Multi-station insert simultaneous ring machining device and control method thereof

Abstract

The application discloses a multi-station insert simultaneous ring machining equipment and a control method thereof, and the method comprises the following steps: S10, a destacking robot is driven to convey raw material inserts to a turnover feeding equipment to perform turnover conveying work, so that the raw material inserts are obtained, and an empty loading tray is conveyed; S20, the speed of each area of a feeding conveying line is controlled based on a preset feeding flow rate control rule, feeding speed information is generated, and a feeding visual detector is driven; S30, a ring machine is driven to perform ring machining, the speed of each area of a discharging conveying line is controlled based on a preset discharging flow rate control rule, discharging speed information is generated, and a discharging visual detector is driven; S40, a turnover discharging equipment is driven to perform receiving, turnover and arrangement work of finished product inserts; and S50, a tray loading robot is driven to clamp the finished product inserts on the empty loading tray, and a destacking robot is driven to stack the finished product inserts. Through the construction of a full-closed loop production system combined with intelligent flow rate control, the automatic flow and production of the inserts are realized.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation assembly technology, specifically to a multi-station insert simultaneous ring processing equipment and its control method. Background Technology

[0002] Currently, while existing production models in the field of insert ring processing have achieved automation, this automation is limited to a single processing execution stage and fails to extend to the entire production chain. This leads to a prominent structural contradiction: the efficient, rhythmic core processing unit is nested within an inefficient, discrete material handling environment that heavily relies on manual operation. Specifically, before the automated processing execution stage, all preparatory work, including the manual sorting, arrangement, and repositioning of large quantities of bulk or stacked raw materials, must be completed manually. Similarly, subsequent stages such as unloading, quality inspection, and conformity assessment after processing execution also require immediate human intervention. This "automation island" production layout artificially fragments the operating cycle of high-speed processing equipment, forcing frequent stops to wait for manual completion of relatively slow and unstable loading, unloading, and inspection operations. Furthermore, this model rigidly binds production scale with human resources, forming a fixed configuration of "one person, one machine," which makes it difficult to effectively reduce the labor cost per unit of product through large-scale production, greatly weakening the cost competitive advantage and fundamentally restricting the flexibility, scalability, and ability to cope with market fluctuations of the production system. Summary of the Invention

[0003] To address the problems mentioned in the background section, this invention provides a multi-station insert simultaneous ring processing device and its control method. The technical solution adopted by this invention is as follows:

[0004] A control method for a multi-station insert simultaneous ring processing equipment includes the following steps:

[0005] S10: Drive the destacking robot to transport the raw material inserts to the flipping feeding equipment for flipping and conveying operations, obtain the raw material inserts, and transport the empty material tray;

[0006] S20: Based on the preset feed flow rate control rules, control the speed of each area of ​​the feed conveyor line, generate feed speed information, and drive the feed vision detector;

[0007] S30: Drives the ring tossing machine to process rings, controls the speed of each area of ​​the discharge conveyor line based on the preset discharge flow rate control rules, generates discharge speed information and drives the discharge vision detector;

[0008] S40: Drives the flipping and unloading equipment to receive, flip, and arrange finished inserts;

[0009] S50: Drive the loading robot to pick up the finished insert and place it onto the empty loading tray, and drive the destacking robot to stack the finished insert.

[0010] Preferably, step S20 includes the following steps:

[0011] S201: Divide the feeding conveyor line into zones based on the location of each ring tossing machine to generate a set of conveying zones;

[0012] S202: Obtain the operation information of the flip-feeding equipment to generate feeding and conveying information, compare the feeding and conveying information with the preset feeding flow rate control rules, and generate feeding speed information for the corresponding conveying area set;

[0013] S203: Drive the feed vision detector based on the conveying speed information.

[0014] Preferably, step S30 includes the following steps:

[0015] S301: Drive the ring-ringing machine to perform ring-ringing processing on the raw material inserts, and obtain the operation information of the flipping discharge equipment to generate discharge conveying information;

[0016] S302: Based on the feeding speed information and the discharging conveying information, compare with the preset discharging flow rate control rules to generate discharging speed information for the corresponding conveying area set;

[0017] S303: Drive the discharge visual detector based on the discharge speed information.

[0018] A multi-station insert simultaneous ring processing equipment includes a destacking robot, a flipping feeding device, a first processing area, a second processing area, a flipping discharging device, and a tray loading robot.

[0019] The first processing area is connected in series with the tilting feeding device and the tilting discharging device via a first feeding conveyor line and a first discharging conveyor line;

[0020] The second processing area is connected in series with the tilting feeding device and the tilting discharging device via a second feeding conveyor line and a second discharging conveyor line;

[0021] At least one ring tossing machine is provided in both the first processing area and the second processing area;

[0022] The first and second feeding conveyors are configured to divide the material forward direction into multiple speed zones according to the processing cycle of the ring tossing machine connected to them, with the speed of the downstream zone being lower than that of the upstream zone.

