Material tray AOI (automatic optical inspection) and bagging equipment

Abstract

The utility model discloses a tray AOI detecting and bagging device which comprises a rack, and the rack is provided with an AOI detecting mechanism, a mechanical arm carrying mechanism, a tray pushing and bagging mechanism, a material bag taking mechanical arm, a bag opening mechanism, a material bag conveying line, a labeling mechanical arm, a label printer and a material bag heat sealing mechanism. According to the utility model, whether the surface of the charging tray is damaged or scratched or not can be visually detected before the charging tray is bagged, and the NG charging tray can be prevented from being bagged. According to the material bag heat sealing mechanism, a bag opening can be opened through the upper suction cup and the lower suction cup, the bag opening is compacted through the silica gel pressing strip after the vacuumizing suction nozzle is inserted, the negative pressure value of the vacuumizing suction nozzle is controlled through the precise pressure regulating valve, the vacuumizing suction nozzle is pulled out after the set vacuum degree is achieved, and the heating strip is pressed downwards for sealing; the air tightness of the heat-sealed material bag can be guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to tray packaging technical field, especially a kind of tray AOI detection and bagging equipment. BACKGROUND

[0002] Tray packaging, mainly after tray bagging vacuum packaging, currently mainly by manpower to handle, after bagging is placed in semi-automatic heat sealing machine, while affecting efficiency, the effect of packaging is also uneven, cannot be unified standard;And tray needs AOI detection (automatic optical detection), rejects damaged tray, easy to overlook by naked eye.

[0003] Therefore, the present application aims to provide a kind of tray AOI detection and bagging equipment, can be automatically optically detected to tray, detect whether there is damage on the surface of tray, damaged tray is not bagged, and the tray without damage can be vacuum heat sealed after bagging. SUMMARY

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the utility model aims at providing a kind of tray AOI detection and bagging equipment.

[0005] The utility model discloses a kind of tray AOI detection and bagging equipment, including rack, the rack is equipped with AOI detection mechanism, manipulator handling mechanism, push disc bagging mechanism, material bag manipulator, bag opening mechanism, material bag conveying line, label applicator, label printer and material bag heat sealing mechanism;

[0006] The material bag manipulator takes material bag from material bag storehouse, and places on the material bag conveying line, the material bag conveying line conveys material bag to bag opening station, the bag opening mechanism opens material bag and waits for tray, the manipulator handling mechanism handles tray and carries out visual inspection whether there is damage on the surface of tray at the AOI detection mechanism, good product after detection is handled by the manipulator handling mechanism tray to the push disc bagging mechanism, the push disc bagging mechanism pushes tray and bagging, the material bag conveying line conveys material bag to label station, the label applicator takes label from the label printer and sticks label on material bag, material bag after sticking label is conveyed to heat sealing station, the material bag heat sealing mechanism is handled to material bag and heat sealing, material bag after heat sealing is sent by the material bag conveying line.

[0007] As an improvement of the tray AOI detection and bagging equipment, the material bag heat sealing mechanism comprises a heat sealing mounting support, an upper bag supporting mechanism, an upper heat sealing mechanism, an upper bag pressing mechanism, a lower bag supporting mechanism, a lower heat sealing mechanism and a vacuum pumping mechanism are arranged on the heat sealing mounting support, the vacuum pumping mechanism comprises a vacuum pumping suction nozzle and a movement control mechanism for driving the vacuum pumping suction nozzle to move, the upper bag supporting mechanism and the lower bag supporting mechanism open the material bag opening, the movement control mechanism controls the vacuum pumping suction nozzle to be inserted into the material bag, the upper bag pressing mechanism compacts the bag opening, the vacuum pumping suction nozzle pumps vacuum for the material bag, the vacuum pumping suction nozzle is extracted after the material bag is pumped to vacuum, and the upper heat sealing mechanism and the lower heat sealing mechanism act to heat seal the bag opening.

[0008] As an improvement of the tray AOI detection and bagging equipment, the movement control mechanism comprises a lifting mounting plate and a lifting servo motor for controlling the lifting mounting plate to move, a horizontal movement control cylinder is arranged on the lifting mounting plate, the horizontal movement control cylinder controls the horizontal movement of the upper mounting plate, two synchronous wheels, a synchronous belt and a left-right control servo motor are arranged on the upper mounting plate, a vacuum suction nozzle mounting seat is connected to the synchronous belt, the output shaft of the left-right control servo motor is connected to one of the synchronous wheels, the two synchronous wheels are connected through the synchronous belt, the vacuum suction nozzle is mounted on the vacuum suction nozzle mounting seat, and the vacuum suction nozzle mounting seat is slidably connected to the upper mounting plate through a sliding block and a sliding rail.

