Precious metal ornament automatic packaging equipment and tray conversion system thereof

Abstract

The invention discloses automatic packaging equipment for precious metal ornaments and a tray conversion system of the automatic packaging equipment, and aims to solve the problems that current precious metal ornaments are low in manual bagging efficiency, neglected loading is easy to occur, packaging bags are easy to damage, and existing automatic equipment is difficult to realize lossless overturning and transferring of the ornaments, thin sealing bags are easy to tear when the bags are opened, and the space utilization rate is insufficient. The equipment integrates an equipment frame, a tray conversion system, a bagging mechanism, a conveying line system and a control system. The tray conversion system comprises a POM material turnover tray (with a damping hinge and a bottom plate damping rebounding device) and a three-axis mechanical arm, and the accessories can be overturned and transferred by 180 degrees in a lossless mode. The bagging mechanism completes high-speed bagging through vacuum adsorption bag taking, double-guide bag opening and XY double-grid synchronous operation. The control system coordinates actions of all the mechanisms. The bagging speed is smaller than or equal to 4 seconds per piece, the breakage rate of the accessories is reduced to 0.1% or below, the equipment size is 3200 * 1600 * 2100 mm, full-process automation is achieved, and the method is suitable for large-scale packaging of the precious metal accessories.

Description

Technical Field

[0001] This application relates to the technical field of automated packaging equipment, and more particularly to an automated packaging equipment for precious metal jewelry and its pallet transfer system. Background Technology

[0002] Precious metal jewelry (such as gold and platinum jewelry) requires extremely high levels of safety and durability in its packaging process due to its precious materials and exquisite appearance. Currently, after precious metal jewelry passes inspection, the industry primarily relies on manual bagging, a method with significant technical drawbacks: 1. Low efficiency: Manual bagging requires multiple steps, including taking out the bag, opening the bag, putting in the jewelry, and sealing it. The bagging time for a single piece of jewelry usually exceeds 10 seconds, which is difficult to meet the "high-speed" operation requirements of large-scale production. 2. High quality risk: Manual operation is prone to problems such as missing decorations and wrinkles in the sealing bags. In addition, hand contact or tool assistance can easily cause damage to the sealing bags, increasing rework costs and the risk of contamination of the decorations. 3. High labor intensity: Long-term repetitive bag picking and bagging actions can easily lead to hand fatigue of operators, further reducing packaging efficiency and quality stability.

[0003] To address the pain points of manual bagging, some companies have attempted to introduce automated packaging equipment. However, existing equipment struggles to meet the "delicate handling" requirements of precious metal jewelry, primarily due to the following three core issues: 1. Tray design defects: Traditional automated equipment uses trays made of hard plastic or metal, without a cushioning structure, and cannot achieve "damage-free flipping and transfer" - during the transfer process, jewelry is easily scratched by collision with the inner wall of the tray, or the jewelry may fall off due to the uncontrollable flipping angle; 2. Poor bag opening / closing performance: The bag opening mechanism of existing equipment mostly adopts a rigid clamping method, which can easily cause tearing of the thin sealing bags commonly used for precious metal jewelry; and the bag closing mostly adopts strong pressure sealing, which makes the sealing bag unable to be manually opened and closed repeatedly, affecting the subsequent re-inspection or secondary packaging of jewelry; 3. Low space utilization: Existing automated packaging equipment typically adopts a decentralized layout to achieve the functions of "pallet conveying + bagging + sealing". The overall size of the equipment generally exceeds 2400×1200×1800mm, which occupies a large amount of production space and is not suitable for the actual needs of precious metal processing enterprises for "compact workshop layout".

[0004] To date, no automated packaging equipment specifically designed for precious metal jewelry has been found that can simultaneously address the challenges of "high-speed, non-destructive transfer, reusable sealing and closure, and compact space integration." Therefore, there is an urgent need to develop a technical solution that balances efficiency, quality, and space optimization to fill this industry gap. Summary of the Invention

[0005] This application aims to at least partially address one of the technical problems in the related art.

[0006] This invention aims to solve the following core problems existing in the prior art in order to meet the needs of automated packaging for precious metal jewelry: 1. Achieve high-speed, damage-free transfer of jewelry from the pallet to the transfer tray (general pallet) to the turnover pallet, and then to the sealing bag, ensuring that the bagging time for a single piece of jewelry is ≤4 seconds, and that the jewelry is free from scratches and falls off during the transfer process; 2. Optimize the opening and closing structure to ensure that the sealing bag is not damaged during automated operation, and can be manually opened and closed repeatedly after sealing to meet the needs of subsequent re-inspection or secondary packaging; 3. Achieve compact integration of the entire process of "pallet conversion + automatic bagging + sealing + conveying", with the overall size of the equipment controlled within 3200×1600×2100mm, thereby improving the utilization rate of site space.

[0007] To achieve the above objectives, the first aspect of this application proposes an automatic packaging equipment for precious metal jewelry and its pallet transfer system, including an equipment frame, a pallet transfer system, a bagging mechanism, a conveyor system, and a control system. The pallet transfer system, bagging mechanism, conveyor system, and control system are all integrated within the equipment frame. The pallet transfer system is used to transfer precious metal jewelry from a pallet to a turnover pallet without damage. The bagging mechanism is used to automatically complete the extraction of sealing bags, opening of the bag opening, bagging of jewelry, and sealing of the bag opening. The sealed bag can be manually opened and closed repeatedly after sealing. The conveyor system is used to transport the pallet to be packaged, the empty pallet after transfer, and the bagged products. The control system is used to coordinate the actions of the pallet transfer system, the bagging mechanism, and the conveyor system to achieve fully automated packaging throughout the entire process.

[0008] This application discloses an automatic packaging equipment for precious metal jewelry and its tray transfer system, which specifically addresses the pain points of precious metal jewelry packaging, replacing manual bagging and significantly improving efficiency. The tray transfer system enables damage-free transfer of jewelry, and the bagging mechanism avoids damage to the sealed bags through vacuum bag retrieval and double-guided bag opening, and the sealed bags can be manually opened and closed repeatedly. The equipment highly integrates full-process functions, has high space utilization, and controllable costs. The control system coordinates the actions of each mechanism to ensure stable automated operation and meet the needs of fine packaging for precious metal jewelry.

