Automatic brush tray arranging machine

Abstract

This invention discloses an automatic brush tray stacking machine, comprising a product feeding mechanism, a cutting mechanism, a first camera detection mechanism, a product flipping mechanism, a second camera detection mechanism, an empty tray feeding mechanism, a strip conveying mechanism, and a finished product tray transfer mechanism. Through the coordinated operation of these mechanisms, this invention achieves fully automated operation of the entire process, including brush sheet feeding, cutting, dual-station camera detection, flipping, tray feeding, precise tray stacking, and finished product stacking. This effectively replaces the traditional manual tray stacking method, significantly improving stacking efficiency and accuracy; reducing manual intervention and labor costs; and avoiding damage to the brush strips caused by manual operation, thereby increasing product qualification rate.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, specifically to an automatic brush tray balancing machine. Background Technology

[0002] A brush is a conductive component widely used in micro-motors, power tools, and household appliances. It is typically made of a composite of metal and carbon materials. After processing, the brush sheets are usually wound up in a continuous strip. Subsequently, the continuous brush sheet strip needs to be cut into individual brush strips of a specified length. The cut strips are then loaded one by one into a reel for subsequent transfer, storage, or assembly operations in the next process.

[0003] Currently, the cutting and traying processes of brush sheets are mostly completed manually or with semi-automated equipment. Manual operation is inefficient, and it is difficult to guarantee cutting accuracy and traying consistency, which can easily lead to problems such as product scratches, contamination, or inconsistent traying posture. Although some existing automated equipment can achieve some functions of cutting and traying, it generally has the following shortcomings: First, the equipment integration is low. Cutting, inspection, flipping, and traying processes need to be completed on multiple independent machines, which takes up a lot of space and the production efficiency is limited by the material transfer cycle between processes. Second, existing equipment usually only performs visual inspection on a single surface of the brush sheet, neglecting the defect detection of the other surface. If there are scratches, stains, or poor forming on the other surface, they cannot be effectively identified, posing a quality risk. Third, the product feeding mechanism is prone to causing the material to move backward during the reset return stroke, affecting the feeding accuracy. Some equipment uses complex clutch or locking mechanisms to solve this problem, which increases costs and control difficulty. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an automatic brush tray loading machine. This machine features a compact structure and small footprint. Through the coordinated operation of its various mechanisms, it achieves fully automated operation of the entire process, including brush sheet feeding, cutting, dual-station camera inspection, flipping, tray loading, precise tray loading, and finished product stacking. This effectively replaces the traditional manual tray loading method, significantly improving loading efficiency and accuracy, reducing manual intervention and labor costs. It also avoids damage to the brush sheets caused by manual operation, thus increasing product qualification rate. The first and second camera inspection mechanisms respectively perform pre-cutting material inspection and post-flipping strip re-inspection. This dual inspection effectively filters out products with appearance defects and dimensional deviations, reducing the risk of defective products leaving the factory. The modular design of each mechanism in this invention results in a compact and rationally laid-out structure, adapting to the needs of different specifications of brush sheets and trays. Its strong versatility allows for wide application in the brush manufacturing and processing field, demonstrating significant practicality and economic benefits.

[0005] To achieve the above objectives, the present invention employs the following technical solution: The present invention provides an automatic brush tray loading machine, including a frame, on which are provided a product feeding mechanism, a cutting mechanism, a first camera detection mechanism, a product flipping mechanism, a second camera detection mechanism, an empty material tray feeding mechanism, a material strip transport mechanism, and a finished product tray transfer mechanism; The product feeding mechanism is used to convey the brush sheet material along the X-axis to the preset feeding station of the product flipping mechanism; The cutting mechanism is located between the product feeding mechanism and the product flipping mechanism, and is used to press and fix the brush strip material, and cut the brush strip material into brush strips of a set length. The first camera inspection mechanism is located on the side of the product feeding mechanism and includes a first camera bracket and a first industrial camera and a first light source mounted on the first camera bracket. The first camera inspection mechanism is used to inspect the appearance of the brush sheet material. The product flipping mechanism includes a flipping execution mechanism and a first support and a second support arranged opposite to each other for supporting the brush strip; wherein, the first support is located at a preset loading station of the product flipping mechanism and is used to receive the brush strip after it has been cut by the cutting mechanism; the second support is located at the loading station of the strip conveying mechanism and is used to receive the brush strip after it has been flipped by the flipping execution mechanism; the flipping execution mechanism is used to grab the brush strip on the first support and flip it 180° before releasing it onto the second support; The second camera inspection mechanism includes a second camera bracket and a second industrial camera and a second light source mounted on the second camera bracket. The field of view of the second industrial camera covers the brush strip on the second support base and is used to inspect the brush strip after it has been flipped. The empty tray loading mechanism includes a tray track assembly and a tray transfer mechanism. The tray track assembly includes two sets of tray tracks extending along the Y-axis and parallel to each other, used to support and guide the tray to be loaded. The tray transfer mechanism is disposed between the two sets of tray tracks and includes a transfer tray for supporting the tray, a transfer tray lifting mechanism for driving the transfer tray to move up and down along the Z-axis, and a tray moving module for driving the transfer tray and the transfer tray lifting mechanism to move along the tray tracks. The strip transport mechanism is located on the same side of the second support base of the product flipping mechanism and the tray track. It includes several first suction nozzles, a strip lifting mechanism that drives the first suction nozzles to move up and down along the Z-axis, and a strip translation mechanism that drives the strip lifting mechanism to move along the X-axis. The travel of the strip transport mechanism covers the space above the second support base and the space above the tray loading station on the tray track. It is used to transport the brush strip after it has been flipped by the product flipping mechanism to a preset tray position in the tray. The finished product tray transfer mechanism is used to transfer and stack the finished product trays after the brush strips have been filled.

[0006] In one possible implementation, the product feeding mechanism includes a guide seat, a brush plate pressure plate, and a transfer assembly; The top surface of the guide seat is provided with a guide groove extending along its length direction. The guide groove is used to accommodate the brush strip material. The brush strip material is provided with multiple positioning holes along its length direction. The brush plate pressure plate is disposed on the top surface of the guide seat and covers the guide groove; The transfer assembly is used to drive the brush strip material to move along the guide groove. The transfer assembly includes a moving part and a material moving mechanism for controlling the translation of the moving part. The moving part includes a support ear and a pawl rotatably disposed on the support ear. The pawl is provided with a toggle part for cooperating with a positioning hole on the brush strip material. When the material conveying mechanism drives the moving part to move along the feeding direction, the actuating part engages in the positioning hole of the brush plate material, driving the brush plate material to be fed synchronously; when the material conveying mechanism drives the moving part to move back along the reset direction, the cutting mechanism pre-presses and fixes the brush plate material, and the actuating part is lifted by force to disengage from the positioning hole, realizing the idle reset of the moving part.

[0007] In one possible implementation, the support ear has a receiving groove on the side facing the guide groove. The pawl has a first end and a second end opposite to each other. The first end is received in the receiving groove and rotatably connected to the support ear. The lower side of the second end extends downward to form the actuating part. The actuating part is a wedge-shaped structure. The side of the wedge-shaped structure facing the reset direction is set as a guide slope. During the reset return stroke, the guide slope disengages from the positioning hole under the action of the brush plate carrying the material. The top surface of the pawl, from the first end to the second end, is sequentially set as a first plane, a first slope, and a second plane. The first slope is inclined downward from the first plane to the second plane. The rotation axis of the pawl is set in the area below the first slope. An movable gap is reserved between the second plane and the top wall of the receiving groove. A spring is installed between the second plane and the top wall of the receiving groove. The first plane abuts against the top wall of the receiving groove to limit the pawl from rotating downward.

[0008] In one possible implementation, the cutting mechanism includes a lower template, an upper template, and a cutting lifting mechanism that controls the raising and lowering of the upper template. During the cutting operation, the cutting lifting mechanism drives the upper template to press the brush strip downwards and then continues to press downwards, cooperating with the lower template to accurately cut the brush strip and obtain the brush strip of a set length.

