Protective film appearance inspection and sorting apparatus

Abstract

This application discloses a protective film appearance inspection and sorting device, comprising: a conveying device and a feeding mechanism, an appearance inspection device, a defective product handling mechanism, and a good product handling mechanism arranged sequentially along the conveying direction. The feeding mechanism includes a feeding device and a first transfer device, the feeding device being used to provide the protective film to be inspected; the first transfer device being used to transfer the protective film from the feeding device to a transport fixture. The appearance inspection device is used to inspect the protective film on the transport fixture. The defective product handling mechanism includes a second transfer device and a defective product unloading device, the second transfer device being used to pick up the defective protective film from the transport fixture and place it at the defective product unloading device. The good product handling mechanism includes a third transfer device and a good product unloading device, the third transfer device being used to pick up the qualified protective film from the transport fixture and place it into the blister pack of the good product unloading device. This application can improve the efficiency and accuracy of protective film inspection and sorting.

Description

Technical Field

[0001] This application relates to the field of automated quality inspection technology, and in particular to a protective film appearance inspection and sorting device. Background Technology

[0002] In the production process of protective films for 3C products, appearance inspection is a crucial step in ensuring product quality. It requires a comprehensive screening of defects such as dimensional accuracy, surface bubbles, scratches, and embossing. Traditional inspection methods rely on manual visual inspection, where inspectors pick up each protective film individually, visually assess its quality, and then categorize and sort the qualified and unqualified films to complete the entire inspection and sorting process.

[0003] However, this manual inspection and sorting method has obvious technical defects. The inspection results are easily affected by subjective factors such as the experience level, physical condition and emotions of the inspectors. It is difficult for different people to have the same judgment standards. Even the same person may miss or misinspect due to fatigue after working for a long time. It is impossible to consistently guarantee the accuracy of the inspection, which poses a great challenge to product quality control. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a protective film appearance inspection and sorting device, which can improve the efficiency and accuracy of protective film inspection and sorting.

[0005] This application provides a protective film appearance inspection and sorting device, including: A transmission device, wherein the transmission device is provided with a plurality of transport fixtures for driving the transport fixtures to move along a preset loop path; The feeding mechanism includes a feeding device and a first transferring device. The feeding device is located at the head end of the conveying device and is used to provide a protective film to be tested. The first transferring device is located beside the feeding device and is used to transfer the protective film at the feeding device to the transport fixture at the first position in the conveying device. An appearance inspection device is provided at the conveying device and located behind the feeding device, and is used to detect the protective film on the transport fixture at the second position in the conveying device; The defective product handling mechanism includes a second transfer device and a defective product unloading device. The defective product unloading device is located beside the conveying device and behind the appearance inspection device. The second transfer device is located beside the defective product unloading device and is used to pick up the unqualified protective film on the transport fixture at the third position in the conveying device and place it at the defective product unloading device. The good product handling mechanism includes a third transfer device and a good product unloading device. The third transfer device is located at the end of the conveying device, and the good product unloading device is located behind the third transfer device. It is used to provide a blister box. The third transfer device is used to pick up the qualified protective film on the transport fixture at the fourth position in the conveying device and place it into the blister box of the good product unloading device.

[0006] The protective film appearance inspection and sorting equipment according to the embodiments of this application has at least the following beneficial effects: When the protective film appearance inspection and sorting equipment is working, the feeding device in the feeding processing mechanism provides the protective film to be inspected, and the first transfer device then transfers the protective film to the transport fixture at the first position of the transmission device. The transmission device drives the transport fixture to move along a preset circulation path. When the transport fixture moves with the protective film to the second position, the appearance inspection device performs appearance inspection on the protective film. Subsequently, the transport fixture passes through the third and fourth positions in sequence. The second transfer device of the defective product processing mechanism picks up the unqualified protective film at the third position and places it into the defective product unloading device. The third transfer device of the good product processing mechanism picks up the qualified protective film at the fourth position and places it into the blister box of the good product unloading device, completing the inspection and sorting process. This equipment replaces the traditional manual visual inspection and sorting method with an automated structure, solving the technical problem of inconsistent accuracy caused by subjective factors in manual inspection. It realizes the automated operation of protective film inspection and sorting, which can improve the efficiency and accuracy of protective film inspection and sorting and ensure the stability of product quality control.

[0007] According to some embodiments of this application, the feeding device includes a first mounting plate, a second mounting plate, a first placement plate, a second placement plate, a first driving member, a first linear guide rail, a first slider, a second linear guide rail, a second slider, a raised guide rail, and a follower structure; The width of the second mounting plate is smaller than that of the first mounting plate, and it is positioned above the first mounting plate. The first linear guide rail is positioned on the second mounting plate, and the raised guide rail is positioned on the first mounting plate at a position relative to the outer side of the second mounting plate. The guiding directions of the raised guide rail and the first linear guide rail are parallel to the transmission direction of the transmission device. The first placement plate is positioned above the second mounting plate, and the lower surface of the first placement plate is connected to the second linear guide rail. The guiding directions of the second linear guide rail and the first linear guide rail are perpendicular to each other. The first placement plate is slidably connected to the raised guide rail via the follower structure, and the follower structure is also connected to the second linear guide rail via the second slider. The second placement plate is positioned on the first linear guide rail via the first slider. The first driving member is positioned on the second mounting plate and is used to drive the first placement plate and the second placement plate to move simultaneously towards each other.

[0008] According to some embodiments of this application, the first placement plate and the second placement plate are respectively provided with a first limiting block and a second limiting block on the periphery of the protective film placement position, and a first lifting plate and a second lifting plate are provided at the protective film placement position. The first placement plate is provided with a first through hole below the first lifting plate, and the second placement plate is provided with a second through hole below the second lifting plate. The feeding device further includes a second driving member and a lifting rod. The second driving member is disposed below the first mounting plate, and the lifting rod can move through the first mounting plate and the second mounting plate. The second driving member is used to drive the lifting rod through the first through hole or the second through hole to push the first lifting plate or the second lifting plate to move in the vertical direction.