[0009] In addition, the automatic packaging equipment for precious metal jewelry and its pallet transfer system proposed in this application may also have the following additional technical features: In one embodiment of this application, the pallet conversion system includes a product turnover pallet and a three-axis pallet conversion robot. The product turnover pallet is made of POM material, with external dimensions of 700×440×55mm, an internal compartment layout of 10×6 with individual compartment dimensions of 60×60×40mm, and weighs 2.9kg. It is manufactured using injection molding. The bottom edge of the product turnover pallet is connected to a base plate via a damping hinge. A base plate damping rebound device is provided on the outer side of the base plate, and the base plate damping rebound device abuts against the side wall of the product turnover pallet. The three-axis pallet conversion robot includes an X-axis single-arm robot, two Y-axis single-arm robots, a Z-axis servo cylinder, a 180° rotation mechanism, and... The pneumatic clamping mechanism includes an X-axis single-arm robot horizontally mounted on the top beam of the equipment frame, two Y-axis single-arm robots parallel to each other and slidably connected below the X-axis single-arm robot, capable of reciprocating along its length, a Z-axis servo cylinder vertically fixed to the bottom of each Y-axis single-arm robot and capable of vertical lifting and lowering, a 180° rotation mechanism coaxially fixed to the lower end of the Z-axis servo cylinder, and a pneumatic clamping mechanism mounted at the bottom of the 180° rotation mechanism and capable of synchronously rotating with it; the pallet conversion three-axis robot can clamp product turnover pallets and product general pallets and synchronously rotate 180° to transfer jewelry, and the single rotation time of the 180° rotation mechanism is ≤1.2 seconds.

[0010] In one embodiment of this application, the damping hinge of the product turnover tray can limit the maximum opening angle of the bottom plate to ≤60°, and the bottom plate damping rebound device can ensure the positional accuracy of the bottom plate when it is closed to ±0.5mm.

[0011] In one embodiment of this application, the bagging mechanism includes a sealing bag placement hopper, a sealing bag retrieval mechanism, a bag opening and sealing mechanism, a jewelry bagging guide mechanism, a turnover pallet bottom plate opening mechanism, and a bagging XY movement mechanism. The sealing bag placement hopper is positioned corresponding to the manual loading position for sealing bags. The sealing bag retrieval mechanism is installed above the sealing bag placement hopper, and its suction end can extend into the hopper to retrieve a single sealing bag. The bag opening and sealing mechanism is located on one side of the sealing bag retrieval mechanism, with the bag opening clamping end corresponding to the suction end. The jewelry bagging guide mechanism is inclinedly positioned below the bag opening and sealing mechanism, with its two ends corresponding to the bag opening position and the bagging XY movement mechanism, respectively. The turnover pallet bottom plate opening mechanism is vertically installed on one side of the bagging XY movement mechanism, and its ejection end can abut against the product turnover pallet bottom plate. The bagging XY movement mechanism is horizontally positioned in the middle of the equipment frame and provides reciprocating movement in the XY direction. It adopts a dual-compartment synchronous operation mode, and all parts in contact with the jewelry are made of POM material. The bagging time for a single piece of jewelry by the bagging mechanism is ≤4 seconds.

[0012] In one embodiment of this application, the bag opening and sealing mechanism includes a mechanical guide rod, a pneumatic gripper, and a hot-pressing bag assembly; the mechanical guide rod is symmetrically arranged on both sides of the bag opening to position the sealing bag, the pneumatic gripper is installed on the outside of the mechanical guide rod and its gripping end can expand and contract synchronously along its length to open the bag, and the hot-pressing bag assembly is located below the bag opening of the bag opening and sealing mechanism and its hot-pressing end can press the edge of the bag opening to seal it.

[0013] In one embodiment of this application, the bagging XY moving mechanism includes an X-axis moving slide and a Y-axis moving slide; the Y-axis moving slide is slidably connected above the X-axis moving slide and can move along its length direction, and the top of the Y-axis moving slide is provided with two sets of positioning grooves that match the inner dimensions of the product turnover tray, and the inner wall of the positioning groove is made of POM material.

[0014] In one embodiment of this application, the conveyor system includes a pallet transfer conveyor, a pallet feeding conveyor for products under test, an empty pallet discharging conveyor, a pallet transfer station, a manual loading station for sealing bags, an operation panel, an electrical control cabinet, and a bagged product discharging conveyor. The pallet feeding conveyor for products under test and the empty pallet discharging conveyor are arranged parallel to each other on one side of the equipment frame. The pallet transfer station is located between the two and directly below the pallet transfer three-axis robot. One end of the pallet transfer conveyor connects to the pallet transfer station, and the other end extends to the side of the bagging XY moving mechanism. The bagged product discharging conveyor is located below the bag opening and sealing mechanism, with its feeding end corresponding to its discharge port. The manual loading station for sealing bags is located next to the sealing bag storage hopper. All four conveyor systems—the pallet transfer conveyor, the pallet feeding conveyor for products under test, the empty pallet discharging conveyor, and the bagged product discharging conveyor—are belt conveyor structures. The belt surface has anti-slip textures, and the conveying speed can be adjusted by the control system within a range of 0.5~1m / s.

[0015] In one embodiment of this application, the pneumatic gripping mechanism of the pallet-converting three-axis robot includes two sets of symmetrically arranged gripping claws. The inner side of the gripping claws is provided with a POM material buffer pad, and the gripping force of the pneumatic gripping mechanism can be adjusted by the control system, with an adjustment range of 0~50N.

[0016] In one embodiment of this application, the control system integrates a PLC and a servo drive module and is built into the electrical control cabinet. The servo drive module is connected to the drive motors of the X-axis single-arm robot, the Y-axis single-arm robot, the Z-axis servo electric cylinder, and the 180° rotation mechanism, respectively, and can control the positioning accuracy of each axis to ±0.1mm and the repeatability to ±0.05mm. The operation panel is embedded in the outer wall of the equipment frame and is a touch screen structure, which can display the equipment operating parameters, working status, and fault information. The control system also has a fault diagnosis function. When a fault occurs, it can trigger the audible and visual alarm device on the electrical control cabinet and display the fault location and troubleshooting prompts on the operation panel. The inner wall of the sealing bag placement hopper is provided with an anti-slip coating, and the bottom of the hopper is provided with a vibration feeding component connected to the control system, which can trigger vibration to sort the sealing bags after the bag-removing mechanism removes the bags.

[0017] In one embodiment of this application, the equipment frame is made of high-strength steel welded together and coated with an anti-static powder coating. The overall dimensions of the equipment frame are 3200mm (length) × 1600mm (width) × 2100mm (height). The frame is provided with a pallet loading height of 950mm and a sealing bag loading height of 700mm. The bottom of the equipment frame is provided with adjustable feet with an adjustment range of 0~50mm to adjust the levelness of the frame and ensure that the levelness error is ≤0.1mm / m.

[0018] The advantages of this application compared to existing technologies are: (1) By using “double-compartment synchronous bagging” and “1.2-second rapid flipping”, the bagging time for a single piece of jewelry is ≤4 seconds. Compared with manual bagging, the efficiency is greatly improved, which can meet the high-speed requirements of large-scale production.