[0009] As an improvement of the tray AOI detection and bagging equipment, the upper bag supporting mechanism comprises a first suction disc control cylinder and a second suction disc control cylinder, the first suction disc control cylinder controls the lifting movement of a first suction disc, the second suction disc control cylinder controls the movement of a cylinder mounting plate, a third suction disc control cylinder is arranged on the cylinder mounting plate, the third suction disc control cylinder controls the movement of a second suction disc, the first suction disc adsorbs the bag body, and the second suction disc adsorbs the bag opening.

[0010] The upper heat sealing mechanism comprises an upper control cylinder, the upper control cylinder controls the movement of an upper heat sealing strip mounting plate, and an upper heat sealing strip is arranged on the upper heat sealing strip mounting plate.

[0011] The upper bag pressing mechanism comprises a bag pressing cylinder, the bag pressing cylinder controls the lifting movement of a silica gel strip mounting plate, and a silica gel strip is arranged on the silica gel strip mounting plate.

[0012] The lower bag supporting mechanism and the lower heat sealing mechanism are both mounted on a lower mounting plate, the lower mounting plate is mounted on one side of the lifting mounting plate, the lower bag supporting mechanism comprises a plurality of lower suction discs, the lower heat sealing mechanism comprises a lower heat sealing strip, and the lower heat sealing strip corresponds to the upper heat sealing strip in a top-to-bottom manner.

[0013] As a kind of improvement of the tray AOI detection and bagging equipment of the utility model, the tray into bag mechanism includes tray placement platform and tray inductor, one side of the tray placement platform is equipped with tray servo drive, tray servo drive controls push plate movement, V-shaped limiting plate is equipped on the push plate, tray inductor is installed on inductor support, tray servo drive includes tray servo motor, tray servo motor moves push plate by synchronous pulley and synchronous belt, push plate is connected on synchronous belt, when tray inductor senses that there is tray on the tray placement platform, tray servo drive controls push plate to push tray movement.

[0014] As a kind of improvement of the tray AOI detection and bagging equipment of the utility model, the bag opening mechanism includes upper bag opening mechanism, lower bag opening mechanism and bag supporting mechanism, the upper bag opening mechanism includes bag opening installation support, bag opening installation support is equipped with bag opening cylinder mounting plate, bag opening cylinder mounting plate is equipped with bag opening lifting cylinder and bag opening rotary control cylinder, bag opening lifting cylinder controls upper bag opening suction plate movement, bag opening rotary control cylinder controls rack movement, rack and gear mesh transmission, gear is installed on rotating shaft, rotating shaft is installed on the bottom of bag opening cylinder mounting plate through shaft seat, bag supporting plate is equipped on the rotating shaft, after bag supporting plate clamps bag mouth, bag opening rotary control cylinder drives bag supporting plate to rotate a certain angle and clamps bag mouth;The lower bag opening mechanism includes lower bag opening cylinder, lower bag opening cylinder controls lower suction plate mounting plate movement, lower suction plate mounting plate is equipped with a plurality of lower suction plates at intervals;

[0015] The bag supporting mechanism is located below the tray placement platform entry end, the bag supporting mechanism includes bag supporting cylinder mounting plate, bag supporting cylinder mounting plate is equipped with bag supporting cylinder, bag supporting cylinder controls bag supporting slide plate movement, bag supporting slide plate is equipped with bag supporting plate, the entry end of the tray placement platform is equipped with notch, bag supporting plate is located at the notch;Upper bag opening mechanism and lower bag opening mechanism open bag mouth, bag supporting mechanism opens bag.

[0016] As a kind of improvement of the tray AOI detection and bagging equipment of the utility model, the material bag taking manipulator includes material bag taking installation support, material bag taking installation support is equipped with material bag taking horizontal movement control cylinder, material bag taking horizontal movement control cylinder controls material bag taking lifting cylinder mounting plate movement, material bag taking lifting cylinder mounting plate is equipped with material bag taking lifting control cylinder movement, material bag taking lifting control cylinder controls material bag taking suction plate mounting support movement, material bag taking suction plate mounting support is equipped with a plurality of material bag taking suction plates at intervals.