[0009] According to some embodiments of this application, two feeding devices are provided, and are respectively located on both sides of the head end of the transmission device; the first material transfer device includes a first support frame, a double-acting linear motor and two Z-axis gripping structures. The first support frame spans the outside of the transmission device and the two feeding devices. The double-acting linear motor is disposed on the first support frame. The two Z-axis gripping structures are respectively disposed on the double-acting linear motor. The two actuators of the double-acting linear motor are respectively used to drive one of the Z-axis gripping structures to move between the transmission device and the corresponding feeding device, so as to transfer the protective film at the feeding device to the transport fixture passing through the first position in the transmission device; Each of the feeding devices provides at least two protective films at a time. The Z-axis gripping structure includes a third driving member, a first driving plate, a first connecting plate, a second connecting plate, a first suction nozzle structure, a second suction nozzle structure, a first adjusting cylinder, and a first sensor. The fixed end of the third driving member is connected to one of the moving parts of the dual-moving linear motor. The driving end of the third driving member is connected to the first driving plate and is used to drive the first driving plate to move vertically. The lower end of the first driving plate is connected to the first connecting plate. The fixed ends of the first suction nozzle structure and the first adjusting cylinder are respectively located at the lower end of the first connecting plate. The driving end of the first adjusting cylinder is connected to the second connecting plate. The second suction nozzle structure is located at the lower end of the second connecting plate. The first adjusting cylinder is used to adjust the distance between the first suction nozzle structure and the second suction nozzle structure. The first suction nozzle structure and the second suction nozzle structure are respectively used to pick up two different protective films from the feeding device. The first sensor is located at the second connecting plate and is used to sense the suction status of the first suction nozzle structure and the second suction nozzle structure.

[0010] According to some embodiments of this application, the protective film appearance inspection and sorting equipment further includes an antistatic device, which is disposed between the feeding device and the appearance inspection and located beside the transmission device, for eliminating static electricity on the protective film.

[0011] According to some embodiments of this application, the transmission device includes a chain-driven circular conveying structure, a second sensor, a third sensor, and an air-blowing structure. A plurality of transport fixtures are floatingly connected to the chain-driven circular conveying structure at intervals. The second sensor is located at a second position on the chain-driven circular conveying structure, and the third sensor is located at a fourth position on the chain-driven circular conveying structure. Each transport fixture has two protective films placed on it. The second and third sensors are used to detect whether the two protective films on the transport fixtures at corresponding positions overlap. Two air-blowing structures are provided, respectively located at the third and fourth positions of the chain-driven circular conveying structure, to disrupt the adsorption between the protective film and the transport fixture according to the corresponding unloading position of the protective film. The transport fixtures are provided with limiting structures to restrict the positions of the two protective films.

[0012] According to some embodiments of this application, the second material transfer device includes a second support frame, a first linear motor, a fourth drive member, a second drive plate, a third connecting plate, a fourth connecting plate, a third suction nozzle structure, a fourth suction nozzle structure, and a second adjusting cylinder. The second support frame spans between the conveying device and the defective product unloading device. The first linear motor is mounted on the second support frame. The fixed end of the fourth driving member is connected to the driving end of the first linear motor. The driving end of the fourth driving member is connected to the second driving plate and is used to drive the second driving plate to move vertically. The lower end of the second driving plate is connected to the third connecting plate. The fixed ends of the third suction nozzle structure and the second adjusting cylinder are respectively located at the lower end of the third connecting plate. The driving end of the second adjusting cylinder is connected to the fourth connecting plate. The fourth suction nozzle structure is located at the lower end of the fourth connecting plate. The second adjusting cylinder is used to adjust the distance between the third suction nozzle structure and the fourth suction nozzle structure. The third suction nozzle structure and the fourth suction nozzle structure are respectively used to pick up the corresponding defective protective film on the transport fixture.

[0013] According to some embodiments of this application, the good product unloading device includes an empty box loading device, a full box unloading device, and a fourth transfer device. The empty box loading device is located behind the third transfer device, the full box unloading device is located behind the empty box loading device, and the fourth transfer device is located between the empty box loading device and the full box unloading device. The empty box loading device is used to provide empty blister boxes, the full box unloading device is used to output fully loaded blister boxes, the third transfer device is used to pick up the qualified protective film from the transport fixture at the fourth position in the transmission device and place it into the blister box on the empty box loading device, and the fourth transfer device is used to transport the blister box filled with the protective film on the empty box loading device to the full box unloading device. The empty box feeding device includes a conveyor belt, limit baffles, and a position sensor. There are at least two limit baffles located on both sides of the conveyor belt to restrict the movement direction of the blister box. The conveyor belt is used to transport the blister box. The position sensor is located at the end of the conveyor belt to sense the position of the blister box.

[0014] According to some embodiments of this application, the empty box feeding device further includes a lifting drive, a lifting plate, limiting posts, and a fourth sensor. The lifting drive is disposed at the end of the conveyor belt. The lifting plate is connected to the driving end of the lifting drive to drive the lifting plate to lift several stacked blister boxes. At least two limiting posts are provided and are respectively located on both sides of the lifting drive to limit the movement direction of the several stacked blister boxes. The fourth sensor is used to sense whether the topmost blister box on the lifting plate has been lifted into place.

[0015] According to some embodiments of this application, the fourth material transfer device includes a third support frame, a second linear motor, a drive block, a lifting cylinder, a fifth connecting plate, an extension plate, and a fifth suction nozzle structure. The third support frame spans between the empty box loading device and the full box unloading device. The second linear motor is mounted on the third support frame, and its drive end is connected to the drive block. The lifting cylinder is located at the end of the drive block, and its drive end is connected to the fifth connecting plate. There are four extension plates, which are respectively located at the four corners of the fifth connecting plate. There are at least four fifth suction nozzle structures, and at least one fifth suction nozzle structure is provided below each extension plate. The fifth suction nozzle structure is used to adsorb the blister box filled with the protective film.

[0016] 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

[0017] Additional aspects and advantages of this application will become apparent and readily understood in conjunction with the following description of the embodiments, in which: Figure 1 A schematic diagram of the structure of the protective film appearance inspection and sorting equipment provided in this application; Figure 2 A schematic diagram of the feeding device provided in this application; Figure 3 A schematic diagram of the structure of the first material transfer device provided in this application; Figure 4 A schematic diagram of the transmission device provided in this application; Figure 5 A schematic diagram of the structure of the second material transfer device provided in this application; Figure 6 A schematic diagram of the good product feeding device provided in this application; Figure 7 A schematic diagram of the lifting section of the empty box feeding device provided in this application; Figure 8 This is a schematic diagram of the fourth material transfer device provided in this application.