[0019] (2) The pallet conversion system adopts a POM material turnover pallet + damping buffer structure (damping hinge + rebounder). The bagging mechanism and the parts in contact with the jewelry are all made of POM material, which reduces the jewelry breakage rate to less than 0.1%, which is far lower than the existing equipment.

[0020] (3) The dual-guide bag opening mechanism (mechanical guidance + pneumatic flexible clamping) avoids tearing of thin sealing bags, and the hot-pressing bag assembly realizes "repeated opening and closing" sealing, reducing the damage rate of sealing bags and meeting the needs of subsequent re-inspection.

[0021] (4) The equipment adopts an “integrated” design with an overall size of only 3200×1600×2100mm. Compared with the existing distributed equipment (size exceeding 2400×1200×1800mm), the space occupancy is more compact under the premise of adding the “pallet conversion” function, which is suitable for small workshop layout.

[0022] (5) The cost of the first piece of equipment is ≤ 200,000 yuan, which significantly reduces the initial investment compared to imported equipment of the same type; at the same time, it reduces the need for labor, has low long-term operating costs, and a short investment return cycle.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic perspective view of an automatic packaging device for precious metal jewelry and its tray transfer system according to an embodiment of this application; Figure 2 This is a front view of an automatic packaging device for precious metal jewelry and its pallet transfer system according to an embodiment of this application; Figure 3 This is a right view of an automatic packaging device for precious metal jewelry and its pallet transfer system according to an embodiment of this application; Figure 4 This is a schematic diagram of a universal pallet structure for an automatic packaging device for precious metal jewelry and its pallet conversion system according to an embodiment of this application; Figure 5 This is a schematic diagram of the product turnover pallet structure of an automatic packaging equipment for precious metal jewelry and its pallet conversion system according to an embodiment of this application; Figure 6 This is a schematic diagram of a three-axis manipulator structure for an automatic packaging equipment for precious metal jewelry and its pallet transfer system according to an embodiment of this application. Figure 7 This is a schematic diagram of the bag feeding, opening, and sealing mechanism of an automatic packaging equipment for precious metal jewelry and its tray transfer system according to an embodiment of this application. Figure 8 This is a schematic diagram of the bagging XY movement mechanism of an automatic packaging equipment for precious metal jewelry and its pallet transfer system according to an embodiment of this application; Figure 9 This is a schematic diagram of the control connection relationship of an automatic packaging equipment for precious metal jewelry and its tray transfer system according to an embodiment of this application; Figure 10 This is a flowchart illustrating the workflow of an automatic packaging device for precious metal jewelry and its pallet transfer system according to an embodiment of this application.

[0025] As shown in the figure: 1. Pallet transfer conveyor line; 2. Pallet feeding for products to be tested; 3. Empty pallet discharge conveyor line; 4. Pallet transfer station; 5. Manual loading station for sealing bags; 6. Control panel; 7. Electrical control cabinet; 8. Bagged product discharge conveyor line; 9. Base plate damping rebound device; 10. Damping hinge; 11. 180° rotation mechanism; 12. Y-axis single-arm robot; 13. Z-axis servo cylinder; 14. Pneumatic clamping mechanism; 15. X-axis single-arm robot; 16. Sealing bag placement hopper; 17. Jewelry bagging guide mechanism; 18. Turnover pallet base plate opening mechanism; 19. Sealing bag removal mechanism; 20. Bag opening and sealing mechanism. Detailed Implementation

[0026] Embodiments of this application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. Rather, embodiments of this application include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0027] The following description, in conjunction with the accompanying drawings, describes an automatic packaging device for precious metal jewelry and its pallet transfer system according to an embodiment of this application.

[0028] like Figures 1-10 As shown in this application, an automatic packaging device for precious metal jewelry and its tray transfer system are disclosed. Precious metal jewelry, due to its valuable material and easily scratched surface, requires extremely high levels of non-destructive and precise packaging. Simultaneously, to improve production efficiency, the entire packaging process needs to be automated. Existing packaging equipment often suffers from problems such as excessive manual intervention, easy damage during jewelry transfer, low bagging efficiency, and the inability to repeatedly open and close the sealed packaging, making it difficult to meet the packaging needs of precious metal jewelry. Therefore, this invention provides an integrated, highly automated automatic packaging device that enables non-destructive transfer of jewelry and repeated opening and closing and sealing. The following detailed description of this technical solution is provided in conjunction with specific embodiments.

[0029] Example 1: Overall Structure and Frame Design of the Equipment This automatic packaging equipment for precious metal jewelry uses a frame as its basic carrier, integrating the pallet transfer system, bagging mechanism, conveyor system, and control system within the frame to form a modular and compact overall structure, facilitating equipment installation, commissioning, and subsequent maintenance.

[0030] (a) Specific structure of the equipment frame The equipment frame is constructed from high-strength steel using a welding process. The steel grade is Q235B (to ensure the frame's load-bearing capacity and prevent deformation over long-term use). The frame surface is coated with an anti-static powder coating (the coating material is epoxy resin, approximately 60μm thick, to prevent static electricity from attracting dust during equipment operation and to avoid dust contamination of precious metal jewelry). The overall frame dimensions are designed to be 3200mm (length) × 1600mm (width) × 2100mm (height), dimensions that are suitable for common workshop layouts and meet the installation and movement requirements of various systems. The frame features clearly defined operating station heights: a pallet loading height of 950mm (adapting to the arm height of operators when standing, reducing labor intensity), and a resealable bag loading height of 700mm (facilitating operators to bend over to replenish resealable bags without excessive squatting). Adjustable feet are provided at all four corners of the bottom of the frame, with an adjustment range of 0~50mm. Rubber anti-slip pads are attached to the bottom of the feet (to increase friction with the ground and prevent the equipment from shifting during operation). During equipment installation, the adjustable feet are adjusted and checked with a level to ensure that the frame's levelness error is ≤0.1mm / m. This prevents problems such as pallet conveying deviation and inaccurate positioning of the robot arm caused by frame tilting, and provides a foundation for the stable operation of each mechanism.

[0031] Example 2: Specific Structure and Working Principle of the Pallet Transfer System The pallet transfer system is the core mechanism for the damage-free transfer of precious metal jewelry from the pallet to the turnover pallet. It consists of two parts: the product turnover pallet and the pallet transfer three-axis robotic arm. The two work together to ensure that the jewelry is transferred without bumps or scratches.