[0017] As an improvement of the tray AOI detection and bagging equipment, the labeling manipulator comprises a labeling X-axis servo module, a labeling Y-axis servo module and a labeling Z-axis servo module, the labeling X-axis servo module controls the movement of the labeling Y-axis servo module, the labeling Y-axis servo module controls the movement of the labeling Z-axis servo module, the labeling Z-axis servo module controls the movement of the labeling rotary control motor mounting plate, the labeling rotary control motor mounting plate is provided with a labeling rotary control motor, and the labeling rotary control motor drives the labeling suction plate to rotate.

[0018] As an improvement of the tray AOI detection and bagging equipment, the manipulator conveying mechanism comprises a horizontal movement servo module, the horizontal movement servo module controls the movement of a lifting servo module, the lifting servo module controls the lifting of a rotary control servo motor, and the rotary control servo motor drives the rotation of a conveying suction disc.

[0019] The horizontal movement servo module comprises a conveying servo motor mounting plate, the conveying servo motor mounting plate is provided with a conveying servo motor, a conveying transmission synchronous belt and two conveying transmission synchronous pulleys, the output shaft of the conveying servo motor is connected with one of the conveying transmission synchronous pulleys, the two conveying transmission synchronous pulleys are connected through the conveying transmission synchronous belt, the conveying transmission synchronous belt is connected with a horizontal movement sliding plate, the horizontal movement sliding plate is connected with the conveying servo motor mounting plate through a sliding rail and a sliding block, and the lifting servo module is mounted on the horizontal movement sliding plate.

[0020] As an improvement of the tray AOI detection and bagging equipment, the AOI detection mechanism comprises a first visual detection area and a second visual detection area, the first visual detection area is provided with four first light bars arranged in a square shape, a lower visual detection camera is arranged below the first visual detection area, a side visual detection camera and a side light bar are arranged on one side of the first visual detection area, the second visual detection area is provided with four second light bars arranged in a square shape, and an upper visual detection camera is arranged above the second visual detection area; the first visual detection area is used for detecting whether there is damage on the upper surface of the tray, the second visual detection area is used for detecting whether there is damage on the bottom and side of the tray, when there is damage on the upper surface, the lower surface or the side of the tray, the manipulator conveying mechanism will convey the NG tray to the NG conveying line to send out, and the good tray is conveyed to the tray pushing and bagging mechanism for bagging.

[0021] The side visual inspection camera is installed on a side camera adjusting assembly, the side camera adjusting assembly is installed on a first camera support, the side camera adjusting assembly comprises a side adjusting mounting plate, a side adjusting lifting screw is arranged on the side adjusting mounting plate, the side adjusting lifting screw controls movement of a side lifting adjusting slide plate, the side lifting adjusting slide plate is slidably connected to the side adjusting mounting plate through a slide rail and a sliding block, one end of the side lifting adjusting slide plate is connected to a side front-rear adjusting mounting plate, a front-rear adjusting slide plate and a side front-rear adjusting screw are arranged on the side front-rear adjusting mounting plate, the side front-rear adjusting screw controls movement of the front-rear adjusting slide plate, and the side visual inspection camera is installed on the front-rear adjusting slide plate.

[0022] The upper visual inspection camera is installed on an upper camera adjusting assembly, the upper camera adjusting assembly is installed on an upper camera mounting support, the upper camera adjusting assembly comprises a bottom plate, an upper front-rear adjusting slide plate and an upper front-rear adjusting screw are arranged on the bottom plate, the upper front-rear adjusting screw adjusts the position of the upper front-rear adjusting slide plate, a left-right adjusting slide plate and a left-right adjusting screw are arranged on the upper front-rear adjusting slide plate, the left-right adjusting screw controls the left-right position of the left-right adjusting slide plate, an upper-lower adjusting mounting side plate is arranged on the left-right adjusting slide plate, an upper-lower adjusting screw and an upper-lower adjusting slide plate are arranged on the upper-lower adjusting mounting side plate, the upper-lower adjusting screw adjusts the height position of the upper-lower adjusting slide plate, and the upper visual inspection camera is installed on the upper-lower adjusting slide plate.