[0009] In one possible implementation, the flipping actuator includes a slide table, a slide table drive mechanism, a mounting base, a rotary drive mechanism, a rotary table, and a clamping mechanism; the slide table is slidably mounted on the frame along the X-axis; the slide table drive mechanism is fixedly mounted on the frame, and its output end is connected to the slide table for driving the slide table to move along the X-axis; the mounting base is fixedly mounted on the slide table; the rotary drive mechanism is mounted on the mounting base; the rotary table is rotatably mounted on the mounting base and connected to the output rotation shaft of the rotary drive mechanism to rotate around the Y-axis under the action of the rotary drive mechanism; the clamping mechanism is mounted on the rotary table for clamping the cut brush strip on the first support base, and after being flipped 180° by the rotary table, releasing the brush strip onto the second support base.

[0010] In one possible implementation, the clamping mechanism is provided in two sets, and the two sets of clamping mechanisms are symmetrically mounted on the rotary table with the rotation axis of the rotary drive mechanism as the center.

[0011] In one possible implementation, the clamping mechanism is an electric or pneumatic gripper module, comprising two symmetrically arranged gripper units and a drive unit that drives the two gripper units to clamp towards each other and open in opposite directions.

[0012] In one possible implementation, both the first support and the second support have clearance openings on their respective facing sides, adapted to the clamping mechanism, so that the clamping mechanism can make clearance when clamping the brush plate.

[0013] In one possible implementation, the slide drive mechanism is a cylinder or a hydraulic cylinder; the rotary drive mechanism is a rotary cylinder or a servo rotary motor, used to drive the rotary table to achieve 180° or 360° rotation.

[0014] In one possible implementation, the transfer plate includes a support plate and a first baffle and a second baffle disposed at both ends of the support plate along the Y-axis direction, wherein the first baffle and / or the second baffle are adjustablely disposed on the support plate along the Y-axis direction.

[0015] In one possible implementation, the empty tray loading mechanism further includes lateral clamping members respectively disposed on both sides of the tray track assembly, and a clamping drive mechanism for driving the lateral clamping members to move closer together or separate in opposite directions; the clamping drive mechanism is a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

[0016] In one possible implementation, the finished product tray transfer mechanism includes multiple support arms, multiple second suction nozzles disposed on the support arms, a finished product tray lifting mechanism for controlling the overall lifting and lowering of the multiple support arms, and a finished product tray moving mechanism for controlling the overall horizontal movement of the finished product tray lifting mechanism and the multiple support arms, for automatically moving the finished product tray loaded with the brush strips out of the tray placement station, completing the stacking, storage, and unloading.

[0017] In one possible implementation, the finished product tray transfer mechanism further includes a conveyor belt mechanism, wherein the finished product trays loaded with the brush strips are stacked on the conveyor belt of the conveyor belt mechanism for transport to the next work station.

[0018] In one possible implementation, the automatic brush tray loading machine further includes a control system, and the product feeding mechanism, the cutting mechanism, the first camera detection mechanism, the product flipping mechanism, the second camera detection mechanism, the empty tray feeding mechanism, the strip transport mechanism, and the finished product tray transfer mechanism are all connected to the control system.

[0019] Compared with the prior art, the advantages of this invention are as follows: 1. The automatic brush tray stacking machine of the present invention achieves fully automated operation of the entire process of brush sheet feeding, cutting, dual-station camera detection, flipping, tray feeding, precise tray stacking, and finished product stacking through the coordinated linkage of various mechanisms. It effectively replaces the traditional manual tray stacking mode and greatly improves tray stacking efficiency and accuracy. The first camera detection mechanism and the second camera detection mechanism respectively realize the detection of the material before cutting and the re-inspection of the strip after flipping. The dual detection can effectively screen out products with appearance defects, size deviations, and inaccurate positioning, reducing the risk of defective products flowing out. The product flipping mechanism uses the relatively set first support base and second support base and flipping mechanism to achieve fully automated operation of the entire process of brush sheet feeding, cutting, dual-station camera detection, flipping, material tray feeding, precise tray stacking, and finished product stacking. The rotating actuator smoothly flips the brush strips, ensuring consistent strip posture after flipping and guaranteeing accurate subsequent tray placement. The linkage design of the empty tray feeding mechanism and the finished product tray transfer mechanism enables automatic tray supply and automatic stacking of finished products, reducing manual intervention and labor costs. It also avoids damage to the brush strips during manual operation, improving product qualification rate. Each mechanism adopts a modular design, with a compact structure and reasonable layout, adapting to the usage requirements of different specifications of brush strips and trays. It has strong versatility and can be widely used in the field of brush production and processing, with significant practicality and economic benefits.

[0020] 2. The brush strip feeding mechanism of the present invention adopts a step feeding method in which the pawl cooperates with the positioning hole of the brush strip. During the feeding stroke, the actuating part of the pawl is engaged in the positioning hole under the action of the spring force. The first plane abuts against the top wall of the receiving groove and limits the downward rotation of the pawl, ensuring that the actuating part is reliably kept in the positioning hole and driving the brush strip to feed synchronously. During the reset stroke, the cutting mechanism pre-presses and fixes the strip. The guide slope of the actuating part is subjected to the reaction force of the brush strip, which overcomes the spring force and lifts the second end of the pawl upward. The actuating part slides along the surface of the strip and disengages from the positioning hole, realizing the idle reset without driving the brush strip to retract. This structure can achieve reliable unidirectional feeding without the need for an additional active clutch mechanism. The structure is simple and the operation is reliable.

[0021] 3. During the pressing process, the upper template of the cutting mechanism of the present invention first presses and fixes the brush sheet material, and then cooperates with the lower template to complete the cutting. This allows the cutting mechanism to simultaneously perform the functions of fixing the material to prevent it from being pulled back during reset and the fixed-length cutting function, eliminating the need for a separate fixing mechanism and simplifying the equipment structure.

[0022] 4. The top surface of the claw of the present invention adopts a three-section contour design of a first plane, a first inclined plane, and a second plane. The rotation axis is set in the lower area of ​​the first inclined plane. When the actuating part is engaged in the positioning hole, the first plane abuts against the top wall of the receiving groove to limit the downward rotation of the claw and ensure that the actuating part does not come out during the feeding process. When resetting, the second end of the claw can be lifted upward within the movable gap to realize the actuating part disengaging from the positioning hole. At the same time, the spring always applies a downward elastic force to the second end of the claw to ensure that the actuating part can quickly engage in the next positioning hole. This design has a compact structure and clear action logic, ensuring the accuracy and reliability of step feeding.

[0023] 5. The actuating part of the present invention adopts a wedge-shaped structure, and the side facing the reset direction is set as a guide slope. When resetting, the guide slope contacts the edge of the positioning hole, converting the reaction force of the material into an upward component force, so that the actuating part can smoothly slide out of the positioning hole, with stable operation and little wear. Attached Figure Description

[0024] Appendix Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0025] Appendix Figure 2 This is a schematic diagram of the product flipping mechanism, material strip handling mechanism, and finished product tray transfer mechanism of the present invention.

[0026] Appendix Figure 3 This is a schematic diagram of the product feeding mechanism and cutting mechanism of the present invention.

[0027] Appendix Figure 4 This is a schematic diagram of the moving part of the product feeding mechanism of the present invention.

[0028] Appendix Figure 5 This is a cross-sectional structural schematic diagram of the moving part of the product feeding mechanism of the present invention.

[0029] Appendix Figure 6 This is one of the structural schematic diagrams of the flipping mechanism of the present invention.

[0030] Appendix Figure 7 This is the second schematic diagram of the flipping mechanism of the present invention.

[0031] Appendix Figure 8 This is a schematic diagram of the structure of the second camera detection mechanism of the present invention.

[0032] Appendix Figure 9 This is a schematic diagram of the empty material tray feeding mechanism of the present invention.

[0033] Appendix Figure 10 This is a schematic diagram of the material tray transfer mechanism of the empty material tray feeding mechanism of the present invention.

[0034] Appendix Figure 11This is a schematic diagram of the material handling mechanism of the present invention.

[0035] Appendix Figure 12 This is a schematic diagram of the finished product tray transfer mechanism of the present invention.