[0032] (a) Structural design of product turnover pallets The product turnover tray is made of POM material (polyoxymethylene, which has high hardness, good wear resistance, and a smooth surface to avoid scratching jewelry, while also being lightweight for easy gripping by robotic arms). It is integrally molded using injection molding (ensuring the dimensional accuracy of the tray's internal compartments and preventing jewelry from getting stuck due to seams). The tray's internal compartments are arranged in a matrix, with the number of compartments matching the tray to be transferred, ensuring accurate docking and transfer of jewelry. The bottom edge of the tray is movably connected to the base plate via damping hinges 10. The damping hinges 10 are torque-adjustable (torque preset to 5 N·m), and their core function is to limit the maximum opening angle of the base plate to ≤60°—ensuring that jewelry can smoothly fall into the subsequent guide mechanism when the base plate is opened, while preventing excessive flipping of the base plate that could damage the hinges or make resetting difficult. A base plate damping rebound device 9 is fixedly installed on the middle of the outer side of the base plate. The rebound device adopts a spring damping structure (spring stiffness coefficient is 2N / mm). When the base plate is closed, the telescopic end of the base plate damping rebound device 9 abuts against the side wall of the product turnover pallet. The damping force buffers the impact force of the base plate closing, while ensuring the positional accuracy of the base plate after closing is ±0.5mm, avoiding the turnover pallet from failing to accurately connect with the bagging mechanism due to misalignment of the base plate.

[0033] (II) Structure and Motion Control of the Three-Axis Robotic Arm for Pallet Transfer The pallet conversion three-axis robot includes an X-axis single-arm robot 15, two Y-axis single-arm robots 12, a Z-axis servo electric cylinder 13, a 180° rotation mechanism 11, and a pneumatic clamping mechanism 14. Each component is connected to a coupling via a high-precision guide rail to ensure smooth movement and positioning accuracy.

[0034] 1. Installation and motion functions of each axis of the robot arm The X-axis single-arm robot 15 is horizontally fixed to the top beam of the equipment frame with bolts. The guide rail length covers the pallet transfer station 4 and the conveying path of the pallet to be transferred. The X-axis drive motor is a servo motor (power 200W, rated speed 3000r / min), combined with ball screw transmission (screw lead 10mm), to achieve reciprocating movement in the X-axis direction with a positioning accuracy of ±0.1mm. Two Y-axis single-arm robots 12 are arranged in parallel and are slidably connected to the X-axis single-arm robot 15 below it via sliders. The Y-axis drive motor is also a servo motor (power 150W), which can move independently or synchronously along the length of the X-axis guide rail to meet the requirement of simultaneously gripping the pallet to be transferred and the turnover pallet. The bottom of each Y-axis single-arm robot 12 is vertically fixed to the Z-axis servo cylinder 13 via a flange. The stroke of the Z-axis servo cylinder 13 is 200mm (covering the pallet height and gripping height requirements), and the drive speed is adjustable (0~100mm / s), which can drive the mechanism below to achieve vertical lifting.

[0035] 2.180° Rotation Mechanism 11: Structure and Performance The 180° rotation mechanism 11 is coaxially fixed to the lower end of the Z-axis servo cylinder 13 via a coupling. It uses a hollow shaft servo motor (100W power, rated torque 1.5N・m) and an angle encoder (1024 lines resolution) to ensure a rotation angle accuracy of ±0.5°. Its single flip time is ≤1.2 seconds, and the angular velocity is stable during the flip (maximum angular velocity 150° / s), avoiding the jewelry from shaking or colliding due to excessively fast flipping.

[0036] 3. Design and clamping control of pneumatic clamping mechanism 14 The pneumatic clamping mechanism 14 is bolted to the bottom of the 180° rotating mechanism 11 and includes two sets of symmetrically arranged clamping claws (the claw body is made of aluminum alloy, with a POM material buffer pad attached to the inside, the buffer pad is 5mm thick, and the surface roughness Ra0.8μm, to prevent scratching the tray or ornaments during clamping). The clamping claws are driven by pneumatic fingers (model MHZ2-20D), and the clamping force can be adjusted by the control system, with an adjustment range of 0~50N. Different clamping forces can be preset for different materials of the tray to be transferred (such as plastic and paper) (e.g., 20~30N for plastic trays and 10~15N for paper trays), ensuring that the tray is stably clamped while avoiding excessive clamping force that could cause the tray to deform.

[0037] (III) Specific procedures for transferring jewelry 1. In the initial state, the pallet conversion three-axis robot is reset to the X-axis origin and the Z-axis highest position, and the gripping claws of the pneumatic gripping mechanism 14 are in the open state; 2. Once the pallet to be transferred and the turnover pallet have been conveyed to the pallet conversion station 4 and aligned, the control system sends a signal to the X-axis single-arm robot 15, which drives the Y-axis and Z-axis to move directly above the pallet. 3. The Z-axis servo electric cylinder 13 descends, causing the two sets of clamping jaws to be placed on the outer edges of the pallet to be transferred and the turnover pallet respectively. The clamping jaws close and clamp the pallet with the preset clamping force. 4. The Z-axis servo electric cylinder 13 rises 100mm (to avoid collision with the conveyor line when the pallet moves), and the X-axis single-arm robot 15 moves the pallet to directly above the pallet transfer station 4. 5. The 180° rotation mechanism 11 is activated, causing the two trays to rotate 180° synchronously. At this time, the tray to be transferred is on top and the turnover tray is on the bottom. Under the action of gravity, the jewelry falls from the inner compartment of the tray to be transferred into the inner compartment of the turnover tray (the bottom of the inner compartment of the turnover tray is equipped with a flexible pad to further buffer the impact of the jewelry falling). 6. After flipping and resetting, the Z-axis servo cylinder 13 descends, the clamping jaws open, and the turnover pallet containing the ornaments is placed on the transfer pallet conveyor line 1. The empty pallet to be transferred is placed on the empty pallet discharge conveyor line 3, completing one transfer.

[0038] Example 3: Specific Structure and Working Principle of the Bagging Mechanism The bagging mechanism is responsible for extracting and opening the sealing bags, bagging the jewelry, and resealing the bags repeatedly. It includes a sealing bag placement bin 16, a sealing bag retrieval mechanism 19, a bag opening and sealing mechanism 20, a jewelry bagging guide mechanism 17, a turnover pallet bottom plate top opening mechanism 18, and a bagging XY movement mechanism. All components work together to achieve a single jewelry bagging time of ≤4 seconds, and adopt a dual-compartment synchronous operation mode to improve efficiency.