[0023] The first and second discharge conveyor lines are equipped with discharge vision detectors for quality judgment of finished inserts and automatic sorting.

[0024] Preferably, the end effector of the depalletizing robot includes a connecting base, which is fixedly installed at the end of the robotic arm of the depalletizing robot. Several transport clamps are movably installed at the bottom of the connecting base, and the transport clamps are used to hold the loading tray containing the raw material inserts.

[0025] Preferably, the tilting feeding device includes a feeding worktable, and a threaded lifting component and a plurality of lifting columns are respectively provided on one side of the support column at the top of the feeding worktable. A first tilting clamp is movably installed between the threaded lifting component and the plurality of lifting columns, and a first tilting motor is provided on opposite sides of the first tilting clamp.

[0026] A movable plate is movably installed on the top of the first tilting fixture, and a tilting conveyor belt is also provided on the feeding worktable at the bottom of the first tilting fixture. The tilting conveyor belt abuts against the first feeding conveyor line and the second feeding conveyor line on both sides respectively.

[0027] A connecting piece is also provided on the outside of the first flipping fixture equipped with the first flipping motor. A cylinder is provided on the support column of the feeding workbench at the location matching the connecting piece. The cylinder and the connecting piece are assembled to assist in the movement and fixation of the flipping fixture.

[0028] Preferably, both the first and second feeding conveyors are equipped with a feeding vision detector at the front end of the processing area for detecting the quality of the conveyed raw material inserts.

[0029] Each of the first and second feeding conveyors has a first feeding pusher on one side of each ring tossing machine. The end of the first feeding pusher in the direction of movement is also provided with a first feeding conveyor belt perpendicular to it. The end of the first feeding conveyor belt away from the first feeding pusher is provided with a second feeding pusher. The end of the second feeding pusher in the direction of movement is also provided with a second feeding conveyor belt in the same direction as it. The end of the second feeding conveyor belt is connected to the ring tossing machine. The ring tossing machine is also connected to one end of an outlet conveyor belt. The other end of the outlet conveyor belt is connected to either the first or the second outlet conveyor line.

[0030] Preferably, the tilting discharge device includes a discharge worktable, a second tilting motor is fixedly installed on the top of the discharge worktable, a transmission shaft is fixedly connected to the output shaft of the second tilting motor, a plurality of second tilting clamps driven by a clamp drive motor are sleeved on the transmission shaft, and a plurality of material collection platforms are provided on one side of the discharge worktable at the location matching the second tilting clamps.

[0031] Preferably, the flipping and unloading device is also provided with a tray-loading robot for clamping and transferring the finished inserts on one side. The end effector of the tray-loading robot is provided with a tray-loading base. Several tray-loading clamps are movably arranged at the bottom of the tray-loading base, and several finished inserts are clamped on the tray-loading clamps.

[0032] Preferably, a tray conveyor is also installed between the destacking robot and the flipping and unloading device. The tray conveyor is used to transport the loading tray released by the destacking robot to the range of the end effector of the loading robot to hold the finished insert.

[0033] The beneficial effects of the multi-station insert simultaneous ring processing equipment and its control method of the present invention are as follows:

[0034] By integrating depalletizing robots, flip-feed equipment, multiple series conveyor lines, dual processing zones equipped with vision inspection systems, and flip-discharge and automatic palletizing systems, and introducing intelligent flow rate control rules that dynamically adjust based on real-time production cycle time and downstream processing capacity, a complete closed-loop automated production line has been constructed. This achieves fully automated, collaborative, and intelligent flow of inserts from supply, processing, and testing to palletizing on the production line. This approach not only significantly reduces manual handling, loading / unloading, and inspection, but more importantly, it ensures a balanced cycle time between upstream and downstream processes by precisely controlling the flow speed of materials in each section of the conveyor line. This effectively prevents materials from accumulating in front of processing machines or blocking the conveyor line, thereby significantly improving overall equipment utilization, production efficiency, and the stability of capacity output. At the same time, online vision inspection ensures consistent product quality. Attached Figure Description

[0035] Figure 1 This is a top view of the processing equipment in an embodiment of a multi-station insert simultaneous ring processing equipment of the present invention;

[0036] Figure 2 This is a three-dimensional structural diagram of the end effector of the depalletizing robot in an embodiment of the present invention;

[0037] Figure 3 This is a three-dimensional structural diagram of the tilting feeder in an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the main structure of the tilting feeder in an embodiment of the present invention;

[0039] Figure 5 This is a three-dimensional structural diagram of the material conveying line in an embodiment of the present invention;

[0040] Figure 6 for Figure 5Enlarged schematic diagram of the three-dimensional structure of part A in the middle;

[0041] Figure 7 This is a three-dimensional structural diagram of the discharge visual detector in an embodiment of the present invention;

[0042] Figure 8 This is a three-dimensional structural diagram of the tilting discharge device in an embodiment of the present invention;

[0043] Figure 9 This is a three-dimensional structural diagram of the end effector of the tray loading robot in an embodiment of the present invention.