[0036] The labels shown in the attached diagram: 1. Rack; 2. Product feeding mechanism; 21. Guide seat; 211. Guide groove; 22. Brush plate pressure plate; 23. Transfer assembly; 231. Moving part; 2311. Support ear; 2311a. Receiving groove; 2312. Paw; 2312a. First end; 2312b. Second end; 2312c. Actuating part; 2312d. First plane; 2312e. First inclined plane; 2312f. Second plane; 2312g. Guide inclined plane; 232. Material moving mechanism; 233. Spring; 3. Cutting mechanism; 31. Lower template; 32. Upper template; 33. Cutting lifting mechanism; 4. First camera inspection mechanism; 41. First camera bracket; 42. First industrial camera; 43. First light source; 5. Product flipping mechanism; 51. Flipping actuator; 511. Slide table; 512. Slide table drive mechanism; 513. Mounting base; 514. Rotation drive mechanism; 515. Rotary table; 516. Clamping mechanism; 52. First support base; 521. Clearance opening; 53. Second support base; 531. Clearance opening; 6. Second camera detection mechanism; 61. Second camera bracket; 62. Second industrial camera; 63. Second light source; 7. Empty material tray loading mechanism; 71. Material tray track assembly; 711. Material tray track; 72. Material tray transfer mechanism; 721. Transfer tray; 7211. Support plate; 7212. First baffle; 7213. Second baffle; 722. Transfer tray lifting mechanism; 723. Material tray moving module; 73. Lateral clamping component; 74. Clamping drive mechanism; 8. Material handling mechanism; 81. First suction nozzle; 82. Material lifting mechanism; 83. Material translation mechanism; 9. Finished product tray transfer mechanism; 91. Support arm; 92. Second suction nozzle; 93. Finished product tray lifting mechanism; 94. Finished product tray moving mechanism; 95. Conveyor belt mechanism; 10. Brush strip with material; 101. Positioning hole; 20. Material tray. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0038] In the description of this invention, it should be understood that the terms "X-axis direction", "Y-axis direction", "Z-axis direction", "length", "width", "up", "down", "front", "rear", "first end", "second end", etc., indicate the orientation or positional relationship based on the normal working state of the mechanism and the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] Please see Figures 1 to 12 The present invention provides an automatic brush tray loading machine, which is used to cut continuous brush strips into brush strips of a set length, and then flips, inspects and loads the cut brush strips into a tray one by one.

[0041] Please see Figure 1 , Figure 2 The automatic brush tray loading machine of the present invention includes a frame 1, which serves as the supporting foundation for the entire machine. The frame 1 is equipped with a product feeding mechanism 2, a cutting mechanism 3, a first camera detection mechanism 4, a product flipping mechanism 5, a second camera detection mechanism 6, an empty tray feeding mechanism 7, a strip transport mechanism 8, and a finished product tray transfer mechanism 9. The composition and function of each mechanism are described in detail below.

[0042] Please see Figure 3 This is a schematic diagram of the product feeding mechanism 2. The product feeding mechanism 2 is used to transport the brush sheet material 10 along the X-axis to the preset feeding station of the product flipping mechanism 5.

[0043] Specifically, the product feeding mechanism 2 includes a guide seat 21, a brush plate pressure plate 22, and a transfer assembly 23. The guide seat 21 is a rigid, rectangular structure fixedly mounted on the frame 1, and its top surface has a guide groove 211 extending along its length direction (i.e., the X-axis direction). The guide groove 211 is used to accommodate the brush strip 10, and its width and thickness are adapted to the width and thickness of the brush strip 10, respectively, to ensure that the brush strip 10 can only slide along the length direction of the guide groove 211 during the conveying process, without any deviation in the width direction, thus ensuring feeding accuracy. The brush strip 10 has multiple equally spaced positioning holes 101 along its length direction. Specifically, the brush strip 10 is composed of multiple brush units arranged continuously along its length direction, with easy-to-cut slits punched between adjacent brush units, and each brush unit has a positioning hole 101 punched on it.

[0044] The brush plate pressure plate 22 is disposed on the top surface of the guide seat 21 and covers the guide groove 211. The brush plate pressure plate 22 and the guide seat 21 are detachably connected by fasteners (such as screws). A sliding gap (e.g., 0.03mm to 0.05mm) is reserved between the bottom surface of the brush plate pressure plate 22 and the top surface of the brush strip 10 placed in the guide groove 211 to ensure that the brush strip 10 can slide smoothly and prevent the brush strip 10 from arching in the vertical direction. Preferably, two sets of brush plate pressure plates 22 are provided, and the two sets of brush plate pressure plates 22 are respectively disposed at both ends of the guide groove 211 along its length direction. Specifically, one set of brush plate pressure plates 22 is disposed at the starting end of the guide groove 211, and the other set of brush plate pressure plates 22 is disposed at the front side of the cutting mechanism 2.

[0045] The transfer assembly 23 is used to drive the brush strip 10 to move along the guide groove 211. The transfer assembly 23 includes a moving part 231 and a strip moving mechanism 232 that controls the moving part 231 to translate along the X-axis. The strip moving mechanism 232 can be a servo ball screw linear module in the prior art, and its slide is connected to the moving part 231.

[0046] Please see Figure 4 , Figure 5The moving component 231 includes a support ear 2311 and a pawl 2312 rotatably disposed on the support ear 2311. The pawl 2312 is provided with a actuating part 2312c for engaging with the positioning hole 101 on the brush strip 10. When the material moving mechanism 232 drives the moving component 231 to move along the feed direction, the actuating part 2312c engages in the positioning hole 101 of the brush strip 10, driving the brush strip 10 to feed synchronously. When the material moving mechanism 232 drives the moving component 231 to return along the reset direction, the cutting mechanism 3 pre-presses and fixes the brush strip 10, and the actuating part 2312c is lifted by force and disengaged from the positioning hole 101, realizing the idle reset of the moving component 231.

[0047] In one specific embodiment, the support ear 2311 has a receiving groove 2311a on the side facing the guide groove 211. The pawl 2312 has a first end 2312a and a second end 2312b, with the first end 2312a housed in the receiving groove 2311a and rotatably connected to the support ear 2311 by a pin, the axis of which is perpendicular to the feed direction (i.e., along the Y-axis). The lower side of the second end 2312b of the pawl 2312 extends downward to form a toggle portion 2312c, the end of which is used to engage with the positioning hole 101 on the brush strip 10. The toggle portion 2312c is a wedge-shaped structure, with the side facing the reset direction serving as a guide slope 2312g. When the moving part 231 returns to its reset position, the guide slope 2312g disengages from its positioning hole 101 under the action of the brush strip 10.

[0048] Please see Figure 5 The top surface of the pawl 2312, from the first end 2312a to the second end 2312b, is sequentially configured as a first plane 2312d, a first inclined plane 2312e, and a second plane 2312f. The first inclined plane 2312e is inclined downwards from the first plane 2312d toward the second plane 2312f. The rotation axis (i.e., the pin axis) of the pawl 2312 is located in the area below the first inclined plane 2312e, and a movable gap is reserved between the second plane 2312f and the top wall of the receiving groove 2311a. A spring 233 is installed between the second plane 2312f and the top wall of the receiving groove 2311a within this movable gap. Specifically, both the second plane 2312f of the pawl 2312 and the top wall of the receiving groove 2311a are provided with receiving holes for accommodating the spring 233, and the two ends of the spring 233 abut against the two receiving holes respectively. Furthermore, the first plane 2312d abuts against the top wall of the receiving groove 2311a to limit the rotation of the pawl 2312 downwards (clockwise).

[0049] Specifically, in the free state, the spring 233 applies a downward elastic force to the second end 2312b of the pawl 2312, so that the end of the actuating part 2312c tends to be inserted into the positioning hole 101 of the brush strip 10, thus preventing the actuating part 2312c from dislodging from the positioning hole 101 due to upward rotation (counterclockwise rotation) during the movement of the brush strip 10 (feeding process). When the pawl 2312 drives the brush strip 10 to move along the feed direction, the brush strip 10 generates a reverse force on the actuating part 2312c. This reverse force causes the pawl 2312 to continue rotating downward (clockwise) around its rotation axis. At this time, the first plane 2312d abuts against the top wall of the receiving groove 2311a, preventing the pawl 2312 from rotating further downward, thereby ensuring that the actuating part 2312c is stably kept in the positioning hole 101, improving the movement stability of the brush strip 10.

[0050] Please see Figure 1 The cutting mechanism 3 is disposed between the product feeding mechanism 2 and the product flipping mechanism 5, and is used to press and fix the brush strip 10 and cut the brush strip 10 into brush strips of a set length. Specifically, the cutting mechanism 3 has two functions: first, to press and fix the brush strip 10 when the transfer component 23 returns to its original position to prevent the brush strip 10 from being carried back; second, to cut the brush strip 10 that has completed the step feeding into brush strips of a set length.