[0039] (a) Structural design of the sealing bag placement hopper 16 The sealing bag placement hopper 16 is a rectangular cavity structure, fixed to the middle of the equipment frame by a bracket, corresponding to the manual feeding position 5 for sealing bags (operators can directly add materials to the hopper from the side of the equipment). The inner wall of the hopper is coated with an anti-slip coating (material is polytetrafluoroethylene, coefficient of friction ≤0.1) to prevent the sealing bags from slipping and misaligning due to gravity when stacked. The bottom of the hopper is equipped with a vibrating feeding component (including a miniature vibrating motor and spring bracket, vibration frequency 50Hz, amplitude 0.5mm). The vibrating feeding component is electrically connected to the control system—when the sealing bag picking mechanism 19 picks up a sealing bag, the control system triggers the vibrating feeding component to work for 1 second, vibrating and arranging the remaining sealing bags upwards to ensure that the next sealing bag can be accurately picked up. The inner wall of the hopper is equipped with a material sensor (diffuse reflection photoelectric sensor). When the remaining number of sealing bags in the hopper is lower than a preset value (e.g., 50), the sensor sends a signal to the control system, triggering the indicator light on the operation panel 6 to light up, reminding the operator to add materials.

[0040] (II) Structure and bag-removing process of the bag-removing mechanism 19 The bag-retrieving mechanism 19 is mounted above the bag-placement hopper 16 via a bracket, and includes a lateral moving slide and a vacuum adsorption assembly. The transverse moving slide adopts a synchronous belt drive structure (stroke 300mm, moving speed 100mm / s), which can drive the vacuum adsorption component to move between the hopper and the bag opening and sealing mechanism 20. The vacuum adsorption assembly includes a vacuum suction cup (20mm in diameter, made of nitrile rubber to avoid scratching the surface of the sealing bag) and a vacuum generator (vacuum degree -80kPa). The suction cup is connected to the vacuum generator through an air tube. The adsorption force can be adjusted by a regulating valve (preset to 5N to ensure that only a single sealing bag is adsorbed, avoiding multiple adsorptions).

[0041] Bag Retrieval Process: 1. The horizontally moving slide table moves the vacuum suction cup to directly above the hopper, and the suction cup descends and extends into the hopper to contact the surface of the topmost sealing bag; 2. The vacuum generator starts, and the suction cup generates negative pressure to adsorb and seal the bag; 3. The suction cup rises, and the horizontally moving slide moves the sealing bag to the mechanical guide rod of the bag opening and sealing mechanism 20. The vacuum generator depressurizes, the suction cup releases the sealing bag, and the bag is removed.

[0042] (III) Structure of the bag opening and sealing mechanism 20 and its opening and sealing control The bag opening and sealing mechanism 20 is fixed in the middle of the equipment frame and located on one side of the bag opening and sealing mechanism 19. It includes a mechanical guide rod, a pneumatic gripper and a hot-press bag closing assembly, which realizes "precise positioning of the bag opening - stable opening - repeated opening and sealing".

[0043] 1. Mechanical guide rods: Two sets of stainless steel guide rods are symmetrically arranged on both sides of the bag opening (the spacing matches the width of the sealing bag, such as 80mm). Nylon pads are attached to the inside of the guide rods (to avoid scratching the sealing bag). When the sealing bag is fed between the guide rods, the guide rods restrict the left and right displacement of the sealing bag to ensure that the bag opening is aligned with the subsequent bagging guide mechanism.

[0044] 2. Pneumatic grippers: Two sets of pneumatic grippers (model MHZ2-16D) are installed on the outside of the mechanical guide rod. The front end of the gripper is equipped with a rubber clamp (the surface has anti-slip texture). When opening the bag, the pneumatic grippers close and clamp the left and right edges of the sealed bag opening, and then expand outward synchronously along the length of the mechanical guide rod (expansion distance 40mm) to open the bag opening to the preset width (to ensure that the jewelry can be put in smoothly). After opening the bag, the grippers remain in position until the jewelry is packed into the bag.

[0045] 3. Heat-sealing bag assembly: Located below the bag opening of the bag-sealing mechanism 20, it includes a heating block, a heat-insulating bracket, and a cylinder drive assembly. The heating block is made of aluminum alloy (with a built-in heating tube; the heating temperature can be adjusted via a temperature controller, preset to 80~100℃). The surface of the heating block has an arc-shaped structure (to prevent wrinkling at the bag opening edge during sealing). The cylinder drive assembly drives the heating block to rise, pressing the bag opening edge together (the pressing force is preset to 15N, and the pressing time is 1 second), thus sealing the bag. Key design: The heat-sealing temperature and pressure are controlled within the range of "only causing slight adhesion of the film on the bag opening surface," ensuring that the items inside the bag will not fall out after sealing, and allowing for repeated opening and closing by manually pulling the bag opening (solving the problem that traditional heat seals cannot be opened a second time, facilitating subsequent inspection or adjustment of the items).

[0046] (iv) Coordinated operation of jewelry bagging guide mechanism 17 and turnover pallet bottom plate opening mechanism 18 1. Jewelry bagging guide mechanism 17: An inclined guide channel made of transparent acrylic material (inclination angle 30°, no additional power required, relying on gravity to guide the material). The upper entrance of the guide channel corresponds to the opening position of the bottom plate of the turnover tray, and the lower exit corresponds to the opening of the sealed bag after the bag is opened. The inner wall of the guide channel is polished smooth (roughness Ra0.4μm), and the entrance is equipped with a flared structure (diameter 5mm larger than the inner grid of the turnover tray) to ensure that the jewelry can smoothly enter the guide channel after falling from the turnover tray and avoid jamming.

[0047] 2. Turnover pallet bottom plate opening mechanism 18: Vertically installed on one side of the bagging XY moving mechanism via a bracket, including a miniature cylinder (stroke 50mm, thrust 100N) and a top block (POM material to avoid scratching the bottom plate); when the bagging XY moving mechanism sends the turnover pallet to the top of the guide groove inlet, the cylinder drives the top block to rise, and the top block abuts against the bottom of the turnover pallet bottom plate, opening the bottom plate (the maximum opening angle of the bottom plate is ≤60°, limited by the damping hinge 10). At this time, the ornaments in the turnover pallet fall into the guide groove and slide into the sealing bag along the guide groove.

[0048] (v) Structure of the bagging XY moving mechanism and synchronous operation of the double compartments The bagging XY moving mechanism is horizontally positioned in the middle of the equipment frame, responsible for moving the turnover pallet to the bagging position, including an X-axis moving slide and a Y-axis moving slide: The X-axis sliding table is fixed to the frame with bolts and uses ball screw drive (lead 10mm, positioning accuracy ±0.1mm). The drive motor is a servo motor (power 150W) and can drive the Y-axis sliding table to move along the X-axis (stroke 500mm). The Y-axis moving slide is connected to the X-axis slide via a slider, and is also driven by a ball screw (lead 8mm). The top of the slide has two sets of positioning slots (the inner size of the slot matches the product turnover pallet, and the inner wall is pasted with POM cushioning pads), which can hold two turnover pallets at the same time to achieve synchronous operation of two compartments.

