrush, and the second buffer assembly being used to buffer the second toothbrush and the fourth toothbrush; a first material placement unit, capable of grabbing the first and third toothbrushes from the first feeding device and placing them in the buffer device; and grabbing the second and fourth toothbrushes from the second feeding device and placing them in the buffer device; the first material placement unit includes a camera module, which is capable of identifying the first, second, third, and fourth toothbrushes; The second material placement unit is used to grab the first toothbrush, the second toothbrush, the third toothbrush and the fourth toothbrush from the rotating assembly and place them at designated positions.

2. The toothbrush feeding device according to claim 1, characterized in that: The first cache assembly includes a first cache box and a first opening and closing drive member. The first cache box has an opening at one end and a first openable and closable bottom support plate at the other end. The first bottom support plate is connected to the first opening and closing drive member to be opened or closed by the first opening and closing drive member. There are multiple first cache boxes arranged along the first direction. The second cache assembly has the same structure as the first cache assembly.

3. The toothbrush feeding device according to claim 1, characterized in that: The transmission assembly includes a first rotating shaft, a second rotating shaft, a conveying chain and a positioning block assembly. The first rotating shaft and the second rotating shaft are respectively arranged at both ends of the frame. The conveying chain is respectively connected to the first rotating shaft and the second rotating shaft, and is tensioned on the first rotating shaft and the second rotating shaft; the positioning block assembly is arranged on the conveying chain, and the positioning block assembly is used to support the toothbrush falling from the cache device and transport the toothbrush to the rotating assembly.

4. The toothbrush feeding device according to claim 3, characterized in that: The positioning block assembly includes positioning blocks spaced apart from each other on the conveying chain, and a first limiting groove is provided on the top of the positioning block.

5. The toothbrush feeding device according to claim 1, characterized in that: The rotating assembly includes a clamping block assembly, a connecting plate, a lifting drive member and a rotating drive assembly. The lifting drive member is arranged on the frame, the connecting plate is arranged on the movable end of the lifting drive member, the rotating drive assembly is arranged on the connecting plate, and the clamping block assembly is rotatably arranged on the connecting plate through the rotating drive assembly; the clamping block assembly includes relatively arranged clamping blocks, and a second limiting groove is provided on the clamping block.

6. The toothbrush feeding device according to claim 1, characterized in that: The first material placement unit also includes a support frame, a first grabbing device, and a second grabbing device; the first grabbing device and the second grabbing device are arranged side by side on the support frame; the first grabbing device is used to grab the first toothbrush and the third toothbrush, and place them in the cache device; the second grabbing device is used to grab the second toothbrush and the fourth toothbrush, and place them in the cache device; the camera module includes a first camera, a second camera, a third camera and a fourth camera arranged on the support frame.

7. The toothbrush feeding device according to claim 6, characterized in that: The first grasping device includes a first robot and a first clamping mechanism, and the first clamping mechanism is arranged at the movable end of the first robot; the second grasping device includes a second robot and a second clamping mechanism, and the second clamping mechanism is arranged at the movable end of the second robot.

8. The toothbrush feeding device according to claim 1, characterized in that: The first feeding device includes a first conveying component and a second conveying component. The first conveying component includes a first silo conveyor belt, a first lifting conveyor belt, a first transfer conveyor belt, a first elevator and a first sorting conveyor belt. The first silo conveyor belt is placed with the first toothbrush. Along the material transmission direction, the first silo conveyor belt is docked with the first lifting conveyor belt, the first lifting conveyor belt is docked with the first transfer conveyor belt, the first transfer conveyor belt is docked with the first elevator, and the first elevator is docked with the first sorting conveyor belt. The first toothbrushes can form an interval array on the first sorting conveyor belt; wherein the first elevator includes a plurality of step-shaped lifting blocks, each of the lifting blocks can accommodate one of the first toothbrush, and there is a gap between two adjacent lifting blocks; the structure of the second conveying component is the same as that of the first conveying component, and the second conveying component is used to convey the second toothbrush.

9. The toothbrush feeding device according to claim 8, characterized in that: The structure of the second feeding device is the same as that of the first feeding device, so as to feed the third toothbrush and the fourth toothbrush; the first feeding device and the second feeding device are symmetrically arranged on both sides of the conveying and color matching unit.

10. The toothbrush feeding device according to claim 1, characterized in that: The second material placement unit includes a base, a driving mechanism, a swing arm assembly, a third clamping mechanism and an adjusting mechanism. The driving mechanism is installed on the base, one end of the swing arm assembly is connected to the movable end of the driving mechanism, and the other end of the swing arm assembly is connected to the adjusting mechanism. The third clamping mechanism is arranged at the movable end of the adjusting mechanism, and the third clamping mechanism can move in the horizontal direction and the height direction under the drive of the adjusting mechanism; the third clamping mechanism includes a connecting plate and a suction nozzle assembly, and the suction nozzle assembly is installed on the connecting plate.

11. Toothbrush packaging production line, characterized by: It comprises a toothbrush packaging machine and a toothbrush feeding device as described in any one of claims 1 to 10, wherein the toothbrush feeding device is used to feed the toothbrush packaging machine.

12. A toothbrush feeding method, characterized in that: The toothbrush feeding device according to any one of claims 1 to 10 is used to feed the toothbrush into a toothbrush packaging machine, wherein the toothbrush feeding method comprises: Step S1, providing a first toothbrush, a second toothbrush, a third toothbrush, and a fourth toothbrush; Step S2, identifying the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush; Step S3, grabbing a specified number of the first toothbrush and the third toothbrush, and placing them in a first buffer assembly at intervals; grabbing a specified number of the second toothbrush and the fourth toothbrush, and placing them in a second buffer assembly at intervals; Step S4: controlling the first buffer assembly to move so that the first toothbrush and the second toothbrush fall to the transmission assembly and form a spaced position on the transmission assembly; the transmission assembly moves for the first time to move the first toothbrush and the third toothbrush to below the second buffer assembly; Step S5, controlling the second buffer assembly to move so that the second toothbrush and the fourth toothbrush fall to the transmission assembly and are located at the intervals formed in step S4; the transmission assembly moves a second time to transfer the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush to the rotating assembly; Step S6, the rotating assembly lifts and rotates the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush to a specified angle, grabs the first toothbrush, the second toothbrush, the third toothbrush, and the fourth toothbrush, and places them in the toothbrush packaging machine; Step S7, looping through the above steps until all the first toothbrush, the second toothbrush, the third toothbrush and the fourth toothbrush to be loaded are loaded into the toothbrush packaging machine.

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