[0051] Specifically, the cutting mechanism 3 includes a lower template 31, an upper template 32, and a cutting lifting mechanism 33 that controls the raising and lowering of the upper template 32. The lower template 31 is fixedly mounted on the frame 11 and serves as a fixed blade. The upper template 32 is located above the lower template 31 and is positioned at the output end of the cutting lifting mechanism 33, serving as a moving blade. During the cutting operation, the cutting lifting mechanism 33 drives the upper template 32 to move downwards. The lower surface of the upper template 32 first contacts and presses against the brush strip 10, fixing it to the upper surface of the lower template 31. The upper template 32 continues to press down, and its cutting edge engages with the cutting edge of the lower template 31 to precisely cut the brush strip 10, obtaining a brush strip of a set length. The cutting lifting mechanism 33 can be a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder, and the upper template 32 is connected to the telescopic rod of the pneumatic cylinder, hydraulic cylinder, or electric cylinder.

[0052] Please see Figure 1 The first camera inspection mechanism 4 is located on the side of the product feeding mechanism 2. It is used to perform online inspection of the appearance of the brush sheet material 10 before cutting, so as to identify surface defects, size deviations and other problems, and prevent unqualified products from entering the subsequent traying process.

[0053] Specifically, the first camera detection mechanism 4 includes a first camera bracket 41, a first industrial camera 42 mounted on the first camera bracket 41, and a first light source 43. The field of view of the first industrial camera 42 can vertically downwards cover the upper surface of the brush strip 10 above the guide groove 211, for acquiring surface images of the brush strip 10. The first light source 43 can be positioned below the first industrial camera 42 to provide supplementary lighting for the detection area of ​​the brush strip 10, ensuring image acquisition quality. The first light source 43 can be a ring LED light source or a strip LED light source, and its illumination angle is adjustable to adapt to the lighting requirements of brush strip surfaces of different materials.

[0054] During operation, before the product feeding mechanism 2 conveys the brush strip 10 to the predetermined position and before the cutting mechanism 3 operates, the first industrial camera 42 captures an image of the upper surface of the brush strip 10 within its field of view and transmits the captured image to the image processing unit of the control system. The image processing unit analyzes and judges the image. If defects such as scratches, pits, color differences, burrs, or dimensional deviations are detected on the upper surface of the brush strip 10, an alarm signal is issued or the strip is marked as a defective product for removal in subsequent processes. Through the above settings, the first camera inspection mechanism 4 achieves online automated appearance inspection of the brush strip 10, effectively improving inspection efficiency and product qualification rate, and reducing the labor intensity and risk of misjudgment associated with manual visual inspection.

[0055] Please see Figure 6 , Figure 7 The product flipping mechanism 5 is located at the rear end of the cutting mechanism 3 and is used to flip the cut brush strip by 180°, so that it is flipped from the front-facing state during cutting to the back-facing state, so that the second camera detection mechanism 6 can perform appearance inspection on the other surface of the brush strip. At the same time, the flipped brush strip is transported to the loading position of the strip transport mechanism 8 for the strip transport mechanism 8 to pick up and load onto a tray.

[0056] Specifically, the product flipping mechanism 5 includes a flipping execution mechanism 51 and a first support 52 and a second support 53 arranged opposite to each other for supporting the brush strip. The flipping execution mechanism 51 is located between the first support 52 and the second support 53. The first support 52 is located at a preset loading station of the product flipping mechanism 5, i.e., near the cutting mechanism 3, and is used to receive the brush strips cut by the cutting mechanism 3. The cut brush strips fall onto the first support 52 under the action of the transfer component 23, awaiting grabbing by the flipping execution mechanism 51. The second support 53 is located at the loading position of the strip transport mechanism 8, i.e., near the strip transport mechanism 8, and is used to receive the brush strips flipped by the flipping execution mechanism 51. The position of the second support 53 is aligned with the loading position of the strip transport mechanism 8, so that the flipped brush strips can be directly taken away by the strip transport mechanism 8 without intermediate transfer steps. The flipping actuator 51 is used to grab the brush strip on the first support 52, flip it 180° and release it onto the second support 53.

[0057] In one possible embodiment, the flipping actuator 51 specifically includes a slide table 511, a slide table drive mechanism 512, a mounting base 513, a rotation drive mechanism 514, a rotary table 515, and a clamping mechanism 516.

[0058] The slide table 511 is slidably mounted on the frame 1 along the X-axis. The slide table drive mechanism 512 is fixedly mounted on the frame 1, and its output end is connected to the slide table 511 to drive the slide table 511 to move along the X-axis. The slide table drive mechanism 512 can be a cylinder or a hydraulic cylinder to provide stable and rapid linear reciprocating motion. The mounting base 513 is fixedly mounted on the slide table 511 and moves synchronously with the slide table 511 along the X-axis. The rotary drive mechanism 514 is mounted on the mounting base 513 and is preferably a rotary cylinder or a servo rotary motor. The rotary table 515 is rotatably mounted on the mounting base 513 and connected to the output rotation shaft of the rotary drive mechanism 514 to rotate around the Y-axis under the action of the rotary drive mechanism 514, achieving a 180° or 360° rotation. The clamping mechanism 516 is mounted on the rotary table 515 and is used to clamp the cut brush strip on the first support 52. After the rotary table 515 rotates 180°, the brush strip is released onto the second support 53.

[0059] In one specific embodiment, the clamping mechanism 516 is preferably provided in two sets, and the two sets of clamping mechanisms 516 are symmetrically mounted on the rotary table 515 with the rotation axis of the rotary drive mechanism 514 as the center. With this arrangement, during the completion of one rotation operation, when one set of clamping mechanisms 516 flips the clamped brush strip 180° and releases it to the second support 53, the other set of clamping mechanisms 516 has just rotated to the first support 52, allowing for simultaneous clamping of the next brush strip, thereby significantly improving the flipping efficiency.

[0060] In one possible implementation, the clamping mechanism 516 is an electric or pneumatic gripper module, including two gripper units that are symmetrically opened and closed, and a clamping drive unit that drives the two gripper units to clamp in opposite directions and open in opposite directions.

[0061] Specifically, taking a pneumatic gripper module as an example, its structure is based on existing technology, including two symmetrically arranged gripper units and a clamping cylinder that drives the two gripper units to clamp towards each other and open in opposite directions. Flexible pads or anti-slip teeth can be provided on the opposing clamping surfaces of the two gripper units to increase clamping friction and prevent damage to the surface of the brush strip. Using a pneumatic gripper module offers advantages such as controllable clamping force, fast response speed, compact structure, and convenient maintenance, and can adapt to the clamping requirements of brush strips of different thicknesses. Alternatively, the clamping mechanism 516 can also be an electric gripper module, using a servo motor to drive a lead screw or gear mechanism, or other existing clamping mechanisms, to achieve the opening and closing of the grippers.

[0062] Please see Figure 6 , Figure 7 The first support base 52 and the second support base 53 are respectively provided with clearance openings 521 and 531 on the side facing each other, which are adapted to the clamping mechanism 516, so that the clamping mechanism 516 can make clearance when clamping the brush strip, ensuring that the gripper of the clamping mechanism 516 can smoothly enter and exit the area of ​​the first support base 52 and the second support base 53, and avoid interference with the first support base 52 or the second support base 53.

[0063] When the product flipping mechanism 5 performs the flipping operation, taking a clamping mechanism 516 as an example, its specific workflow is as follows: First, with the two individual grippers of the clamping mechanism 516 in the open state, the clamping mechanism 516 rotates with the rotary table 515 to the material picking position of the first support seat 52; under the action of the transfer component 23, the brush strip obtained after being cut by the cutting mechanism 3 is conveyed to the first support seat 52, waiting to be clamped; then, the clamping drive drives the two individual grippers to clamp towards each other, reliably clamping the brush strip on the first support seat 52, ensuring that it will not slip or fall off during the subsequent flipping process; next, the rotation drive mechanism 514 drives the rotary table 515 to rotate 180°, and the rotary table 515 drives the clamping mechanism 516 to rotate 180°. The holding mechanism 516 and the clamped brush strip are synchronously rotated 180°, changing the brush strip from a face-up state during cutting to a back-up state. After the rotation, the second camera detection mechanism 6 captures images of the brush strip on the holding mechanism 516, detecting its actual position and spatial angle after rotation. The control system determines the positional deviation of the brush strip based on the detection results and drives the slide table 511 to compensate along the X-axis via the slide table drive mechanism 512, moving the holding mechanism 516 and the brush strip to the set release position aligned with the second support 53. Finally, the clamping drive drives the two individual grippers to open in opposite directions, releasing the brush strip onto the second support 53 for the strip transport mechanism 8 to remove. This completes one rotation cycle.