[0044] The components include: 1. Depalletizing robot; 2. Tilting and feeding equipment; 3. First feeding conveyor line; 4. First processing area; 5. Ring tossing machine; 6. First discharging conveyor line; 7. Second feeding conveyor line; 8. Second processing area; 9. Second discharging conveyor line; 10. Tilting and discharging equipment; 11. Tray loading robot; 12. Tray conveyor; 13. Loading tray; 14. Finished product insert; 101. Connecting base; 102. Transport fixture; 201. Feeding workbench; 202. Threaded lifting component; 203. Lifting column; 204. Cylinder; 205. Connector; 206. First tilting fixture. ; 207, First tilting motor; 208, Movable plate; 209, Tilting conveyor belt; 301, Feeding vision detector; 302, First feeding pusher; 303, First feeding conveyor belt; 304, Second feeding pusher; 305, Second feeding conveyor belt; 601, Discharge conveyor belt; 602, Discharge vision detector; 1001, Discharge worktable; 1002, Second tilting motor; 1003, Drive shaft; 1004, Second tilting fixture; 1005, Fixture drive motor; 1006, Collection platform; 1101, Loading tray base; 1102, Loading tray fixture. Detailed Implementation

[0045] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] A control method for a multi-station insert simultaneous ring processing equipment includes the following steps:

[0047] S10: Drive the destacking robot to transport the raw material inserts to the flipping feeding equipment for flipping and conveying operations, obtain the raw material inserts, and transport the empty material tray;

[0048] S20: Based on the preset feed flow rate control rules, control the speed of each area of ​​the feed conveyor line, generate feed speed information, and drive the feed vision detector;

[0049] S30: Drives the ring tossing machine to process rings, controls the speed of each area of ​​the discharge conveyor line based on the preset discharge flow rate control rules, generates discharge speed information and drives the discharge vision detector;

[0050] S40: Drives the flipping and unloading equipment to receive, flip, and arrange finished inserts;

[0051] S50: Drive the loading robot to pick up the finished insert and place it onto the empty loading tray, and drive the destacking robot to stack the finished insert.

[0052] In this embodiment, the feed flow rate control rule is a pre-set strategy and logic for regulating the flow speed of raw material inserts in different sections of the feed conveyor line, based on the production rhythm and process requirements of the ring tossing machine and the tray loading robot; the feed speed information is the specific speed command or parameter used to actually drive the motors of each section of the feed conveyor line, which can prevent raw material inserts from accumulating in each section of the feed conveyor line; the discharge flow rate control rule is a pre-set strategy and logic for regulating the flow speed of finished product inserts in different sections of the discharge conveyor line, based on the processing capacity and production balance of the downstream tray loading robot; the discharge speed information is the specific speed command or parameter used to actually drive the motors of each section of the discharge conveyor line, which can prevent finished product inserts from accumulating in each section of the discharge conveyor line.

[0053] Specifically, the system first drives a depalletizing robot to grab stacked raw material inserts and transfer them to a flipping feeder. The flipping feeder then performs flipping and conveying operations, converting the raw material inserts into correctly oriented inserts and releasing them onto the feed conveyor line. Simultaneously, the resulting empty trays are conveyed to the end of the production line. Next, the system dynamically adjusts the speed of each area of ​​the feed conveyor line according to preset feed flow rate control rules, generating specific feed speed commands to optimize material flow. Simultaneously, a feed vision detector is activated to screen the flowing raw material inserts for quality. Next, the control system drives the ring-ringing machines at each station to ring the qualified raw material inserts. After processing, the system manages the speed of each area of ​​the discharge conveyor line according to preset discharge flow rate control rules, generating discharge speed commands to ensure smooth flow of finished products. The system also drives the discharge vision detector to perform a final quality assessment of the finished inserts. Finally, the system controls a flipping discharge device to receive qualified finished products from the discharge conveyor line, completing the receiving, flipping, and orderly arrangement of the finished products. Finally, the system drives the loading robot to pick up the arranged finished inserts and accurately place them into the empty loading trays that have been delivered to the position, forming full loading trays. Finally, the system instructs the depalletizing robot to stack the full loading trays, thus completing a fully automated, closed-loop production control cycle from raw material to finished product stacking.