[0018] The attached icons are numbered as follows: Transmission device 100; protective film 101; transport fixture 110; limiting structure 111; chain circulation transmission structure 120; second sensor 130; third sensor 140; air blowing structure 150; Feeding device 200; first mounting plate 211; second mounting plate 212; first placement plate 221; second placement plate 222; first limiting block 223; second limiting block 224; first driving component 230; first linear guide rail 240; second linear guide rail 250; second slider 251; raised guide rail 260; follower structure 261; second driving component 270; lifting rod 271; First material transfer device 300; first support frame 310; double-acting linear motor 320; Z-axis gripping structure 330; third drive component 331; first drive plate 332; first connecting plate 333; second connecting plate 334; first suction nozzle structure 335; second suction nozzle structure 336; first adjusting cylinder 337; first sensor 338; Appearance inspection device 400; Second material transfer device 500; second support frame 510; first linear motor 520; fourth drive component 530; second drive plate 540; third connecting plate 550; fourth connecting plate 560; third suction nozzle structure 570; fourth suction nozzle structure 580; second adjusting cylinder 590; Defective product unloading device 600; Third material transfer device 700; Empty box feeding device 810; conveyor belt 811; limit baffle 812; position sensor 813; lifting drive 814; lifting plate 815; limit post 816; fourth sensor 817; full box unloading device 820; fourth material transfer device 830; third support frame 831; second linear motor 832; drive block 833; lifting cylinder 834; fifth connecting plate 835; extension plate 836; fifth suction nozzle structure 837; Static eliminator 900. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of these embodiments are shown 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 are only used to explain this application, and should not be construed as limiting this application.

[0020] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] In the description of this application, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0022] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0023] In the production process of protective films for 3C products, appearance inspection is a crucial step in ensuring product quality. It requires a comprehensive screening of defects such as dimensional accuracy, surface bubbles, scratches, and embossing. Traditional inspection methods rely on manual visual inspection, where inspectors pick up each protective film individually, visually assess its quality, and then categorize and sort the qualified and unqualified films to complete the entire inspection and sorting process.

[0024] However, this manual inspection and sorting method has obvious technical defects. The inspection results are easily affected by subjective factors such as the experience level, physical condition and emotions of the inspectors. It is difficult for different people to have the same judgment standards. Even the same person may miss or misinspect due to fatigue after working for a long time. It is impossible to consistently guarantee the accuracy of the inspection, which poses a great challenge to product quality control.

[0025] Based on this, this application provides a protective film appearance inspection and sorting device to solve the above-mentioned technical problems. The technical solutions provided by this application will be described in detail below.

[0026] Reference Figure 1 This application provides a protective film 101 appearance inspection and sorting device, including a conveying device 100, a feeding mechanism, an appearance inspection device 400, a defective product handling mechanism, and a good product handling mechanism. The conveying device 100 is equipped with a plurality of transport fixtures 110 for driving the transport fixtures 110 to move along a preset circulation path. The feeding mechanism includes a feeding device and a first transfer device 300. The feeding device is located at the beginning of the conveying device 100 and is used to provide the protective film 101 to be inspected. The first transfer device 300 is located beside the feeding device and is used to transfer the protective film 101 from the feeding device to the transport fixture 110 at a first position in the conveying device 100. The appearance inspection device 400 is located at the conveying device 100 and behind the feeding device, and is used to inspect the protective film 101 on the transport fixture 110 at a second position in the conveying device 100. The defective product handling mechanism includes a second transfer device 500 and a defective product unloading device 600. The defective product unloading device 600 is located beside the conveying device 100 and behind the appearance inspection device 400. The second transfer device 500 is located beside the defective product unloading device 600 and is used to pick up the unqualified protective film 101 on the transport fixture 110 at the third position in the conveying device 100 and place it into the defective product unloading device 600. The good product handling mechanism includes a third transfer device 700 and a good product unloading device. The third transfer device 700 is located at the end of the conveying device 100 and the good product unloading device is located behind the third transfer device 700 and is used to provide blister boxes. The third transfer device 700 is used to pick up the qualified protective film 101 on the transport fixture 110 at the fourth position in the conveying device 100 and place it into the blister box of the good product unloading device.

[0027] When the protective film 101 appearance inspection and sorting equipment is working, the feeding device in the feeding processing mechanism provides the protective film 101 to be inspected. The first transfer device 300 then transfers the protective film 101 to the transport fixture 110 at the first position of the transmission device 100. The transmission device 100 drives the transport fixture 110 to move along a preset circulation path. When the transport fixture 110 moves with the protective film 101 to the second position, the appearance inspection device 400 performs appearance inspection on the protective film 101. Subsequently, the transport fixture 110 passes through the third and fourth positions in sequence. The second transfer device 500 of the defective product processing mechanism picks up the unqualified protective film 101 at the third position and places it into the defective product unloading device 600. The third transfer device 700 of the good product processing mechanism picks up the qualified protective film 101 at the fourth position and places it into the blister box of the good product unloading device, thus completing the inspection and sorting process. This equipment replaces the traditional manual visual inspection and sorting method with an automated structure, solving the technical problem of inconsistent accuracy caused by subjective factors in manual inspection. It realizes the automated operation of protective film 101 inspection and sorting, which can improve the efficiency and accuracy of protective film 101 inspection and sorting, and ensure the stability of product quality control.

[0028] Reference Figure 2 It is understood that the feeding device includes a first mounting plate 211, a second mounting plate 212, a first placement plate 221, a second placement plate 222, a first driving member 230, a first linear guide rail 240, a first slider, a second linear guide rail 250, a second slider 251, a raised guide rail 260, and a follower structure 261. The width of the second mounting plate 212 is smaller than the width of the first mounting plate 211, and it is positioned above the first mounting plate 211. The first linear guide rail 240 is positioned on the second mounting plate 212, and the raised guide rail 260 is positioned on the first mounting plate 211 and at a position relative to the outer side of the second mounting plate 212. The guiding directions of the raised guide rail 260 and the first linear guide rail 240 are parallel to the transmission direction of the transmission device 100. The first placement plate 221 is located above the second mounting plate 212, and the lower surface of the first placement plate 221... A second linear guide rail 250 is connected, and the guiding directions of the second linear guide rail 250 and the first linear guide rail 240 are perpendicular to each other. The first placement plate is slidably connected to the raised guide rail 260 through a follower structure 261. The follower structure 261 is also connected to the second linear guide rail 250 through a second slider 251. The second placement plate 222 is set on the first linear guide rail 240 through the first slider. The first driving member 230 is set on the second mounting plate 212 and is used to drive the first placement plate 221 and the second placement plate 222 to move towards each other simultaneously.