[0064] When two clamping mechanisms 516 are provided, the two sets of clamping mechanisms 516 are symmetrically mounted on the rotary table 515 with the rotation axis of the rotary drive mechanism 514 as the center. Based on the above symmetrical arrangement, when one set of clamping mechanisms 516 clamps the brush strip from the first support 52 side and flips it 180° to the second support 53 side for release, the other set of clamping mechanisms 516 simultaneously flips 180° from the second support 53 side to the first support 52 side, and is in an open, ready-to-retrieve state. In this way, the two sets of clamping mechanisms 516 work alternately, completing the flipping and release of the strip and the preparation for retrieving the strip simultaneously in one rotation, which greatly improves the flipping efficiency.

[0065] Please see Figure 8 The second camera detection mechanism 6 is located on one side of the second support base 53 of the product flipping mechanism 5. It includes a second camera bracket 61 and a second industrial camera 62 and a second light source 63 mounted on the second camera bracket 61. It is used to detect the brush strip after flipping. It can include detecting the appearance, posture and position accuracy of the flipped brush strip to ensure that the quality of the strip is qualified and the posture is correct before traying, and to prevent unqualified products from entering the subsequent traying process.

[0066] Specifically, the second camera bracket 61 is fixedly mounted on the frame 1 and can be located behind the second support base 53. The second industrial camera 62 is fixedly or movably mounted on the second camera bracket 61, and its field of view covers the flipped brush strip, used to acquire images of the flipped brush strip. The second light source 63 can be set in front of the second industrial camera 62 for supplementary lighting to ensure image acquisition quality. The second light source 63 is preferably a ring LED light source or a strip LED light source, and its illumination angle and brightness are adjustable.

[0067] During operation, the second industrial camera 62 can be used to inspect the appearance, posture, and positional accuracy of the brush strip before the clamping mechanism 516 releases it onto the second support 53. Specifically, after the rotary drive mechanism 514 drives the rotary table 515 and the clamping mechanism 516 to rotate 180°, the brush strip is still clamped by the clamping mechanism 516. At this time, the second industrial camera 62 acquires images of the clamped brush strip and transmits the images to the image processing unit of the control system. The image processing unit analyzes and processes the images, mainly detecting the following: First, whether there are appearance defects such as scratches, dents, color differences, and burrs on the currently facing surface of the rotated brush strip; second, whether the actual clamping posture and spatial angle of the brush strip relative to the clamping mechanism 516 meet the preset requirements; and third, the deviation between the actual position of the brush strip in the X-axis direction and the preset reference position. Based on the positional and angular deviations detected by the image processing unit, the control system controls the slide drive mechanism 512 to drive the slide 511 to move along the X-axis in a compensating manner, thereby adjusting the clamping mechanism 516 and the clamped brush strip to a preset release position aligned with the second support 53. If any abnormalities are detected in the brush strip, such as appearance defects or excessive angular deviations that cannot be corrected by position compensation, the control system can issue an alarm signal or control the clamping mechanism 516 to release the defective strip to a preset rejection station for rejection. After the position compensation adjustment is completed, the clamping drive of the clamping mechanism 516 drives the two individual grippers to open in opposite directions, accurately releasing the brush strip to a preset position on the second support 53 for the strip transport mechanism 8 to pick up.

[0068] With the above settings, the second camera detection mechanism 6 completes the detection and position compensation before the brush strip is released to the second support 53, realizing online re-inspection and precise positioning of the brush strip after flipping, effectively improving the tray loading accuracy; at the same time, together with the first camera detection mechanism 4, it forms a double-sided detection system to ensure that both surfaces of each brush strip loaded into the tray meet the quality requirements.

[0069] Please see Figure 9 , Figure 10The empty tray loading mechanism 7 includes a tray track assembly 71 and a tray transfer mechanism 72. The tray track assembly 71 includes two sets of tray tracks 711 extending parallel to each other along the Y-axis, used to support and guide the trays 20 to be loaded. The tray transfer mechanism 72 is disposed between the two sets of tray tracks 711 and includes a transfer tray 721 for supporting the trays 20, a transfer tray lifting mechanism 722 for driving the transfer tray 721 to move up and down along the Z-axis, and a tray moving module 723 for driving the transfer tray 721 and the transfer tray lifting mechanism 722 to move along the tray tracks 711.

[0070] Specifically, the tray track 711 supports the bottom edges of the empty tray 20 to be loaded and guides the movement of the tray 20 along the Y-axis. The transfer tray 721 supports the tray 20 and includes a support plate 7211 and a first baffle 7212 and a second baffle 7213 disposed at both ends of the support plate 7211 along the Y-axis. The first baffle 7212 and / or the second baffle 7213 are adjustablely disposed on the support plate 7211 along the Y-axis to accommodate trays of different lengths. The transfer tray lifting mechanism 722 is fixedly disposed on the slide of the tray moving module 723, and its output end is connected to the transfer tray 721 to drive the transfer tray 721 to move up and down along the Z-axis. The transfer tray lifting mechanism 722 can be a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder. The tray moving module 723 is positioned between the two sets of tray tracks 711 along the Y-axis. Its fixed end is mounted on the frame 1, and its slide is connected to the bottom of the transfer tray lifting mechanism 722. This module drives the transfer tray 721 and the transfer tray lifting mechanism 722 to reciprocate along the length of the tray track 711. The tray moving module 723 is one of the following in the prior art: servo ball screw linear module, synchronous belt linear module, gear and rack linear module, or linear motor module.

[0071] In one possible embodiment, please refer to Figure 12 The empty material tray feeding mechanism 7 also includes lateral clamping members 73 respectively disposed on both sides of the material tray track assembly 71, and a clamping drive mechanism 74 for driving the lateral clamping members 73 to move closer together or separate in opposite directions.

[0072] Specifically, two sets of lateral clamping members 73 are provided, located on both sides of the material tray track assembly 71 along the X-axis, corresponding to both sides of the empty material tray stacking station. The clamping drive mechanism 74 is fixedly installed on the frame 1, and its output end is connected to the lateral clamping members 73, used to drive the lateral clamping members 73 on both sides to move closer together or separate in opposite directions. The clamping drive mechanism 74 can be a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

[0073] In one possible embodiment, multiple empty trays 20 are stacked on the tray track 711 to form a tray stack. The lateral clamping member 73 is configured to clamp the two side edges of the penultimate layer of trays 20 in the tray stack to suspend the entire tray stack above the tray track 711, with the bottom tray placed on the tray track 711 and moved by the transfer tray 721.

[0074] During the material sorting operation, the material tray moving module 723 drives the transfer tray 721 to move directly below the empty material tray stacking station, so that the transfer tray 721 supports the bottommost material tray, and the first baffle 7212 and the second baffle 7213 on both sides of the transfer tray 721 are respectively located on both sides of the material tray 20, so that the material tray 20 moves with the transfer tray 721. Subsequently, the clamping drive mechanism 74 drives the lateral clamping members 73 on both sides to separate in the opposite direction, releasing the clamp on the bottommost material tray. At this time, the empty material tray stack descends under its own gravity as the transfer tray 721 descends. When the bottommost material tray descends onto the material tray track 711, the clamping drive mechanism 74 drives the lateral clamping members 73 on both sides to quickly reset towards each other, clamping the two sides of the new penultimate layer material tray (i.e., the original penultimate layer material tray), and suspending the remaining material tray stack in the air again. At this point, the single-tray material sorting operation is completed.

[0075] After the material is dispensed, the material tray moving module 723 drives the transfer tray 721 and the empty material tray 20 to be moved along the material tray track 711 to the loading station. When the material tray 20 is filled with brush strips and becomes a finished product tray, the material tray transfer mechanism 72 can continue to move the finished product tray to the unloading station, or the finished product tray transfer mechanism 9 can move it out of the loading station.