[0054] In one embodiment, step S20 includes the following steps:

[0055] S201: Divide the feeding conveyor line into zones based on the location of each ring tossing machine to generate a set of conveying zones;

[0056] S202: Obtain the operation information of the flip-feeding equipment to generate feeding and conveying information, compare the feeding and conveying information with the preset feeding flow rate control rules, and generate feeding speed information for the corresponding conveying area set;

[0057] S203: Drive the feed vision detector based on the conveying speed information.

[0058] In this embodiment, the conveying area set is the sum of all segments obtained after dividing the feeding conveyor line into sections, and is a set containing multiple conveying areas; the flipping feeding device operation information is the real-time status data of the flipping feeding device during operation, including its flipping action status, discharge frequency and discharge amount; the feeding conveying information is data reflecting the real-time status of the raw material insert on the feeding conveyor line, including the quantity of material on the line, distribution density, flow speed, etc.

[0059] Specifically, the control system divides the continuous feeding conveyor line into multiple independently managed conveyor zones based on the installation location information of all ring tossing machines on the production line. Next, it acquires the real-time operating status information of the flipping feeding equipment and analyzes it to deduce the current rhythm and expected flow rate of the raw material inserts entering the conveyor line, thus generating feeding conveyor information. This real-time feeding conveyor information is then compared and calculated with preset feeding flow rate control rules to generate a set of personalized speed control commands for each zone in the aforementioned conveyor zone set, i.e., feeding speed information. Finally, the control system precisely adjusts the operating speed of each section of the feeding conveyor line based on the generated feeding speed information and simultaneously drives the feeding vision detector to start and operate at a rhythm matching the current material flow rate, thereby achieving online synchronous visual inspection of the raw material inserts.

[0060] In one embodiment, step S30 includes the following steps:

[0061] S301: Drive the ring-ringing machine to perform ring-ringing processing on the raw material inserts, and obtain the operation information of the flipping discharge equipment to generate discharge conveying information;

[0062] S302: Based on the feeding speed information and the discharging conveying information, compare with the preset discharging flow rate control rules to generate discharging speed information for the corresponding conveying area set;

[0063] S303: Drive the discharge visual detector based on the discharge speed information.

[0064] In this embodiment, the operating information of the tilting discharge device is the real-time status data of the tilting discharge device during operation, including its receiving preparation status, current processing capacity, and buffer status.

[0065] Specifically, the system first drives the ring-jointing machine to perform the ring-jointing processing procedure on the pre-positioned raw material inserts. Simultaneously, it continuously acquires real-time operating information from the downstream turning and discharging equipment. By analyzing this information, it assesses the downstream's ability and pace of receiving finished inserts, thereby generating discharge conveying information reflecting the current discharge demand. Next, the control system compares and comprehensively analyzes the upstream feed speed information, the newly generated discharge conveying information, and the preset discharge flow rate control rules. Based on this real-time data, the rules calculate the optimal speed scheme that ensures smooth flow of processed finished products, avoids accumulation at workstations or on the discharge conveyor line, and matches the upstream and downstream rhythms, ultimately generating discharge speed information for each area of ​​the discharge conveyor line. Subsequently, the control system precisely adjusts the operating speed of each section of the discharge conveyor line based on the generated discharge speed information. Simultaneously, it drives the discharge vision detector to start and operate at a rhythm coordinated with the finished insert flow rate, thereby achieving efficient and synchronous online quality inspection of the finished inserts.

[0066] As attached Figure 1-9 As shown, a multi-station insert simultaneous ring processing equipment is characterized by comprising a destacking robot 1, a flipping feeding device 2, a first processing area 4, a second processing area 8, a flipping discharging device 10, and a tray loading robot 11.

[0067] The first processing area 4 is connected in series with the tilting feeding device 2 and the tilting discharging device 10 via the first feeding conveyor line 3 and the first discharging conveyor line 6;

[0068] The second processing area 8 is connected in series with the flipping feeding device 2 and the flipping discharging device 10 via the second feeding conveyor line 7 and the second discharging conveyor line 9;

[0069] At least one ring tossing machine 5 is provided in both the first processing area 4 and the second processing area 8;

[0070] The first feeding conveyor line 3 and the second feeding conveyor line 7 are configured to divide the material forward direction into multiple speed zones according to the processing rhythm of the ring-ringing machine 5 connected thereto, and the speed of the downstream zone is lower than that of the upstream zone.