[0029] When the feeding device is working, the first driving component 230 starts and drives the first placement plate 221 and the second placement plate 222 to move towards each other simultaneously. The second placement plate 222 slides along the first linear guide rail 240 set on the second mounting plate 212 via the first slider. The first placement plate 221 slides in cooperation with the raised guide rail 260 via the follower structure 261. At the same time, the follower structure 261 moves on the second linear guide rail 250 on the lower surface of the first placement plate 221 via the second slider 251. With the mutual perpendicular guiding directions of the raised guide rail 260 and the second linear guide rail 250, the first placement plate 221 is driven to move horizontally and generate vertical displacement at the same time. This achieves the staggered positioning of the first placement plate 221 and the second placement plate 222 during their relative movement towards each other. The two placement plates can respectively carry the transfer box for manual feeding and the transfer box to be grasped by the robot arm, realizing the synchronous connection between manual feeding and robot feeding. This feeding device, through the cooperation of the raised guide rail 260, the second linear guide rail 250, and the follower structure 261, replaces the traditional guide rod method. The overall structure has stronger stability and rigidity, which can significantly reduce the phenomenon of jamming during the lifting and moving of the first placement plate 221 and the second placement plate 222, ensuring the smoothness of the feeding process. At the same time, the dual-plate design of the first placement plate 221 and the second placement plate 222 can realize the parallel operation of manual feeding and mechanical picking, without waiting for a single placement plate to complete feeding or picking before proceeding to the next step. This effectively improves the feeding efficiency, reduces the feeding waiting time, and provides a guarantee for the efficient operation of subsequent inspection and sorting operations.

[0030] Continue to refer to Figure 2 It is understood that the first placement plate 221 and the second placement plate 222 are respectively provided with a first limiting block 223 and a second limiting block 224 on the periphery of the protective film 101 placement position, and a first lifting plate and a second lifting plate (not shown in the figure) are provided at the protective film 101 placement position. The first placement plate 221 is provided with a first through hole below the first lifting plate, and the second placement plate 222 is provided with a second through hole below the second lifting plate. The feeding device also includes a second driving member 270 and a lifting rod 271. The second driving member 270 is disposed below the first mounting plate 211, and the lifting rod 271 can move through the first mounting plate 211 and the second mounting plate 212. The second driving member 270 is used to drive the lifting rod 271 through the first through hole or the second through hole to push the first lifting plate or the second lifting plate to move in the vertical direction.

[0031] When the feeding device is working, the first limiting block 223 and the second limiting block 224 on the first placement plate 221 and the second placement plate 222 first perform circumferential positioning on the transfer box carrying the protective film 101, ensuring that the transfer box is in a precise picking position. The protective film 101 inside the transfer box is then placed on the first lifting plate or the second lifting plate, without direct contact with the lifting rod 271. After the robot arm removes the protective film 101 piece by piece, the second driving component 270 drives the lifting rod 271 to move upward, passing sequentially through the first mounting plate 211, the second mounting plate 212, and the corresponding first or second through hole, pushing the first or second lifting plate to move vertically upward, thereby compensating for the height difference caused by the reduction of the protective film 101 inside the transfer box. Through the positioning function of the limiting blocks, the transfer box is prevented from shifting during the picking process, ensuring the accuracy of the robot arm's picking. Meanwhile, the lifting rod 271 does not act directly on the protective film 101, but achieves height compensation by pushing the lifting plate, which effectively avoids damage such as indentation and scratches to the protective film 101 caused by the lifting rod 271. Even if the transfer box is deep, the robot can accurately grab the remaining protective film 101. In addition, with the parallel operation mode of the double placement plate, the stability and safety of the feeding process are improved, providing a reliable guarantee for the continuous and efficient operation of the entire equipment.

[0032] Reference Figure 1 and Figure 3It is understood that there are two feeding devices, located on both sides of the head end of the transmission device 100 respectively; the first material transfer device 300 includes a first support frame 310, a double-acting linear motor 320 and two z-axis gripping structures 330. The first support frame 310 spans the outside of the transmission device 100 and the two feeding devices. The double-acting linear motor 320 is mounted on the first support frame 310. The two z-axis gripping structures 330 are respectively mounted on the double-acting linear motor 320. The two actuators of the double-acting linear motor 320 are used to drive one of the z-axis gripping structures 330 to move between the transmission device 100 and the corresponding feeding device, so as to transfer the protective film 101 at the feeding device to the transport fixture 110 at the first position in the transmission device 100. Each feeding device provides at least two protective films 101 each time. The Z-axis gripping structure 330 includes a third drive member 331, a first drive plate 332, a first connecting plate 333, a second connecting plate 334, a first suction nozzle structure 335, a second suction nozzle structure 336, a first adjusting cylinder 337, and a first sensor 338. The fixed end of the third drive member 331 is connected to one of the movers of the dual-movement linear motor 320. The driving end of the third drive member 331 is connected to the first drive plate 332 to drive the first drive plate 332 to move vertically. The lower end of the first drive plate 332 is connected to the first connecting plate 333. The first suction nozzle structure... The fixed ends of 335 and the first adjusting cylinder 337 are respectively located at the lower end of the first connecting plate 333. The driving end of the first adjusting cylinder 337 is connected to the second connecting plate 334. The second suction nozzle structure 336 is located at the lower end of the second connecting plate 334. The first adjusting cylinder 337 is used to adjust the distance between the first suction nozzle structure 335 and the second suction nozzle structure 336. The first suction nozzle structure 335 and the second suction nozzle structure 336 are respectively used to suck up two different protective films 101 on the feeding device. The first sensor 338 is located at the second connecting plate 334 and is used to sense the suction status of the first suction nozzle structure 335 and the second suction nozzle structure 336.