[0049] Dual-grid synchronous operation process: 1. When the bagging XY moving mechanism is reset, the Y-axis slide is located next to the transfer pallet conveyor line 1, and the two sets of positioning slots are aligned with the two turnover pallets on the conveyor line; 2. The X-axis slide moves the Y-axis slide, causing the positioning slot to fit the turnover pallet. The Y-axis slide rises 5mm to grab both turnover pallets simultaneously. 3. The X-axis slide moves the turnover tray to above the entrance of the jewelry bagging guide mechanism 17. The two turnover trays correspond to the two jewelry bagging guide mechanisms (and the two bag opening and sealing mechanisms 20) respectively. 4. The bottom plate opening mechanism 18 of the turnover pallet simultaneously opens the bottom plates of the two turnover pallets, and the ornaments fall into the guide groove and enter the sealing bag at the same time; 5. After bagging is completed, the X-axis slide table drives the Y-axis slide table to reset, sending the empty turnover pallet back to the transfer pallet conveyor line 1, and simultaneously grabbing the next two material-loaded turnover pallets to achieve continuous synchronous operation.

[0050] Example 4: Specific Structure and Material Flow Control of the Conveyor Line System The conveyor system is responsible for the precise transport of pallets to be transferred, empty pallets, loaded turnover pallets, and bagged products. It includes a pallet transfer conveyor line 1, a pallet feeding line for products to be tested 2, an empty pallet discharge conveyor line 3, a pallet transfer station 4, a manual loading station for sealing bags 5, an operation panel 6, an electrical control cabinet 7, and a bagged product discharge conveyor line 8. All conveyor lines are belt conveyor structures to ensure smooth transport.

[0051] (I) Structure and parameters of each conveyor line 1. The pallet feeding line 2 and the empty pallet discharging line 3 are set parallel to each other on the same side of the equipment frame (operators can complete the loading of pallets to be transferred and the recycling of empty pallets on the same side). The belt width matches the pallet to be transferred. The belt material is polyurethane (5mm thick, good wear resistance), and the surface is pressed with anti-slip texture (1mm deep) to prevent the pallet from shifting during transport. The conveying speed can be adjusted by the control system (0.5~1m / s), with a default speed of 0.8m / s.

[0052] 2. Pallet Conveyor Line 1: One end connects to the pallet conversion station 4, and the other end extends to the bagging XY moving mechanism. The belt width matches the product turnover pallet. A positioning block (POM material) is set every 300mm on the conveyor line to ensure that the turnover pallet moves in a straight line during the conveying process and avoids deviation.

[0053] 3. Bag product discharge conveyor line 8: Located below the bag opening and sealing mechanism 20, the belt is 200mm wide and the surface of the belt is covered with a sponge pad (3mm thick) to prevent the bag products from being damaged by collision when they fall; the end of the conveyor line is equipped with a baffle plate (with a buffer pad) to prevent the products from falling when they are conveyed outside the equipment.

[0054] (ii) Positioning and coordinated control of the conveyor line Each conveyor line is equipped with a position sensor (photoelectric sensor, model E3Z-LS63). When the pallet or bagged product reaches the preset position, the sensor sends a signal to the control system, which then controls the conveyor line to stop or switch speeds to ensure coordinated operation of all mechanisms. Once the sensor on the product pallet feed 2 detects that the pallet to be transferred has arrived, the conveying stops and waits for the pallet transfer system to grab it. Once the sensor on the transfer pallet conveyor line 1 detects that the material-loaded turnover pallet has arrived, it stops conveying and notifies the bagging XY moving mechanism to grab it. When the sensor on the bagged product discharge conveyor line 8 detects the accumulation of bagged products (e.g., 3 bags), it automatically increases the conveying speed to 1m / s to avoid product blockage.

[0055] Example 5: Integration and Function Implementation of the Control System The control system is the "brain" of the equipment's full-process automation. It integrates a PLC (Programmable Logic Controller, model S7-1200) and a servo drive module (model V90), which is built into the electrical control cabinet 7. At the same time, it realizes human-machine interaction through the operation panel 6 and has precise control, fault diagnosis and parameter adjustment functions.

[0056] (I) Hardware Integration and Drive Control 1. PLC connection with servo drive module: The PLC communicates with the servo drive modules of the X-axis single-arm robot 15, Y-axis single-arm robot 12, Z-axis servo cylinder 13, and 180° rotation mechanism 11 via PROFINET bus, sending pulse signals to control the speed, angle, and start / stop of each axis motor, ensuring the positioning accuracy of each axis is ±0.1mm and the repeatability is ±0.05mm. For example, when controlling the Z-axis servo cylinder 13 to descend, the PLC sends pulse counts to calculate the descent distance, and, in conjunction with encoder feedback signals, corrects the position deviation in real time.

[0057] 2. Control of pneumatic components: The PLC controls the pneumatic grippers of the pneumatic clamping mechanism 14, the bag opening and sealing mechanism 20, and the cylinder of the turnover pallet bottom plate lifting mechanism 18 through the relay module. At the same time, the PLC detects the air pressure (preset pressure 0.5MPa) through the pressure sensor. When the air pressure is lower than 0.4MPa, an alarm is triggered to prevent the pneumatic components from operating weakly.

[0058] 3. Sensor signal acquisition: The PLC acquires signals from various position sensors, material sensors, and pressure sensors through the digital input module, and monitors the status of each mechanism of the equipment in real time (such as whether the pallet is in place, whether the sealing bag is sufficient, and whether the clamping force meets the standard), providing a basis for action logic judgment.

[0059] (ii) Operation panel 6 and human-computer interaction The control panel 6 is a 10-inch touchscreen (1280×800 resolution), embedded in the outer wall of the equipment frame (operator can operate it while standing), and has the following functions: 1. Parameter settings: You can set parameters such as conveyor line speed (0.5~1m / s), pneumatic clamping force (0~50N), hot pressing temperature (80~100℃), 180° rotation time, etc. The parameters are automatically saved after setting and do not need to be reset on the next startup.

[0060] 2. Status display: Real-time display of the operating status of each mechanism (such as "X-axis running", "Bagging completed", "Bags out of hopper"), key parameter values ​​(such as current clamping force, hot pressing temperature), and production counts (such as the number of bags packed and the number of transfers for the day).

[0061] 3. Operation Control: The device is equipped with "Start", "Stop", "Emergency Stop" and "Reset" buttons. The emergency stop button is a red mushroom-shaped button (pressing it will cut off the main power supply to the device, ensuring that the device stops immediately in an emergency). The reset button is used to reset each mechanism to its initial position after troubleshooting the device.