[0023] The beneficial effect of the utility model lies in: the utility model can visually inspect whether the surface of the tray is damaged or scratched before the tray is packed, and can avoid that the NG tray is packed. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is the perspective view of the utility model;

[0025] Figure 2 It is the structure schematic view of the material bag heat sealing mechanism of the utility model;

[0026] Figure 3 It is the structure schematic view of the vacuumizing mechanism of the utility model;

[0027] Figure 4 It is the structure schematic view of the upper heat sealing assembly of the utility model;

[0028] Figure 5 It is the structure schematic view of the AOI detection mechanism of the utility model;

[0029] Figure 6 is a mechanical hand carrying mechanism structure schematic view of the utility model;

[0030] Figure 7 is a taking material bag mechanical hand structure schematic view of the utility model;

[0031] Figure 8 is a labeling mechanical hand structure schematic view of the utility model;

[0032] Figure 9 is one of the direction perspective view of the push disc bagging mechanism and bag opening mechanism of the utility model;

[0033] Figure 10 is another direction perspective view of the push disc bagging mechanism and bag opening mechanism of the utility model;

[0034] Figure 11 is the front view of the push disc bagging mechanism and bag opening mechanism of the utility model;

[0035] Reference signs are:

[0036] 1, rack;

[0037] 2, AOI detection mechanism; 21, first visual detection area, 22, second visual detection area, 23, first light bar, 24, lower visual detection camera, 25, side visual detection camera, 26, side light bar, 27, second light bar, 28, upper visual detection camera, 251, first camera support, 252, side adjustment mounting plate, 253, side adjustment lifting screw, 254, side lifting adjustment sliding plate, 255, side front and rear adjustment mounting plate, 256, front and rear adjustment sliding plate, 257, side front and rear adjustment screw, 281, upper camera mounting support, 282, bottom plate, 283, upper front and rear adjustment sliding plate, 284, upper front and rear adjustment screw, 285, left and right adjustment sliding plate, 286, left and right adjustment screw, 287, upper and lower adjustment mounting side plate, 288, upper and lower adjustment screw, 289, upper and lower adjustment sliding plate;

[0038] 3, mechanical hand carrying mechanism; 31, horizontal movement servo module, 32, lifting servo module, 33, rotation control servo motor, 34, carrying suction cup;

[0039] 4, push disc bagging mechanism; 41, tray placing platform, 42, tray inductor, 43, push disc servo drive, 44, push plate, 45, V-shaped limiting plate, 46, inductor support;

[0040] 5, taking material bag mechanical hand; 51, taking material bag mounting support, 52, taking material bag horizontal movement control cylinder, 53, taking material bag lifting cylinder mounting plate, 54, taking material bag lifting control cylinder, 55, taking material bag suction cup mounting support, 56, taking material bag suction cup;

[0041] 6, bag opening mechanism; 61, upper bag opening mechanism, 62, lower bag opening mechanism, 63, bag supporting mechanism, 611, bag opening mounting bracket, 612, bag opening cylinder mounting plate, 613, bag opening lifting cylinder, 614, bag opening rotary control cylinder, 615, upper bag opening suction cup, 616, rack, 617, gear, 618, rotary shaft, 619, bag clamping plate, 621, lower bag opening cylinder, 622, lower suction cup mounting plate, 623, lower suction cup, 631, bag supporting cylinder mounting plate, 632, bag supporting cylinder, 633, bag supporting slide plate, 634, bag supporting plate;

[0042] 7, material bag conveying line;

[0043] 8, label sticking manipulator; 81, label sticking X-axis servo module, 82, label sticking Y-axis servo module, 83, label sticking Z-axis servo module, 84, label sticking rotary control motor mounting plate, 85, label sticking rotary control motor, 86, label sticking suction plate;

[0044] 9, label printer;

[0045] 10, material bag heat sealing mechanism; 101, heat sealing mounting bracket, 12, upper bag supporting mechanism; 13, upper heat sealing mechanism; 14, upper bag pressing mechanism; 15, lower bag supporting mechanism; 16, lower heat sealing mechanism; 17, vacuum pumping mechanism;

[0046] 171, vacuum pumping suction nozzle, 172, movement control mechanism, 1721, lifting mounting plate, 1722, lifting servo motor, 1723, transverse movement control cylinder, 1724, upper mounting plate, 1725, left and right control servo motor, 1726, vacuum suction nozzle mounting seat;