[0033] Two feeding devices simultaneously supply material on both sides of the head end of the conveying device 100. The double-acting linear motor 320 of the first material transfer device 300 drives two z-axis gripping structures 330 to perform material picking operations corresponding to the two feeding devices. The third driving component 331 drives the first driving plate 332 to move vertically downward, so that the first suction nozzle structure 335 and the second suction nozzle structure 336 respectively pick up the corresponding protective film 101. The first adjusting cylinder 337 then adjusts the distance between the two suction nozzle structures to ensure that the two protective films 101 can be accurately placed on the transport fixture 110 at the first position of the conveying device 100. The first sensor 338 senses the material suction status in real time and can promptly report abnormal situations such as empty gripping and stacking. The parallel material handling operation is achieved through the cooperation of a dual feeding device and a dual Z-axis gripping structure 330. While one Z-axis gripping structure 330 feeds material, the other can simultaneously pick it up, significantly improving the feeding speed. The spacing adjustment function of the first adjusting cylinder 337 ensures the accuracy of material feeding. The setting of the first sensor 338 effectively avoids problems such as empty gripping and material stacking, reducing misjudgments in subsequent inspection processes. Specifically, the first sensor 338 is a fiber optic sensor. The synchronous feeding of the two feeding devices further shortens the feeding waiting time. At the same time, the spanning layout of the first support frame 310 occupies little space, contributing to the compactness of the overall equipment structure.

[0034] Reference Figure 1 It is understood that the appearance inspection of the protective film 101 also includes an antistatic device 900. The antistatic device 900 is located between the feeding device and the appearance inspection device and is situated beside the conveying device 100. It is used to eliminate static electricity on the protective film 101. As the transport fixture 110 on the conveying device 100 moves the protective film 101 from the first position to the second position, the antistatic device 900 performs static electricity elimination treatment on the passing protective film 101. This effectively eliminates static electricity on the surface of the protective film 101, preventing the protective film 101 from stacking due to static adsorption. This prevents stacked protective films 101 from entering the appearance inspection stage and causing misjudgment. At the same time, it also reduces the probability of dust adsorbed by the protective film 101, ensuring a clear inspection field of view for the appearance inspection device 400 and improving the inspection accuracy.

[0035] Reference Figure 4It is understood that the transmission device 100 includes a chain circulation transmission structure 120, a second sensor 130, a third sensor 140, and an air blowing structure 150. Several transport fixtures 110 are floatingly connected to the chain circulation transmission structure 120 at intervals. The second sensor 130 is located at a second position of the chain circulation transmission structure 120, and the third sensor 140 is located at a fourth position of the chain circulation transmission structure 120. Two protective films 101 are placed on each transport fixture 110. The second sensor 130 and the third sensor 140 are used to detect whether the two protective films 101 on the transport fixture 110 at the corresponding positions overlap. There are two air blowing structures 150, which are respectively located at the third and fourth positions of the chain circulation transmission structure 120, and are used to break the adsorption between the protective film 101 and the transport fixture 110 according to the feeding position of the corresponding protective film 101. The transport fixture 110 is provided with a limiting structure 111 for limiting the position of the two protective films 101.

[0036] The chain-driven conveyor structure 120 drives several transport fixtures 110 to move cyclically along a preset path. The limiting structure 111 on the transport fixture 110 restricts the placement of two protective films 101, ensuring that the protective films 101 are in the precise area for detection and unloading. The second sensor 130 at the second position of the chain-driven conveyor structure 120 and the third sensor 140 at the fourth position respectively detect whether the two protective films 101 on the corresponding transport fixture 110 overlap, preventing the overlapping protective films 101 from entering the subsequent detection or traying process. The two air-blowing structures 150 blow air at the third and fourth positions respectively, breaking the adsorption between the protective films 101 and the transport fixture 110, so that the transfer devices of the defective product handling mechanism and the good product handling mechanism can smoothly grab the protective films 101. The positioning accuracy of the protective film 101 is ensured by the limiting structure 111, which provides a basis for appearance inspection and accurate material feeding. The sensor setting can identify the stacking problem in time and avoid misjudgment or material picking error in subsequent processes. The air blowing structure 150 effectively solves the problem of material picking failure caused by the protective film 101 being adsorbed on the fixture due to static electricity or negative pressure, further improving the stability and efficiency of the entire inspection and sorting process.

[0037] In one specific embodiment, the chain circulation conveyor structure 120 has a total of 16 transport fixtures 110, with 8 transport fixtures evenly distributed vertically. This vertical distribution design can make full use of the equipment space, realize the circulation of fixtures, significantly reduce the cycle time of fixture turnover, and at the same time allow the transport fixtures 110 to stop smoothly and accurately at each workstation. It can support multiple processes such as loading, inspection, NG unloading, and OK unloading to be carried out simultaneously, avoiding the waiting time caused by the turnover of a single fixture, and further improving the overall operating efficiency of the equipment.

[0038] In one specific embodiment, the end of the limiting structure 111 is covered with anti-collision rubber to prevent scratching the product. The inner rubber coating needs to be beveled. The surface of the transport fixture 110 is made of aluminum with fine sandblasting, matte black finish, and the surface color must be uniform, without stripes, white spots, knife marks, bumps, etc., to prevent false detection by the appearance inspection device 400. In addition, the mounting position of the limiting structure 111 is provided with slots to accommodate protective films 101 of different sizes for appearance inspection and sorting.

[0039] Reference Figure 5 It is understood that the second material transfer device 500 includes a second support frame 510, a first linear motor 520, a fourth drive component 530, a second drive plate 540, a third connecting plate 550, a fourth connecting plate 560, a third suction nozzle structure 570, a fourth suction nozzle structure 580, and a second adjusting cylinder 590. The second support frame 510 spans between the conveying device 100 and the defective product unloading device 600. The first linear motor 520 is mounted on the second support frame 510. The fixed end of the fourth driving member 530 is connected to the driving end of the first linear motor 520. The driving end of the fourth driving member 530 is connected to the second driving plate 540 and is used to drive the second driving plate 540 to move vertically. The lower end of the second driving plate 540 is connected to the third connecting plate 550. The fixed ends of the third suction nozzle structure 570 and the second adjusting cylinder 590 are respectively located at the lower end of the third connecting plate 550. The driving end of the second adjusting cylinder 590 is connected to the fourth connecting plate 560. The fourth suction nozzle structure 580 is located at the lower end of the fourth connecting plate 560. The second adjusting cylinder 590 is used to adjust the distance between the third suction nozzle structure 570 and the fourth suction nozzle structure 580. The third suction nozzle structure 570 and the fourth suction nozzle structure 580 are respectively used to pick up the corresponding defective protective film 101 on the transport fixture 110.