[0071] The first discharge conveyor line 6 and the second discharge conveyor line 9 are equipped with discharge vision detectors 602, which are used to determine the quality of finished inserts 14 and realize automatic sorting.

[0072] In this embodiment, a complete multi-station automated production line architecture is constructed by integrating a depalletizing robot 1, a flipping feeding device 2, a dual processing area, a flipping discharging device 10, and a tray loading robot 11. This architecture connects multiple independent ring tossing machines 5 through standardized material flow, forming a physical assembly line layout. This provides a basic framework for achieving fully automated collaborative operation from raw material inserts to finished products, fundamentally changing the traditional discrete production mode of "one machine, one person". Furthermore, the discharge vision detector 602 consists of three equally spaced vision sensors, enabling 360° detection of the outer periphery of the finished inserts. It can automatically determine the quality of the finished inserts 14, achieving vision-based automatic sorting and ensuring the integrity and correctness of the ring tossing process.

[0073] Furthermore, the conveyor line is divided into zones according to the distribution and processing rhythm of the ring tossing machine 5, and a gradient speed change is set with the speed decreasing towards the end. This speed adjustment can actively match the processing rhythm and material accumulation of the ring tossing machine 5 at different positions on the production line, effectively preventing downstream material congestion or upstream material supply interruption, thereby dynamically balancing the entire production flow and improving the stability and overall efficiency of the production line operation.

[0074] In one embodiment, the end effector of the depalletizing robot 1 includes a connecting base 101, which is fixedly installed at the end of the robotic arm of the depalletizing robot 1. A plurality of transport clamps 102 are movably installed at the bottom of the connecting base 101, and the transport clamps 102 are used to clamp the loading tray 13 containing the raw material insert.

[0075] In this embodiment, by employing a dedicated end effector with a connecting base 101 and a movable transport fixture 102, the structure enables the depalletizing robot 1 to securely grasp and transfer a fully loaded loading tray 13, achieving efficient and reliable grasping and handling of batch materials, and providing a stable and efficient material supply guarantee for subsequent automated production processes.

[0076] In one embodiment, the flipping feeding device 2 includes a feeding worktable 201. A threaded lifting component 202 and a plurality of lifting columns 203 are respectively provided on one side of the support column at the top of the feeding worktable 201. A first flipping clamp 206 is movably installed between the threaded lifting component 202 and the plurality of lifting columns 203. A first flipping motor 207 is provided on opposite sides of the first flipping clamp 206.

[0077] The first flipping fixture 206 has a movable plate 208 installed on its top. The first flipping fixture 206 also has a flipping conveyor belt 209 on the feeding worktable 201 at its bottom. The flipping conveyor belt 209 abuts against the first feeding conveyor line 3 and the second feeding conveyor line 7 on both sides respectively.

[0078] A connector 205 is also provided on the outside of the first flipping fixture 206, which is equipped with the first flipping motor 207. A cylinder 204 is provided on the support column of the feeding workbench 201 at the location matching the connector 205. The cylinder 204 is assembled with the connector 205 to assist in the movement and fixation of the flipping fixture.

[0079] In this embodiment, the first flipping motor 207 rotates the first flipping fixture 206 by 180°, thereby flipping the raw material inserts to facilitate subsequent processing by the ring-forming machine 5. The movable plate 208 on top of the first flipping fixture 206 initially covers the top of the loading tray 13. After flipping 180°, the raw material inserts in the loading tray 13 are placed on the movable plate 208. When the movable plate 208 moves, the raw material inserts confined within the loading tray 13 fall onto the flipping conveyor belt 209, and are then transported to the first feeding conveyor line 3 and the second feeding conveyor line 7 via the flipping conveyor belt 209. Therefore, the flipping feeding device 2 can receive the trays from the destacking robot 1 and automatically complete the lifting and flipping of the trays to unload the inserts, ultimately smoothly transferring the inserts to the conveyor lines, realizing a fully automated conversion and connection of raw material inserts from static stacking to dynamic assembly line conveying.

[0080] Furthermore, the connector 205 is rotatably mounted on both sides of the first tilting fixture 206, and the extended end of the cylinder 204 is assembled with the connector 205. Thus, the lifting and lowering of the first tilting fixture 206 is driven by the extension and retraction of the cylinder 204. This avoids the equipment from being overloaded and paralyzed by relying solely on the threaded lifting component 202 to drive the fully loaded first tilting fixture 206 to lift and lower. It also provides additional movement assistance and rigid fixation for the tilting action of the first tilting fixture 206, enhancing the stability and positioning accuracy of the tilting process, ensuring the reliability and accuracy of materials during posture conversion and transfer, thereby improving the operational stability of the entire feeding process.