[0076] With the above settings, the empty material tray feeding mechanism 7 uses the side clamping member 73 to clamp the second to last layer of material trays, realizing the automatic separation and conveying of empty material trays 20 one by one. The structure is simple and the operation is reliable, effectively avoiding the problem of multiple trays sticking together and moving out at the same time, and providing a stable material tray supply guarantee for automated tray loading operations.

[0077] like Figure 1 , Figure 2 , Figure 11 As shown, the material strip transport mechanism 8 is located on the same side of the second support base 53 of the product flipping mechanism 5 and the material tray track assembly 71, and is used to transport the brush strips that have been flipped and released on the second support base 53 to the preset tray position in the material tray 20 to complete the tray loading operation.

[0078] In one possible embodiment, the strip transport mechanism 8 includes a plurality of first suction nozzles 81, a strip lifting mechanism 82 that drives the first suction nozzles 81 to rise and fall along the Z-axis, and a strip translation mechanism 83 that drives the strip lifting mechanism 82 to move the first suction nozzles 81 along the X-axis. The travel of the strip transport mechanism 8 covers the space above the second support base 53 and the space above the loading station on the tray track 711, and is used to transport the brush strips that have been flipped by the product flipping mechanism 5 and released on the second support base 53 to a preset tray position in the tray 20 located on the transfer tray 721.

[0079] Specifically, the strip translation mechanism 83 is fixedly installed on the frame 1 and arranged along the X-axis. Its travel covers the space above the second support base 53 and the space above the loading station on the tray track 711, allowing the strip transport mechanism 8 to reciprocate between the picking position and the placing position. The strip translation mechanism 83 is preferably a servo ball screw linear module or a synchronous belt linear module, which has the advantages of high positioning accuracy and stable operation. The strip lifting mechanism 82 is a servo ball screw linear module or a synchronous belt linear module, arranged along the Z-axis. Its fixed end is fixedly installed on the slide of the strip translation mechanism 83 and moves synchronously with the slide along the X-axis. Several first suction nozzles 81 are arranged at intervals along the X-axis and fixedly installed on the slide of the strip lifting mechanism 82 via support beams. The first suction nozzle 81 is positioned with its suction end facing downwards. Its number and spacing are determined according to the length of the brush strip. For example, two, three, or more sets of the first suction nozzle 81 are used together to suction one brush strip. The first suction nozzle 81 is connected to an external vacuum generator via a pipeline, and the brush strip is picked up and placed using vacuum suction, resulting in a smooth operation and minimizing damage to the product surface.

[0080] During operation, the strip translation mechanism 83 drives the strip lifting mechanism 82 and the first suction nozzle 81 to move to the material picking position directly above the second support base 53; subsequently, the strip lifting mechanism 82 drives the first suction nozzle 81 to descend along the Z-axis, so that the suction end of the first suction nozzle 81 contacts the upper surface of the brush strip on the second support base 53; a vacuum is activated, and the first suction nozzle 81 firmly adsorbs the brush strip; then, the strip lifting mechanism 82 drives the first suction nozzle 81 and the adsorbed brush strip to rise and move away. The second support base 53; then, the strip translation mechanism 83 drives the strip lifting mechanism 82, the first suction nozzle 81 and the brush strip to move along the X-axis to directly above the loading station on the tray track 711; the strip lifting mechanism 82 drives the first suction nozzle 81 to descend, placing the brush strip in the corresponding preset tray position in the tray 20; the vacuum is turned off, and the first suction nozzle 81 releases the brush strip; finally, the strip lifting mechanism 82 drives the first suction nozzle 81 to rise and reset, completing one handling and loading cycle.

[0081] If the second camera inspection mechanism 6 detects any abnormalities such as appearance defects or excessive attitude angle deviation in a certain brush strip during the re-inspection process, the control system can control the strip transport mechanism 8 to transport the unqualified strip to the preset rejection station for rejection, and only load the qualified brush strips into the material tray 20.

[0082] With the above settings, the material strip transport mechanism 8 realizes the automatic transport of the brush sheet material strip from the flipping station to the tray loading station. It uses vacuum adsorption to pick up and put in the material strip, which is stable and does not damage the product surface. It can also remove unqualified products in conjunction with the test results, thus ensuring the quality of tray loading.

[0083] Please see Figure 12 The finished product tray transfer mechanism 9 is mounted on the frame 1 and located to the side of the tray track assembly 71. It is used to transfer the finished product tray 20 after the brush strips have been filled.

[0084] In one possible embodiment, the finished product tray transfer mechanism 9 includes a plurality of support arms 91, a plurality of second suction nozzles 92 disposed on the support arms 91, a finished product tray lifting mechanism 93 that controls the overall lifting and lowering of the plurality of support arms 91, and a finished product tray moving mechanism 94 that controls the overall horizontal movement of the finished product tray lifting mechanism 93 and the plurality of support arms 91.

[0085] Specifically, the finished product tray moving mechanism 94 is fixedly installed on the frame 1 along the X-axis direction. Its travel covers the space above the tray loading station on the tray track 711 and the space above the preset finished product tray stacking area, driving the finished product tray lifting mechanism 93 and the support arms 91 to reciprocate between the tray loading station and the stacking area. The finished product tray moving mechanism 94 is a servo ball screw linear module or a synchronous belt linear module. The finished product tray lifting mechanism 93 is fixedly installed on the slide of the finished product tray moving mechanism 94 and moves horizontally synchronously with the slide. The finished product tray lifting mechanism 93 is a linear module, which is a servo ball screw linear module or a synchronous belt linear module. Multiple support arms 91 are fixedly installed on the slide of the finished product tray lifting mechanism 93 through support beams and move up and down synchronously with the slide along the Z-axis direction. Multiple support arms 91 are arranged at intervals along the Y-axis direction, and their arrangement is adapted to the size and shape of the tray 20 to provide stable support. Each of the support arms 91 is provided with a plurality of second suction nozzles 92, the suction end of the second suction nozzles 92 is set downward, and the second suction nozzles 92 are connected to an external vacuum generator through a pipeline to grab the finished product tray 20 by vacuum suction.

[0086] During operation, after the material tray 20 completes the loading of brush strips at the tray loading station to become a finished product tray, the finished product tray moving mechanism 94 drives the finished product tray lifting mechanism 93 and the support arm 91 to move directly above the tray loading station; subsequently, the finished product tray lifting mechanism 93 drives multiple support arms 91 to descend along the Z-axis direction, so that the suction ends of each second suction nozzle 92 contact the upper surface of the finished product tray 20; a vacuum is activated, and each second suction nozzle 92 firmly suctions the finished product tray 20; then, the finished product tray lifting mechanism 93 drives the support arms 91 and the suctioned finished product tray 20 to... The tray 20 rises along the Z-axis, causing the finished product tray 20 to leave the tray track 711. Then, the finished product tray moving mechanism 94 drives the finished product tray lifting mechanism 93, the support arm 91, and the finished product tray 20 to move horizontally above a preset finished product tray stacking area. The finished product tray lifting mechanism 93 drives the support arm 91 to descend, placing the finished product tray 20 in the stacking area. The vacuum is then closed, and the second suction nozzle 92 releases the finished product tray 20. Finally, the finished product tray lifting mechanism 93 drives the support arm 91 to rise and reset, completing one finished product tray transfer cycle. Repeating the above actions, multiple finished product trays 20 are stacked layer by layer in the stacking area to form a finished product tray stack.

[0087] In one possible embodiment, the finished product tray transfer mechanism 9 further includes a conveyor belt mechanism 95, which is mounted on the frame 1 and located below the finished product tray stacking area. The conveyor belt mechanism 95 includes a conveyor belt, a drive roller, and a conveyor drive motor. The conveyor belt is laid on the drive roller, and the conveyor drive motor is driven by the drive roller to drive the conveyor belt to run horizontally. The stacked finished product trays are placed on the conveyor belt of the conveyor belt mechanism 95. When the stack reaches a preset number of layers or a preset quantity, the conveyor drive motor drives the conveyor belt to transport the entire finished product tray stack to the next workstation, achieving automated continuous material discharge.