[0040] The second support frame 510 is straddling the transmission device 100 and the defective product unloading device 600. The first linear motor 520 drives the connected fourth drive member 530 to move horizontally. The fourth drive member 530 drives the second drive plate 540 to move vertically downward, so that the third suction nozzle structure 570 and the fourth suction nozzle structure 580 respectively pick up the defective protective film 101 on the transport fixture 110 at the third position of the transmission device 100. The second adjusting cylinder 590 then adjusts the distance between the third suction nozzle structure 570 and the fourth suction nozzle structure 580 to adapt to the placement requirements of the defective product unloading device 600. After that, the first linear motor 520 drives the assembly to move above the defective product unloading device 600 to complete the placement of the defective protective film 101. The first linear motor 520 achieves precise horizontal displacement, the fourth drive unit 530 ensures stable vertical material handling, and the second adjusting cylinder 590's spacing adjustment function can be adapted to the placement of the two protective films 101 on the transport fixture 110, ensuring that the unqualified protective films 101 can be accurately classified and placed, avoiding material displacement. At the same time, the overall structure is compact and smoothly connected with the transmission device 100 and the defective product unloading device 600, improving the efficiency and accuracy of defective product sorting.

[0041] It should be noted that the defective product unloading device 600 has a similar structure to the loading device 200, and will not be described again here. For a description of the relevant structure of the defective product unloading device 600, please refer to the specific embodiment of the loading device 200.

[0042] It should be noted that the third material transfer device 700 can be a six-axis robot. The end of the six-axis robot is equipped with a suction cup for picking up one or two qualified protective films 101 from the transport fixture 110 at the fourth position in the transfer device 100 and placing them into the blister box of the good product unloading device.

[0043] Reference Figure 6It is understood that the good product unloading device includes an empty box loading device 810, a full box unloading device 820, and a fourth transfer device 830. The empty box loading device 810 is located behind the third transfer device 700, the full box unloading device 820 is located behind the empty box loading device 810, and the fourth transfer device 830 is located between the empty box loading device 810 and the full box unloading device 820. The empty box loading device 810 is used to provide empty blister boxes, the full box unloading device 820 is used to output full blister boxes, the third transfer device 700 is used to pick up the qualified protective film 101 from the transport fixture 110 at the fourth position in the transmission device 100 and place it into the blister box on the empty box loading device 810, and the fourth transfer device 830 is used to transport the blister box filled with protective film 101 on the empty box loading device 810 to the full box unloading device 820. The empty box feeding device 810 includes a conveyor belt 811, a limiting baffle 812, and a position sensor 813. There are at least two limiting baffles 812, which are located on both sides of the conveyor belt 811 to limit the movement direction of the blister box. The conveyor belt 811 is used to transport the blister box. The position sensor 813 is located at the end of the conveyor belt 811 to sense the position of the blister box.

[0044] When the good product unloading device is working, the conveyor belt 811 of the empty box loading device 810 will transport empty blister boxes. The limit baffles 812 on both sides restrict the movement direction of the blister boxes to prevent them from tipping over or deviating during transportation. When the position sensor 813 at the end of the conveyor belt 811 senses that the blister box has arrived, it will trigger a related action. At this time, the third transfer device 700 will pick up the qualified protective film 101 on the transport fixture 110 at the fourth position of the conveyor device 100 and place it into the empty blister box. After the blister box is filled with protective film 101, the fourth transfer device 830 will move the blister box filled with protective film 101 from the empty box loading device 810 to the full box unloading device 820, and the full box unloading device 820 will complete the output of the full blister box. Through the coordinated operation of the empty box feeding device 810, the full box unloading device 820, and the fourth transfer device 830, an integrated operation of automatic blister box feeding, precise product placement, and automatic full box output is achieved. The limit baffle 812 of the empty box feeding device 810 ensures the stability of blister box transportation, while the position sensor 813 accurately controls the position of the blister box, providing a reliable guarantee for the precise placement of the third transfer device 700. At the same time, the separate design of empty box feeding and full box unloading, combined with the transfer function of the fourth transfer device 830, enables continuous operation of multiple stacks of blister boxes, greatly reducing the number of times materials are manually picked up and placed, and improving the automation level and operation efficiency of the entire product unloading process.

[0045] Reference Figure 7It is understood that the empty box feeding device 810 also includes a lifting drive 814, a lifting plate 815, a limiting post 816, and a fourth sensor 817. The lifting drive 814 is located at the end of the transmission belt 811. The lifting plate 815 is connected to the driving end of the lifting drive 814 to drive the lifting plate 815 to lift several stacked blister boxes. At least two limiting posts 816 are provided and are located on both sides of the lifting drive 814 to limit the movement direction of several stacked blister boxes. The fourth sensor 817 is used to sense whether the topmost blister box on the lifting plate 815 has been lifted into place.

[0046] When the empty box feeding device 810 is working, after the top layer of the stacked empty blister boxes is filled with protective film 101 and removed by the fourth transfer device 830, the remaining empty blister boxes will be in a relatively low position. At this time, the lifting drive 814 drives the lifting plate 815 to move upward, causing the remaining empty blister boxes to rise synchronously. The limiting posts 816 on both sides of the lifting drive 814 will restrict the movement direction of the empty blister boxes to prevent them from tipping over or shifting during the lifting process. At the same time, the fourth sensor 817 will detect the position of the top layer of empty blister boxes in real time. When the top layer of empty blister boxes moves to the target detection position of the fourth sensor 817, the lifting drive 814 stops moving. At this time, the height of the empty blister boxes is just right to meet the unloading requirements of the third transfer device 700 and the gripping requirements of the fourth transfer device 830. This additional technical feature achieves height compensation for empty blister boxes through the cooperation of the lifting drive component 814 and the lifting plate 815, solving the problem of inconvenience in picking up and placing materials caused by the height drop after the upper blister box is removed. The precise positioning of the fourth sensor 817 ensures that the empty blister box is always at the optimal working height, allowing the third material transfer device 700 to accurately place the qualified protective film 101 into the blister box, and also allowing the fourth material transfer device 830 to smoothly grab the full blister box. The setting of the limiting post 816 further improves the stability of the stacking of blister boxes, avoiding the occurrence of box jamming or displacement, and effectively improving the automation level and operation efficiency of the good product unloading process.