[0081] In one embodiment, both the first feeding conveyor line 3 and the second feeding conveyor line 7 are provided with a feeding vision detector 301 at the front end of the processing area for detecting the quality of the conveyed raw material insert;

[0082] Each of the first feeding conveyor line 3 and the second feeding conveyor line 7 is provided with a first feeding pusher 302 on one side of each ring tossing machine 5. The end of the first feeding pusher 302 in the direction of movement is also provided with a first feeding conveyor belt 303 perpendicular to it. The end of the first feeding conveyor belt 303 away from the first feeding pusher 302 is provided with a second feeding pusher 304. The end of the second feeding pusher 304 in the direction of movement is also provided with a second feeding conveyor belt 305 in the same direction as it. The end of the second feeding conveyor belt 305 is connected to the ring tossing machine 5. The ring tossing machine 5 is also connected to one end of the discharge conveyor belt 601. The other end of the discharge conveyor belt 601 is connected to the first discharge conveyor line 6 or the second discharge conveyor line 9.

[0083] In this embodiment, by setting vision detectors at key locations on the feeding conveyor line, the equipment system is given online automatic detection capability. The feeding vision detector 301 can automatically screen and remove unqualified raw material inserts before processing, avoiding ineffective processing losses. Thus, automated detection replaces manual visual inspection, improving the consistency and reliability of quality control while further reducing manual intervention points and improving production efficiency.

[0084] Furthermore, each ring tossing machine 5 is equipped with a dedicated feeding path consisting of two-stage pushers and two-stage conveyor belts, as well as an independent discharge conveyor belt 601. Combined with the transmission speed control of the feeding conveyor line, the raw material inserts from the conveyor line can be orderly and precisely diverted and transported one by one to the processing station of each ring tossing machine 5, while the finished products are promptly transported out. This structure achieves precise and automatic docking between the common material flow and individual processing units, and is the core of ensuring the synchronous, continuous, and independent operation of multiple devices.

[0085] In one embodiment, the first feeding conveyor line 3, the second feeding conveyor line 7, the first discharging conveyor line 6 and the second discharging conveyor line 9 are all divided into areas based on a plurality of the ring tossing machines 5, and the conveying speed of the corresponding conveyor line is slower the further away from the end of the destacking robot 1.

[0086] In this embodiment, the conveyor line is divided into regions according to the distribution of the ring tossing machines 5, and a gradient speed change is set with the speed decreasing towards the end. This speed adjustment can actively match the processing rhythm and material accumulation of the ring tossing machines 5 at different positions on the production line, effectively preventing downstream material congestion or upstream material supply interruption, thereby dynamically balancing the entire production flow and improving the stability and overall efficiency of the production line operation.

[0087] In one embodiment, the tilting discharge device 10 includes a discharge workbench 1001, a second tilting motor 1002 is fixedly installed on the top of the discharge workbench 1001, a transmission shaft 1003 is fixedly connected to the output shaft of the second tilting motor 1002, a plurality of second tilting clamps 1004 driven by clamp drive motors 1005 are sleeved on the transmission shaft 1003, and a plurality of material collection platforms 1006 are provided on one side of the discharge workbench 1001 at the location matching the second tilting clamps 1004.

[0088] In this embodiment, the flipping discharge device 10 adopts a method in which the second flipping motor 1002 drives the transmission shaft 1003 and drives multiple independently driven second flipping clamps 1004 to clamp the finished product inserts, thereby achieving efficient reception of finished product inserts 14 from the discharge conveyor line and automatically completing their posture flipping, centralized collection and transmission, thus realizing the automatic collection and sorting effect of bulk products at the end of the production line.

[0089] In one embodiment, a tray-loading robot 11 for clamping and transferring the finished insert 14 is also provided on one side of the flipping discharge device 10. The end effector of the tray-loading robot 11 is provided with a tray-loading base 1101. A plurality of tray-loading clamps 1102 are movably provided at the bottom of the tray-loading base 1101, and a plurality of the finished inserts 14 are clamped on the plurality of tray-loading clamps 1102.

[0090] In this embodiment, by setting up a tray-loading robot 11 and its end effector equipped with multiple independent tray-loading fixtures 1102, the structure can grab multiple finished product inserts 14 at one time for tray loading, realizing automated palletizing operation of quickly and neatly transferring loose finished products and placing them in empty trays, replacing manual tray loading, and significantly improving the efficiency and regularity of finished product collection and packaging.

[0091] In one embodiment, a tray conveyor 12 is also installed between the destacking robot 1 and the flipping and unloading device 10. The tray conveyor 12 is used to convey the loading tray 13 released by the destacking robot 1 to the range of the end effector of the loading robot 11 to hold the finished product insert 14.