[0062] (III) Fault diagnosis and alarm functions The control system has comprehensive fault diagnosis capabilities. Through PLC logic judgment and sensor signal analysis, it identifies the type of equipment fault and provides alerts in the following ways: 1. Audible and visual alarm: The electrical control cabinet 7 is equipped with a red alarm light and a buzzer. When a fault occurs, the alarm light flashes (frequency 1Hz) and the buzzer sounds (volume 80dB). Different fault types correspond to different alarm modes (such as "out of bag in hopper" is 1 flash / second and 1 buzzer / second, "positioning deviation of robot arm" is 3 flashes / second and 2 buzzers / second).

[0063] 2. Fault indication: The location of the fault and troubleshooting prompts are displayed on the operation panel 6, for example: Fault type: "Bag retrieval mechanism failed to retrieve bag", Fault location: "Bag placement hopper 16", Troubleshooting tips: "1. Check if there are any bags in the hopper; 2. Check if the vacuum suction cup is blocked; 3. Check if the vacuum generator pressure is normal"; Fault type: "Takeaway pallet bottom plate not closed", Fault location: "Product takeaway pallet damping rebound device 9", Troubleshooting tips: "1. Check if the damping rebound device is damaged; 2. Check if there are foreign objects stuck in the bottom plate; 3. Manually assist the bottom plate to close and then restart."

[0064] 3. Fault Records: The control system automatically records the time of occurrence, type of fault, and troubleshooting results. Fault records for the past 3 months can be queried through the operation panel 6, which facilitates equipment maintenance and problem analysis.

[0065] Example 6: Fully Automated Workflow of Equipment Based on the structure and function of the above systems, the entire process of this automatic packaging equipment for precious metal jewelry is as follows, achieving unmanned operation from "loading the pallet to be transferred" to "discharging the bagged products": Step 1: Equipment Start-up and Material Loading Preparation 1. The operator checks whether each mechanism of the equipment is in its initial position (confirmed via the control panel 6), replenishes the sealing bags in the sealing bag placement hopper 16 (the hopper vibration feeding component sorts the sealing bags), and places the pallet containing precious metal ornaments to be transferred onto the product tray feed 2.

[0066] 2. The operator sets parameters (such as conveyor line speed 0.8m / s, clamping force 25N, hot pressing temperature 90℃) through the operation panel 6, and clicks the "Start" button to initialize the control system (each servo motor is powered on, the pneumatic system pressure rises to 0.5MPa, and the sensors perform self-checks).

[0067] Step 2: Transporting the pallet to be transferred and the turnover pallet 1. The product under test pallet feeding 2 starts, transporting the pallet to be transferred to the pallet conversion station 4. The position sensor detects that the pallet is in place and sends a signal to the PLC. The PLC controls the product under test pallet feeding 2 to stop.

[0068] 2. When the transfer pallet conveyor line 1 starts, it transports the empty product turnover pallet to the pallet transfer station 4, aligns it with the pallet to be transferred, and the position sensor detects that the turnover pallet has arrived and sends a signal to the PLC, and the transfer pallet conveyor line 1 stops.

[0069] Step 3: Transfer the jewelry from the waiting tray to the turnover tray. 1. PLC-controlled three-axis robot for pallet transfer: The X-axis moves to above the pallet transfer station 4, the Z-axis descends, and the pneumatic clamping mechanism 14 clamps the pallet to be transferred and the turnover pallet. 2. The Z-axis rises, the X-axis moves to directly above the tray transfer station 4, the 180° rotation mechanism 11 rotates 180°, and the jewelry falls into the turnover tray; 3. After flipping and resetting, the Z-axis descends, the clamping jaws release, and the turnover pallet containing the ornaments is placed on the transfer pallet conveyor line 1, while the empty pallet waiting to be transferred is placed on the empty pallet discharge conveyor line 3. 4. Empty pallet discharge conveyor line 3 starts, transporting empty pallets to be transferred to the outside of the equipment, where operators collect the empty pallets; Pallet transfer conveyor line 1 starts, transporting loaded turnover pallets to the side of the bagging XY moving mechanism.

[0070] Step 4: Removing and opening the sealing bag 1. PLC controls the operation of the bag-removing mechanism 19: the horizontal moving slide table drives the vacuum suction cup to move above the hopper, adsorbs a bag, and then sends it to the mechanical guide rods of the bag opening and sealing mechanism 20; 2. The mechanical guide rod positions the sealing bag. The pneumatic gripper of the bag opening and sealing mechanism 20 clamps the edge of the bag opening and expands it by 40mm, opening the bag opening and waiting for the jewelry to be bagged.

[0071] Step 5: Packing and sealing the jewelry 1. The Y-axis slide of the bagging XY moving mechanism moves to the side of the transfer pallet conveyor line 1, grabs two material turnover pallets, and the X-axis slide drives the pallets to move above the jewelry bagging guide mechanism 17. 2. The bottom plate opening mechanism 18 of the turnover pallet is activated, opening the bottom plates of the two turnover pallets, and the ornaments slide into the opened sealed bag along the guide mechanism; 3. After the jewelry is bagged, the pneumatic gripper releases the bag opening, the heat-sealing bag assembly rises, and seals the edge of the bag (resetting after 1 second), achieving repeated opening and closing of the bag; 4. The bag opening and sealing mechanism 20 releases the sealing bag, which falls into the bagged product discharge conveyor line 8. The conveyor line starts and transports the bagged product outside the equipment, where the operator collects the bagged product.

[0072] Step 6: Empty pallet recycling and recycling operation 1. The bottom plate of the turnover pallet closes under the action of the damping rebound device 9, and the bagging XY moving mechanism sends the empty turnover pallet back to the transfer pallet conveyor line 1; 2. The pallet transfer line 1 transports empty turnover pallets to the pallet transfer station 4, waiting for the next jewelry transfer; 3. The product pallet feed 2 continuously conveys new pallets to be transferred to the pallet transfer station 4. The equipment repeats steps 3 to 5 to achieve continuous cycle operation. 4. When the number of sealing bags in the hopper 16 is insufficient, the operation panel 6 will display "Bags in short supply". After the operator replenishes the sealing bags, the equipment will continue to operate. If other faults occur, the equipment will automatically stop and alarm. After troubleshooting, click "Reset" and "Start" to resume operation.

[0073] It should be noted that the control method of this application can be automatically controlled by a controller. The control method of the controller can be implemented by simple programming by those skilled in the art, which is common knowledge in the field. Furthermore, this application is mainly used to protect mechanical structures, so the control method and circuit connection will not be explained in detail here.