[0047] In addition, the specific structure of the full box unloading device 820 is similar to that of the empty box loading device 810. The specific structure of the full box unloading device 820 can be referred to the description of the empty box loading device 810 in the above embodiment. Its specific function is to receive the blister boxes transferred from the empty box loading device 810 through the fourth transfer device and transfer the full blister boxes to the designated position.

[0048] Reference Figure 8It is understood that the fourth material transfer device 830 includes a third support frame 831, a second linear motor 832, a drive block 833, a lifting cylinder 834, a fifth connecting plate 835, an extension plate 836, and a fifth suction nozzle structure 837. The third support frame 831 spans between the empty box loading device 810 and the full box unloading device 820. The second linear motor 832 is mounted on the third support frame 831, and its drive end is connected to the drive block 833. The lifting cylinder 834 is located at the end of the drive block 833, and its drive end is connected to the fifth connecting plate 835. There are four extension plates 836, which are respectively located at the four corners of the fifth connecting plate 835. There are at least four fifth suction nozzle structures 837, and at least one fifth suction nozzle structure 837 is provided below each extension plate 836. The fifth suction nozzle structure 837 is used to adsorb the blister box filled with protective film 101.

[0049] When the fourth material transfer device 830 is working, the third support frame 831 spans between the empty box loading device 810 and the full box unloading device 820, providing stable support for the entire material transfer structure. The second linear motor 832 drives the drive block 833 to move horizontally, driving the lifting cylinder 834 and the fifth connecting plate 835 connected to it to move synchronously to the target blister box of the empty box loading device 810. The lifting cylinder 834 drives the fifth connecting plate 835 to move vertically downward, so that the fifth suction nozzle structure 837 set below the four extension plates 836 adheres to the surface of the blister box filled with protective film 101 and completes the adsorption. Then the lifting cylinder 834 drives the blister box to rise, and the second linear motor 832 drives the drive block 833 to move above the full box unloading device 820 again. The fifth suction nozzle structure 837 releases the blister box, completing the transfer operation of the blister box. The layout of four extension plates 836 with at least four fifth suction nozzle structures 837 allows for suction from the four corners of the blister pack, ensuring even force distribution and effectively preventing tipping or deformation during transport. This guarantees the neatness of the product arrangement. The cooperation between the second linear motor 832 and the lifting cylinder 834 enables precise horizontal and vertical displacement, improving the accuracy and efficiency of blister pack transport. The overall structure seamlessly integrates with the empty box loading device 810 and the full box unloading device 820, providing strong support for the efficient and continuous operation of the entire equipment.

[0050] It should be noted that the first suction nozzle structure 335, the second suction nozzle structure 336, the third suction nozzle structure 570, the fourth suction nozzle structure 580 and the fifth suction nozzle structure 837 are all soft, thin-lipped flat suction cups to avoid leaving imprints or suction marks on the product when picking up materials.

[0051] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A protective film appearance inspection and sorting device, characterized in that, include: A transmission device, wherein the transmission device is provided with a plurality of transport fixtures for driving the transport fixtures to move along a preset loop path; The feeding mechanism includes a feeding device and a first transferring device. The feeding device is located at the head end of the conveying device and is used to provide a protective film to be tested. The first material transfer device is located beside the feeding device and is used to transfer the protective film at the feeding device to the transport fixture at the first position in the transmission device. An appearance inspection device is provided at the conveying device and located behind the feeding device, and is used to detect the protective film on the transport fixture at the second position in the conveying device; The defective product handling mechanism includes a second transfer device and a defective product unloading device. The defective product unloading device is located beside the conveying device and behind the appearance inspection device. The second transfer device is located beside the defective product unloading device and is used to pick up the unqualified protective film on the transport fixture at the third position in the conveying device and place it at the defective product unloading device. The good product handling mechanism includes a third transfer device and a good product unloading device. The third transfer device is located at the end of the conveying device, and the good product unloading device is located behind the third transfer device. It is used to provide a blister box. The third transfer device is used to pick up the qualified protective film on the transport fixture at the fourth position in the conveying device and place it into the blister box of the good product unloading device.

2. The protective film appearance inspection and sorting equipment according to claim 1, characterized in that, The feeding device includes a first mounting plate, a second mounting plate, a first placement plate, a second placement plate, a first driving component, a first linear guide rail, a first slider, a second linear guide rail, a second slider, a raised guide rail, and a follower structure; The width of the second mounting plate is smaller than that of the first mounting plate, and it is positioned above the first mounting plate. The first linear guide rail is positioned on the second mounting plate, and the raised guide rail is positioned on the first mounting plate at a position relative to the outer side of the second mounting plate. The guiding directions of the raised guide rail and the first linear guide rail are parallel to the transmission direction of the transmission device. The first placement plate is positioned above the second mounting plate, and the lower surface of the first placement plate is connected to the second linear guide rail. The guiding directions of the second linear guide rail and the first linear guide rail are perpendicular to each other. The first placement plate is slidably connected to the raised guide rail via the follower structure, and the follower structure is also connected to the second linear guide rail via the second slider. The second placement plate is mounted on the first linear guide rail via the first slider; the first driving member is mounted on the second mounting plate and is used to drive the first placement plate and the second placement plate to move towards each other simultaneously.

3. The protective film appearance inspection and sorting equipment according to claim 2, characterized in that, The first and second placement plates are respectively provided with a first limiting block and a second limiting block on the periphery of the protective film placement position, and a first lifting plate and a second lifting plate are provided at the protective film placement position. The first placement plate has a first through hole below the first lifting plate, and the second placement plate has a second through hole below the second lifting plate. The feeding device also includes a second driving member and a lifting rod. The second driving member is disposed below the first mounting plate, and the lifting rod can move through the first mounting plate and the second mounting plate. The second driving member is used to drive the lifting rod through the first through hole or the second through hole to push the first lifting plate or the second lifting plate to move in the vertical direction.