[0092] In this embodiment, by setting up a pallet conveyor 12 connecting the destacking station and the palletizing station, the empty pallet 13 is automatically recycled and circulated, thus constructing a closed auxiliary tooling circulation system. This allows the empty pallet 13 to automatically return to the end of the production line for reuse, which not only reduces the labor cost of pallet handling but also further improves the automation and continuity of the material flow of the entire system.

[0093] The specific workflow of the multi-station insert simultaneous ring processing equipment of the present invention is as follows:

[0094] First, the depalletizing robot grabs the stacked full-load pallets and precisely transfers them to the flipping feeding station. The flipping feeding equipment receives the pallets and the flipping mechanism rotates them 180 degrees, causing the raw material inserts to detach from the pallets and fall onto the conveyor belt inside. After the posture is corrected, the raw material inserts are smoothly released onto the main feeding conveyor line. At the same time, the empty pallets are conveyed to the end of the production line by the auxiliary conveyor line for reuse.

[0095] Subsequently, the control system dynamically manages the speed of the feeding conveyor line according to preset intelligent rules: the section closer to the upstream has a relatively faster speed, while the section closer to each ring tossing machine automatically adjusts to a matching feeding speed. The system generates specific speed commands to drive the motors corresponding to each section of the feeding conveyor line, achieving uniform and orderly distribution of raw material inserts, and simultaneously triggering the feeding vision detector to perform online quality screening of the flowing raw material inserts.

[0096] When the raw material inserts arrive at the designated ring tossing machine station, a dedicated pushing mechanism and short-range conveyor belt precisely feed them into the machine for processing. After processing, the finished inserts are conveyed out by a separate discharge conveyor belt and merge into the discharge conveyor line. At this point, the system again dynamically adjusts the speed of each section of the discharge conveyor line based on the real-time processing capabilities of the downstream flipping discharge equipment and the tray loading robot to prevent finished product accumulation, and simultaneously activates the discharge vision detector to perform a 360-degree final quality inspection of the finished products.

[0097] Afterwards, qualified finished inserts are conveyed to a flipping and unloading device, which receives the finished products through its flipping grippers, performs necessary orientation flipping and arrangement, and prepares them for subsequent palletizing. Simultaneously, empty pallets are circulated to the palletizing station via a pallet conveyor; the palletizing robot uses its multi-gripper end effector to grab a batch of arranged finished inserts at once and precisely place them into the empty pallets. Finally, the fully loaded pallets are stacked by a depalletizing robot, completing a fully automated production cycle from raw materials to finished product warehousing.

[0098] The present invention and its embodiments have been described above. This description is not restrictive. The accompanying drawings are only one embodiment of the present invention. The actual structure is not limited to this. In short, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the spirit of the present invention, such design should fall within the protection scope of the present invention.

Claims

1. A control method for a multi-station insert simultaneous ring processing equipment, characterized in that: Including the following steps: S10: Drive the destacking robot to transport the raw material inserts to the flipping and feeding equipment for flipping and conveying operations, obtain the raw material inserts, and transport the empty material tray; S20: Based on the preset feed flow rate control rules, control the speed of each area of ​​the feed conveyor line, generate feed speed information, and drive the feed vision detector; S30: Drives the ring tossing machine to process rings, controls the speed of each area of ​​the discharge conveyor line based on the preset discharge flow rate control rules, generates discharge speed information and drives the discharge vision detector; S40: Drives the flipping and unloading equipment to receive, flip, and arrange finished inserts; S50: Drive the loading robot to pick up the finished insert onto the empty loading tray, and drive the destacking robot to stack the finished insert; Step S20 includes the following steps: S201: Divide the feeding conveyor line into zones based on the location of each ring tossing machine to generate a set of conveying zones; S202: Obtain the operation information of the flip-feeding equipment to generate feeding and conveying information, compare the feeding and conveying information with the preset feeding flow rate control rules, and generate feeding speed information for the corresponding conveying area set; S203: Drive the feed vision detector based on the feed speed information; Step S30 includes the following steps: S301: Drive the ring-ringing machine to perform ring-ringing processing on the raw material inserts, and obtain the operation information of the flipping discharge equipment to generate discharge conveying information; S302: Based on the feeding speed information and the discharging conveying information, compare with the preset discharging flow rate control rules to generate discharging speed information for the corresponding conveying area set; S303: Drive the discharge vision detector based on the discharge speed information.