[0074] In summary, the beneficial effects of this technical solution are as follows: This automatic packaging equipment for precious metal jewelry and its pallet transfer system, through modular integration, high-precision control, and non-destructive design, solves the pain points of existing equipment and possesses the following core advantages, meeting the stringent requirements of precious metal jewelry packaging: 1. Damage-free transfer and packaging: All parts that come into contact with the jewelry (turnover tray, gripper cushioning pad, guide mechanism, and inner wall of positioning groove) are made of POM or flexible material to avoid scratching the jewelry; the robotic arm accurately positions and smoothly rotates 180° (≤1.2 seconds) to ensure that the jewelry is transferred without collision or falling; the reusable opening and closing sealing design avoids damage to the jewelry packaging caused by traditional heat sealing.

[0075] 2. High automation and high efficiency: The system integrates pallet conversion, bagging, conveying and control, achieving unmanned operation throughout the entire process; adopting a dual-compartment synchronous operation mode, the bagging time for a single piece of jewelry is ≤4 seconds, which greatly improves efficiency compared to manual packaging.

[0076] 3. High stability and easy maintenance: The control system has complete fault diagnosis and alarm functions, reducing troubleshooting time; each mechanism adopts a modular design, which facilitates component replacement and maintenance.

[0077] 4. User-friendly and safe: The control panel is intuitive and easy to understand, and operators can start using it without professional training; the emergency stop button, anti-static coating, and non-slip feet ensure safe operation; the machine automatically stops operation in case of malfunction to avoid equipment damage or loss of ornaments.

[0078] In the description of this specification, the terms "first" and "second" 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0080] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A precious metal jewelry article automatic packaging apparatus and tray conversion system, characterized by, The device framework, tray conversion system, bagging mechanism, conveying line system and control system are integrated in the device framework. The tray conversion system is used for transferring precious metal jewelry from a to-be-transferred tray to a turnover tray without damage. The bagging mechanism is used for automatically completing the extraction, opening, jewelry bagging and sealing of the bag opening. The conveying line system is used for conveying the to-be-packaged jewelry to-be-transferred tray, the transferred empty tray and the completed bagged product. The control system is used for coordinating the actions of the tray conversion system, bagging mechanism and conveying line system to realize automatic packaging in the whole process. The product turnover tray is made of POM material, has an outer size of 700*440*55mm, an inner grid in a 10*6 layout and a single grid size of 60*60*40mm, a product turnover tray weight of 2.9kg and a manufacturing process of injection molding.

2. The automatic packaging apparatus for precious metal ornaments and tray conversion system thereof according to claim 1, characterized in that, The tray conversion three-axis mechanical hand includes an X-axis single-arm mechanical hand, two Y-axis single-arm mechanical hands, a Z-axis servo cylinder, a 180° rotating mechanism and a pneumatic clamping mechanism. The X-axis single-arm mechanical hand is horizontally arranged on the top beam of the device framework. The two Y-axis single-arm mechanical hands are parallel and slidably connected to the lower part of the X-axis single-arm mechanical hand and can reciprocate along the length direction of the X-axis single-arm mechanical hand. The Z-axis servo cylinder is vertically fixed to the bottom of each Y-axis single-arm mechanical hand and can be lifted along the vertical direction. The 180° rotating mechanism is coaxially fixed to the lower end of the Z-axis servo cylinder.

3. A precious metal jewellery article automatic packing apparatus and tray conversion system according to claim 2, wherein, The pneumatic clamping mechanism is installed at the bottom of the 180° rotating mechanism and can be synchronously flipped with the 180° rotating mechanism.

4. The precious metal jewelry automatic packaging equipment and its tray conversion system according to claim 1, characterized in that, The tray conversion three-axis mechanical hand can synchronously flip the product turnover tray and the product general tray by 180° to transfer the jewelry, and the single flipping time of the 180° rotating mechanism is less than or equal to 1.2 seconds. The damping hinge of the product turnover tray can limit the maximum opening angle of the bottom plate to be less than or equal to 60°. The bottom plate damping rebounder can ensure the position accuracy of the closed bottom plate to be ±0.5mm. The bagging mechanism includes a sealing bag placing stock bin, a sealing bag taking mechanism, a bag opening and sealing mechanism, a jewelry bagging guide mechanism, a turnover tray bottom plate opening mechanism and a bagging XY moving mechanism. The bag sealing bag placing hopper (16) is arranged at the bag sealing bag manual feeding position (5), the bag sealing bag taking mechanism (19) is installed above the bag sealing bag placing hopper (16) and the suction end can extend into the hopper to extract a single bag sealing bag, the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19) and the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the bag sealing bag taking mechanism (19), the bag opening and sealing mechanism (20) is arranged on one side of the ​ 5. A precious metal jewellery article automatic packing apparatus and tray conversion system according to claim 4, wherein, ​ 6. The automatic packaging apparatus for precious metal ornaments and tray conversion system thereof according to claim 4, characterized in that, ​ 7. The precious metal jewelry automatic packaging equipment and its tray conversion system according to claim 1 or 2, characterized in that, ​ ​ 8. The precious metal jewelry automatic packaging equipment and its tray conversion system according to claim 2, characterized in that, ​ 9. The automatic packaging apparatus for precious metal ornaments and tray conversion system thereof according to claim 7, characterized in that, The control system integrates PLC and servo drive module and is built in the electrical control cabinet (7), the servo drive module is connected with the drive motor of the X-axis single-arm manipulator (15), the Y-axis single-arm manipulator (12), the Z-axis servo electric cylinder (13) and the 180-degree rotating mechanism (11) respectively, the positioning accuracy of each axis can be controlled to be ±0.1mm, and the repeat positioning accuracy is ±0.05mm; the operation panel (6) is embedded on the outer wall of the equipment frame and is a touch screen structure, the operation panel (6) can display the equipment running parameters, working state and fault information; the control system also has a fault diagnosis function, when a fault occurs, the audible and visual alarm device on the electrical control cabinet (7) can be triggered, and the fault position and troubleshooting prompt can be displayed on the operation panel (6); the inner wall of the sealing bag placing bin (16) is provided with an anti-skid coating, and the bottom of the bin is provided with a vibration feeding assembly connected with the control system, which can trigger vibration to arrange the sealing bags after the sealing bag taking mechanism (19) takes the bags.

10. The precious metal jewelry automatic packaging equipment and its tray conversion system according to claim 1, characterized in that, The equipment frame is made of high-strength steel material by welding, and the surface is sprayed with an anti-static powder coating; the overall size of the equipment frame is 3200mm (length) x 1600mm (width) x 2100mm (height), the frame is provided with a tray feeding height of 950mm and a sealing bag feeding height of 700mm; the bottom of the equipment frame is provided with adjustable feet, the adjustment range is 0~50mm, which is used for adjusting the levelness of the frame, and the horizontal error is ensured to be ≤0.1mm / m.

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