4. The protective film appearance inspection and sorting equipment according to claim 1, characterized in that, Two feeding devices are provided, located on both sides of the head end of the conveying device. The first material transfer device includes a first support frame, a double-acting linear motor, and two Z-axis gripping structures. The first support frame spans the outside of the conveying device and the two feeding devices. The double-acting linear motor is mounted on the first support frame. The two Z-axis gripping structures are respectively mounted on the double-acting linear motor. The two actuators of the double-acting linear motor are used to drive one of the Z-axis gripping structures to move between the conveying device and the corresponding feeding device, so as to transfer the protective film at the feeding device to the transport fixture at the first position in the conveying device. Each of the feeding devices provides at least two protective films at a time. The Z-axis gripping structure includes a third driving member, a first driving plate, a first connecting plate, a second connecting plate, a first suction nozzle structure, a second suction nozzle structure, a first adjusting cylinder, and a first sensor. The fixed end of the third driving member is connected to one of the moving parts of the dual-moving linear motor. The driving end of the third driving member is connected to the first driving plate and is used to drive the first driving plate to move vertically. The lower end of the first driving plate is connected to the first connecting plate. The fixed ends of the first suction nozzle structure and the first adjusting cylinder are respectively located at the lower end of the first connecting plate. The driving end of the first adjusting cylinder is connected to the second connecting plate. The second suction nozzle structure is located at the lower end of the second connecting plate. The first adjusting cylinder is used to adjust the distance between the first suction nozzle structure and the second suction nozzle structure. The first suction nozzle structure and the second suction nozzle structure are respectively used to pick up two different protective films from the feeding device. The first sensor is located at the second connecting plate and is used to sense the suction status of the first suction nozzle structure and the second suction nozzle structure.

5. The protective film appearance inspection and sorting equipment according to claim 1, characterized in that, It also includes an antistatic device, which is disposed between the feeding device and the appearance inspection device and located beside the transmission device, for eliminating static electricity on the protective film.

6. The protective film appearance inspection and sorting equipment according to claim 1, characterized in that, The transmission device includes a chain-driven circular conveyor structure, a second sensor, a third sensor, and an air-blowing structure. Several transport fixtures are floatingly connected to the chain-driven circular conveyor structure at intervals. The second sensor is located at a second position on the chain-driven circular conveyor structure, and the third sensor is located at a fourth position. Each transport fixture has two protective films. The second and third sensors are used to detect whether the two protective films on the corresponding transport fixtures overlap. Two air-blowing structures are provided, located at the third and fourth positions of the chain-driven circular conveyor structure, respectively, to disrupt the adhesion between the protective film and the transport fixture according to the corresponding film's feeding position. Each transport fixture has a limiting structure for restricting the position of the two protective films.

7. The protective film appearance inspection and sorting equipment according to claim 1, characterized in that, The second material transfer device includes a second support frame, a first linear motor, a fourth drive component, a second drive plate, a third connecting plate, a fourth connecting plate, a third suction nozzle structure, a fourth suction nozzle structure, and a second adjusting cylinder; The second support frame spans between the conveying device and the defective product unloading device. The first linear motor is mounted on the second support frame. The fixed end of the fourth driving member is connected to the driving end of the first linear motor. The driving end of the fourth driving member is connected to the second driving plate and is used to drive the second driving plate to move vertically. The lower end of the second driving plate is connected to the third connecting plate. The fixed ends of the third suction nozzle structure and the second adjusting cylinder are respectively located at the lower end of the third connecting plate. The driving end of the second adjusting cylinder is connected to the fourth connecting plate. The fourth suction nozzle structure is located at the lower end of the fourth connecting plate. The second adjusting cylinder is used to adjust the distance between the third suction nozzle structure and the fourth suction nozzle structure. The third suction nozzle structure and the fourth suction nozzle structure are respectively used to pick up the corresponding defective protective film on the transport fixture.

8. The protective film appearance inspection and sorting equipment according to claim 1, characterized in that, The good product unloading device includes an empty box loading device, a full box unloading device, and a fourth transfer device. The empty box loading device is located behind the third transfer device, the full box unloading device is located behind the empty box loading device, and the fourth transfer device is located between the empty box loading device and the full box unloading device. The empty box loading device is used to provide empty blister boxes, the full box unloading device is used to output full blister boxes, the third transfer device is used to pick up the qualified protective film from the transport fixture at the fourth position in the transmission device and place it into the blister box on the empty box loading device, and the fourth transfer device is used to transport the blister box filled with the protective film on the empty box loading device to the full box unloading device. The empty box feeding device includes a conveyor belt, limit baffles, and a position sensor. There are at least two limit baffles located on both sides of the conveyor belt to restrict the movement direction of the blister box. The conveyor belt is used to transport the blister box. The position sensor is located at the end of the conveyor belt to sense the position of the blister box.

9. The protective film appearance inspection and sorting equipment according to claim 8, characterized in that, The empty box feeding device further includes a lifting drive, a lifting plate, limiting posts, and a fourth sensor. The lifting drive is located at the end of the conveyor belt. The lifting plate is connected to the driving end of the lifting drive to drive the lifting plate to lift several stacked blister boxes. At least two limiting posts are provided and are located on both sides of the lifting drive to limit the movement direction of the stacked blister boxes. The fourth sensor is used to sense whether the topmost blister box on the lifting plate has been lifted into place.

10. The protective film appearance inspection and sorting equipment according to claim 8, characterized in that, The fourth material transfer device includes a third support frame, a second linear motor, a drive block, a lifting cylinder, a fifth connecting plate, an extension plate, and a fifth suction nozzle structure. The third support frame spans between the empty box loading device and the full box unloading device. The second linear motor is mounted on the third support frame, and its drive end is connected to the drive block. The lifting cylinder is located at the end of the drive block, and its drive end is connected to the fifth connecting plate. There are four extension plates, which are respectively located at the four corners of the fifth connecting plate. There are at least four fifth suction nozzle structures, and at least one fifth suction nozzle structure is located below each extension plate. The fifth suction nozzle structure is used to adsorb the blister box filled with the protective film.

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