2. A multi-station insert simultaneous ring-making equipment, used to execute the control method of the multi-station insert simultaneous ring-making equipment as described in claim 1, characterized in that: It includes a destacking robot (1), a flipping feeding device (2), a first processing area (4), a second processing area (8), a flipping discharging device (10), and a palletizing robot (11); The first processing area (4) is connected in series with the flipping feeding device (2) and the flipping discharging device (10) through the first feeding conveyor line (3) and the first discharging conveyor line (6); The second processing area (8) is connected in series with the flipping feeding device (2) and the flipping discharging device (10) via the second feeding conveyor line (7) and the second discharging conveyor line (9); At least one ring tossing machine (5) is provided in both the first processing area (4) and the second processing area (8); The first feeding conveyor (3) and the second feeding conveyor (7) are configured to divide the material forward direction into multiple speed zones according to the processing rhythm of the ring-ringing machine (5) connected thereto, and the speed of the downstream zone is lower than that of the upstream zone. The first discharge conveyor line (6) and the second discharge conveyor line (9) are equipped with discharge vision detectors (602) for judging the quality of finished inserts (14) and realizing automatic sorting.

3. The multi-station insert simultaneous ring processing equipment according to claim 2, characterized in that: The end effector of the depalletizing robot (1) includes a connecting base (101), which is fixedly installed at the end of the robotic arm of the depalletizing robot (1). Several transport clamps (102) are movably installed at the bottom of the connecting base (101), and the transport clamps (102) are used to clamp the loading tray (13) containing the raw material insert.

4. The multi-station insert simultaneous ring processing equipment according to claim 2, characterized in that: The flipping feeding device (2) includes a feeding workbench (201). A threaded lifting component (202) and several lifting columns (203) are respectively provided on one side of the support column at the top of the feeding workbench (201). A first flipping clamp (206) is movably installed between the threaded lifting component (202) and several lifting columns (203). A first flipping motor (207) is provided on opposite sides of the first flipping clamp (206). The first flipping fixture (206) is movably mounted with a movable plate (208) on its top. The first flipping fixture (206) is also provided with a flipping conveyor belt (209) on the feeding worktable (201) at its bottom. The flipping conveyor belt (209) abuts against the first feeding conveyor line (3) and the second feeding conveyor line (7) on both sides respectively. A connector (205) is also provided on the outside of the first flipping fixture (206) equipped with the first flipping motor (207). A cylinder (204) is provided on the support column of the feeding workbench (201) at the location matching the connector (205). The cylinder (204) is assembled with the connector (205) to assist in the movement and fixation of the flipping fixture.

5. The multi-station insert simultaneous ring processing equipment according to claim 2, characterized in that: Both the first feeding conveyor line (3) and the second feeding conveyor line (7) are equipped with a feeding vision detector (301) at the front end of the processing area for detecting the quality of the conveyed raw material inserts; Each of the first feeding conveyor line (3) and the second feeding conveyor line (7) is provided with a first feeding pusher (302) on one side of each ring tossing machine (5). The end of the first feeding pusher (302) in the direction of movement is also provided with a first feeding conveyor belt (303) perpendicular to it. The end of the first feeding conveyor belt (303) away from the first feeding pusher (302) is provided with a second feeding pusher (304). The end of the second feeding pusher (304) in the direction of movement is also provided with a second feeding conveyor belt (305) in the same direction as it. The end of the second feeding conveyor belt (305) is connected to the ring tossing machine (5). The ring tossing machine (5) is also connected to one end of the discharge conveyor belt (601). The other end of the discharge conveyor belt (601) is connected to the first discharge conveyor line (6) or the second discharge conveyor line (9).

6. The multi-station insert simultaneous ring processing equipment according to claim 2, characterized in that: The flipping discharge device (10) includes a discharge workbench (1001), a second flipping motor (1002) is fixedly installed on the top of the discharge workbench (1001), the output shaft of the second flipping motor (1002) is fixedly connected to a transmission shaft (1003), a plurality of second flipping clamps (1004) driven by clamp drive motors (1005) are sleeved on the transmission shaft (1003), and a plurality of material collection platforms (1006) are provided on one side of the discharge workbench (1001) at the location matching the second flipping clamps (1004).

7. The multi-station insert simultaneous ring processing equipment according to claim 2, characterized in that: The flipping discharge device (10) is also provided with a tray loading robot (11) for clamping and transferring the finished insert (14) on one side. The end effector of the tray loading robot (11) is provided with a tray loading base (1101). Several tray loading clamps (1102) are movably provided at the bottom of the tray loading base (1101). Several finished inserts (14) are clamped on the several tray loading clamps (1102).

8. A multi-station insert simultaneous ring processing equipment according to claim 7, characterized in that: A tray conveyor (12) is also installed between the destacking robot (1) and the flipping and unloading device (10). The tray conveyor (12) is used to convey the loading tray (13) released by the destacking robot (1) to the range of the end effector of the loading robot (11) to hold the finished product insert (14).

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