[0088] With the above settings, the finished product tray transfer mechanism 9 realizes the functions of automatic removal, stacking and storage of finished product trays 20, and unloading. The finished product tray lifting mechanism 93 and the finished product tray moving mechanism 94 both adopt linear modules, which have the advantages of high positioning accuracy and stable operation. Combined with the vacuum adsorption method for picking up and placing trays, the operation is stable and does not damage the trays. At the same time, the automatic conveying of finished product tray stacking is realized through the conveyor belt mechanism 95, which further improves the automation level and production efficiency of the equipment.

[0089] The linear motion mechanisms such as the moving mechanism, translation mechanism, and lifting mechanism in this patent can all be ball screw linear modules, which are existing technologies. For example, they can include a fixed base, a linear guide rail, a drive motor, a lead screw, and a slide. The linear guide rail is laid on the fixed base, the lead screw is rotatably supported on the fixed base through a bearing, the drive motor is fixedly installed at one end of the fixed base and is connected to the lead screw for transmission, and the slide is threadedly engaged with the lead screw through a nut seat and is slidably set on the linear guide rail.

[0090] In one possible embodiment, the automatic brush tray loading machine further includes a control system, and the product feeding mechanism 2, the cutting mechanism 3, the first camera detection mechanism 4, the product flipping mechanism 5, the second camera detection mechanism 6, the empty tray feeding mechanism 7, the strip transport mechanism 8, and the finished product tray transfer mechanism 9 are all connected to the control system.

[0091] The overall working process of the automatic brush tray swivel machine of the present invention is as follows: Product feeding: The product feeding mechanism 2 feeds the brush strip 10 to a preset position by stepping along the positive X-axis. During this process, the strip moving mechanism 232 drives the moving part 231 to move along the feeding direction. The actuating part 2312c of the pawl 2312 is held downward and inserted into the positioning hole 101 of the brush strip 10 under the elastic force of the spring 233. When the end of the actuating part 2312c is fully inserted into the positioning hole 101, the first plane 2312d abuts against the top wall of the receiving groove 2311a and limits the downward rotation of the pawl 2312, thereby reliably driving the brush strip 10 to feed synchronously.

[0092] First visual inspection: The first camera inspection mechanism 4 performs online visual inspection on the upper surface of the brush strip 10 before cutting to identify whether there are surface defects, dimensional deviations and other problems.

[0093] Cutting: When the cutting mechanism 3 operates, the cutting lifting mechanism 33 drives the upper template 32 to move downward. The lower surface of the upper template 32 first contacts and presses the brush strip 10 to fix it onto the lower template 31. The upper template 32 continues to press down, and its cutting edge cooperates with the cutting edge of the lower template 31 to precisely cut the brush strip 10, obtaining a brush strip of the set length. After cutting, the cut brush strip is conveyed to the first support seat 52.

[0094] Reset during idle stroke: The material moving mechanism 232 drives the moving part 231 to move back along the reset direction. Since the cutting mechanism 3 has pressed and fixed the brush strip 10, the guide slope of the actuating part 2312c is subjected to the reaction force of the edge of the positioning hole 101 of the brush strip 10. The upward component of this reaction force overcomes the elastic force of the spring 233, causing the second end 2312b of the pawl 2312 to lift upward and compress the spring 233. The actuating part 2312c slides along the surface of the brush strip 10 and disengages from the positioning hole 101, realizing the reset during idle stroke, without causing the brush strip 10 to retract.

[0095] Flipping: The product flipping mechanism 5 performs the flipping operation. The clamping mechanism 516 rotates with the rotary table 515 to the material picking position above the first support 52. The clamping drive drives the two individual grippers to clamp towards each other, reliably clamping the brush strip on the first support 52. Subsequently, the rotation drive mechanism 514 drives the rotary table 515 to rotate 180°. The rotary table 515 drives the clamping mechanism 516 and the clamped brush strip to flip 180° synchronously, so that the brush strip is flipped from the front-facing state during cutting to the back-facing state.

[0096] Second Inspection and Position Compensation: After flipping, the brush strip remains clamped by the clamping mechanism 516. The second camera inspection mechanism 6 acquires images of the clamped brush strip, detecting its appearance, posture angle, and positional deviation in the X-axis direction after flipping. The control system determines whether there are any abnormalities based on the inspection results: if the inspection is qualified, it controls the slide drive mechanism 512 to drive the slide 511 to move along the X-axis direction for compensation, adjusting the brush strip to the set release position aligned with the second support 53; if appearance defects or excessive posture angle deviations are detected, an alarm signal is issued or the unqualified strip is moved to the rejection station. After position compensation is completed, the clamping drive drives the two individual grippers to open in the opposite direction, releasing the brush strip onto the second support 53.

[0097] When two sets of clamping mechanisms 516 are provided, in one rotation action, one set of clamping mechanisms 516 flips the clamped brush strip 180° to the side of the second support 53 for release, and the other set of clamping mechanisms 516 flips at the same time to the side of the first support 52, in an open state ready to pick up the material. The two sets work alternately and flip continuously.

[0098] Empty tray loading: The empty tray loading mechanism 7 performs empty tray dispensing and conveying operations. The tray moving module 723 drives the transfer tray 721 to move directly below the empty tray stacking station. The transfer tray lifting mechanism 722 drives the transfer tray 721 to rise until it contacts the bottom empty tray 20. The clamping drive mechanism 74 drives the lateral clamping members 73 on both sides to separate in the opposite direction. The transfer tray lifting mechanism 722 drives the transfer tray 721 to descend, and the empty tray stack descends accordingly. When the bottom empty tray 20 is placed on the tray track 711, the clamping drive mechanism 74 drives the lateral clamping members 73 to quickly reset in opposite directions and clamp the new second-to-last tray. The tray moving module 723 drives the transfer tray 721 to convey the bottom empty tray 20 along the tray track 711 to the loading station.

[0099] Material strip handling and traying: The material strip handling mechanism 8 performs the handling and traying operation. The material strip translation mechanism 83 drives the material strip lifting mechanism 82 and the first suction nozzle 81 to move to the material picking position directly above the second support base 53; the material strip lifting mechanism 82 drives the first suction nozzle 81 to descend, so that the suction end of the first suction nozzle 81 contacts the upper surface of the qualified brush strip on the second support base 53; the vacuum is turned on, and the first suction nozzle 81 firmly adsorbs the brush strip; the material strip lifting mechanism 82 drives the first suction nozzle 81 and the material strip to rise; the material strip translation mechanism 83 drives the material strip lifting mechanism 82, the first suction nozzle 81 and the material strip to move along the X-axis direction to directly above the traying station; the material strip lifting mechanism 82 drives the first suction nozzle 81 to descend, placing the brush strip in the corresponding preset traying position in the material tray 20; the vacuum is turned off, and the first suction nozzle 81 releases the material strip; the material strip lifting mechanism 82 drives the first suction nozzle 81 to rise and reset, completing one handling and traying cycle. Repeat the above picking and placing actions until the material tray 20 is filled with the preset number of brush strips.

[0100] Finished product tray transfer and unloading: The finished product tray transfer mechanism 9 performs the finished product tray transfer and unloading operation. The finished product tray moving mechanism 94 drives the finished product tray lifting mechanism 93 and support arm 91 to move directly above the tray loading station; the finished product tray lifting mechanism 93 drives multiple support arms 91 to descend, so that the suction ends of each second suction nozzle 92 contact the upper surface of the finished product tray 20; the vacuum is turned on, and each second suction nozzle 92 firmly suctions the finished product tray 20; the finished product tray lifting mechanism 93 drives the support arm 91 and finished product tray 20 to rise, leaving the tray track 711; the finished product tray moving mechanism 94 drives the finished product tray lifting mechanism 93, support arm 91, and finished product tray 20 to move horizontally as a whole above the finished product tray stacking area; the finished product tray lifting mechanism 93 drives the support arm 91 to descend, placing the finished product tray 20 in the stacking area; the vacuum is turned off to release the tray; the finished product tray lifting mechanism 93 drives the support arm 91 to rise and reset. Repeating the above actions, multiple finished product trays 20 are stacked layer by layer in the stacking area to form a finished product tray stack.

[0101] When a conveyor belt mechanism 95 is provided, the stacked finished product trays are placed on the conveyor belt of the conveyor belt mechanism 95. When the stack reaches the preset number of layers or quantities, the conveyor belt mechanism 95 transports the finished product tray stack as a whole to the next work station.

[0102] By repeating the above steps, continuous automated tray feeding, cutting, double-sided detection, flipping, position compensation, automatic tray supply, strip handling and tray loading, and finished product tray stacking and unloading can be achieved.

[0103] Those skilled in the art should understand that the specific embodiments described above are merely examples and not limitations. Various modifications, combinations, partial combinations, and substitutions can be made to the embodiments of the present invention according to design requirements and other factors, as long as they are within the scope of the appended claims or their equivalents, and thus fall within the scope of the rights to be protected by the present invention.

Claims

1. An automatic brush tray balancing machine, comprising a frame, characterized in that, The frame is equipped with a product feeding mechanism, a cutting mechanism, a first camera detection mechanism, a product flipping mechanism, a second camera detection mechanism, an empty material tray feeding mechanism, a material strip transport mechanism, and a finished product tray transfer mechanism. The product feeding mechanism is used to convey the brush sheet material along the X-axis to the preset feeding station of the product flipping mechanism; The cutting mechanism is located between the product feeding mechanism and the product flipping mechanism, and is used to press and fix the brush strip material, and cut the brush strip material into brush strips of a set length. The first camera inspection mechanism is located on the side of the product feeding mechanism and includes a first camera bracket and a first industrial camera and a first light source mounted on the first camera bracket. The first camera inspection mechanism is used to inspect the appearance of the brush sheet material. The product flipping mechanism includes a flipping execution mechanism and a first support and a second support arranged opposite to each other for supporting the brush strip; wherein, the first support is located at a preset loading station of the product flipping mechanism for receiving the brush strip cut by the cutting mechanism, and the second support is located at the loading station of the strip conveying mechanism for receiving the brush strip after it has been flipped by the flipping execution mechanism; the flipping execution mechanism is used to grab the brush strip on the first support and flip it 180° before releasing it onto the second support; The second camera inspection mechanism includes a second camera bracket and a second industrial camera and a second light source mounted on the second camera bracket. The field of view of the second industrial camera covers the brush strip on the second support base and is used to inspect the brush strip after it has been flipped. The empty tray loading mechanism includes a tray track assembly and a tray transfer mechanism. The tray track assembly includes two sets of tray tracks extending along the Y-axis and parallel to each other, used to support and guide the tray to be loaded. The tray transfer mechanism is disposed between the two sets of tray tracks and includes a transfer tray for supporting the tray, a transfer tray lifting mechanism for driving the transfer tray to move up and down along the Z-axis, and a tray moving module for driving the transfer tray and the transfer tray lifting mechanism to move along the tray tracks. The material strip transport mechanism is located on the same side of the second support base of the product flipping mechanism and the material tray track. It includes several first suction nozzles, a material strip lifting mechanism that drives the first suction nozzles to move up and down along the Z-axis, and a material strip translation mechanism that drives the material strip lifting mechanism to move along the X-axis. The travel of the material strip transport mechanism covers the space above the second support base and the space above the tray loading station on the material tray track, and is used to transport the brush strip after it has been flipped by the product flipping mechanism to a preset tray position in the material tray. The finished product tray transfer mechanism is used to transfer the finished product tray after the brush strips have been filled.

2. The automatic brush tray unloading machine according to claim 1, characterized in that, The product feeding mechanism includes a guide seat, a brush plate pressure plate, and a transfer assembly; The top surface of the guide seat is provided with a guide groove extending along its length direction. The guide groove is used to accommodate the brush strip material. The brush strip material is provided with multiple positioning holes along its length direction. The brush plate pressure plate is disposed on the top surface of the guide seat and covers the guide groove; The transfer assembly is used to drive the brush strip material to move along the guide groove. The transfer assembly includes a moving part and a material moving mechanism for controlling the translation of the moving part. The moving part includes a support ear and a pawl rotatably disposed on the support ear. The pawl is provided with a toggle part for cooperating with a positioning hole on the brush strip material. When the material conveying mechanism drives the moving part to move along the feeding direction, the actuating part engages in the positioning hole of the brush plate material, driving the brush plate material to be fed synchronously; when the material conveying mechanism drives the moving part to move back along the reset direction, the cutting mechanism pre-presses and fixes the brush plate material, and the actuating part is lifted by force to disengage from the positioning hole, realizing the idle reset of the moving part.

3. The automatic brush tray unloading machine according to claim 2, characterized in that, The supporting ear has a receiving groove on the side facing the guide groove. The pawl has a first end and a second end. The first end is received in the receiving groove and rotatably connected to the supporting ear. The lower side of the second end extends downward to form the actuating part. The actuating part is a wedge-shaped structure. The side of the wedge-shaped structure facing the reset direction is set as a guide slope. During the reset return stroke, the guide slope disengages from the positioning hole under the action of the brush plate carrying the material. The top surface of the pawl is set as a first plane, a first slope, and a second plane in sequence from the first end to the second end. The first slope is inclined downward from the first plane to the second plane. The rotation axis of the pawl is set in the area below the first slope. An movable gap is reserved between the second plane and the top wall of the receiving groove. A spring is installed between the second plane and the top wall of the receiving groove. The first plane abuts against the top wall of the receiving groove to limit the pawl from rotating downward.

4. The automatic brush tray unloading machine according to claim 1, characterized in that, The cutting mechanism includes a lower template, an upper template, and a cutting lifting mechanism that controls the raising and lowering of the upper template. During the cutting operation, the cutting lifting mechanism drives the upper template to press the brush strip downwards and then continues to press downwards, cooperating with the lower template to accurately cut the brush strip and obtain the brush strip of a set length.

5. The automatic brush tray unloading machine according to claim 1, characterized in that, The flipping actuator includes: The slide table is slidably mounted on the frame along the X-axis direction; A slide drive mechanism is fixedly mounted on the frame. The output end of the slide drive mechanism is connected to the slide and is used to drive the slide to move along the X-axis. The mounting base is fixedly mounted on the slide table; A rotary drive mechanism is mounted on the mounting base; A rotary table is rotatably mounted on the mounting base and connected to the output rotation shaft of the rotary drive mechanism, so as to rotate around the Y-axis under the action of the rotary drive mechanism; A clamping mechanism, mounted on the rotating platform, is used to clamp the cut brush strip on the first support base and release the brush strip onto the second support base after the rotating platform rotates 180°.

6. The automatic brush tray unloading machine according to claim 5, characterized in that, The clamping mechanism is provided in two sets, and the two sets of clamping mechanisms are symmetrically installed on the rotating table with the rotation axis of the rotary drive mechanism as the center. And / or the clamping mechanism is an electric or pneumatic gripper module, including two gripper units that are symmetrically opened and closed, and a clamping drive unit that drives the two gripper units to clamp in opposite directions and open in opposite directions; And / or the first support base and the second support base are provided with clearance openings adapted to the clamping mechanism on the side facing each other, so that the clamping mechanism can make clearance when clamping the brush plate; And / or the slide drive mechanism is a pneumatic cylinder or a hydraulic cylinder; the rotary drive mechanism is a rotary cylinder or a servo rotary motor, used to drive the rotary table to achieve 180° or 360° rotation.

7. The automatic brush tray unloading machine according to claim 1, characterized in that, The transfer plate includes a support plate and a first baffle and a second baffle disposed at both ends of the support plate along the Y-axis direction. The first baffle and / or the second baffle are adjustablely disposed on the support plate along the Y-axis direction.

8. The automatic brush tray unloading machine according to claim 1, characterized in that, The empty material tray feeding mechanism also includes lateral clamping members respectively disposed on both sides of the material tray track assembly, and a clamping drive mechanism that drives the lateral clamping members to move closer to each other or to separate in opposite directions.

9. The automatic brush tray unloading machine according to claim 1, characterized in that, The finished product tray transfer mechanism includes multiple support arms, multiple second suction nozzles disposed on the support arms, a finished product tray lifting mechanism for controlling the overall lifting and lowering of the multiple support arms, and a finished product tray moving mechanism for controlling the overall horizontal movement of the finished product tray lifting mechanism and the multiple support arms.

10. The automatic brush tray unloading machine according to claim 1, characterized in that, The automatic brush tray loading machine also includes a control system. The product feeding mechanism, the cutting mechanism, the first camera detection mechanism, the product flipping mechanism, the second camera detection mechanism, the empty tray feeding mechanism, the strip transport mechanism, and the finished product tray transfer mechanism are all connected to the control system.

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