[0047] 121, first suction cup control cylinder, 122, second suction cup control cylinder, 123, first suction cup, 124, cylinder mounting plate, 125, third suction cup control cylinder, 126, second suction cup, 131, upper control cylinder, 132, upper heat sealing strip mounting plate, 133, upper heat sealing strip, 141, bag pressing cylinder, 142, silica gel strip mounting plate, 143, silica gel strip, 18, lower mounting plate, 151, lower suction cup, 161, lower heat sealing strip;

[0048] 11, material bag warehouse;

[0049] 18, lower mounting plate;

[0050] 19, NG conveying line. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present utility model.

[0052] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement condition between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0053] In addition, the description of "first", "second" and the like in the present utility model is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present utility model.

[0054] As shown in Figures 1-11 A tray AOI detection and bagging equipment, comprising a rack 1, the rack 1 is provided with an AOI detection mechanism 2, a mechanical hand carrying mechanism 3, a tray pushing and bagging mechanism 4, a material bag mechanical hand 5, a bag opening mechanism 6, a material bag conveying line 7, a label mechanical hand 8, a label printer 9 and a material bag heat sealing mechanism 10;

[0055] The material bag mechanical hand 5 takes the material bag from the material bag warehouse 11 and places it on the material bag conveying line 7, the material bag conveying line 7 conveys the material bag to the bag opening station, the bag opening mechanism 6 opens the material bag waiting for loading the tray, the mechanical hand carrying mechanism 3 carries the tray to the AOI detection mechanism 2 to detect whether there is damage on the surface of the tray, the good product after detection is carried by the mechanical hand carrying mechanism 3 to the tray pushing and bagging mechanism 4, the tray pushing and bagging mechanism 4 pushes the tray into the bag, the material bag conveying line 7 conveys the material bag to the label sticking station, the label mechanical hand 8 takes the label from the label printer 9 and sticks the label on the material bag, the material bag after sticking the label is conveyed to the heat sealing station, the material bag heat sealing mechanism 10 performs vacuumizing and heat sealing treatment on the material bag, and the heat sealed material bag is sent out by the material bag conveying line 7.

[0056] Preferably, the material bag heat sealing mechanism 10 comprises a heat sealing mounting bracket 101, which is provided with an upper bag supporting mechanism 12, an upper heat sealing mechanism 13, an upper bag pressing mechanism 14, a lower bag supporting mechanism 15, a lower heat sealing mechanism 16 and a vacuum suction mechanism 17. The vacuum suction mechanism 17 comprises a vacuum suction nozzle 171 and a movement control mechanism 172 for moving the vacuum suction nozzle 171. The upper bag supporting mechanism 12 and the lower bag supporting mechanism 15 open the bag opening, the movement control mechanism 172 controls the vacuum suction nozzle 171 to be inserted into the bag, the upper bag pressing mechanism 14 compacts the bag opening, the vacuum suction nozzle 171 performs vacuum suction on the bag, and after the bag is vacuumed, the vacuum suction nozzle 171 is extracted, the upper heat sealing mechanism 13 and the lower heat sealing mechanism 16 act to seal the bag opening. The vacuum degree of the vacuum suction nozzle 171 is controlled by a precision pressure regulating valve, and the vacuum extraction is controlled according to the set vacuum degree, so that the vacuum degree of each material belt package is consistent.

[0057] Preferably, the movement control mechanism 172 comprises a lifting mounting plate 1721 and a lifting servo motor 1722 for controlling the movement of the lifting mounting plate 1721. The lifting mounting plate 1721 is provided with a transverse movement control cylinder 1723, and the transverse movement control cylinder 1723 controls the transverse movement of an upper mounting plate 1724. The upper mounting plate 1724 is provided with two synchronous wheels, a synchronous belt and a left-right control servo motor 1725. The synchronous belt is connected with a vacuum suction nozzle mounting seat 1726. The output shaft of the left-right control servo motor 1725 is connected with one of the two synchronous wheels. The two synchronous wheels are connected through the synchronous belt. The vacuum suction nozzle 171 is mounted on the vacuum suction nozzle mounting seat 1726. The vacuum suction nozzle mounting seat 1726 is slidably connected with the upper mounting plate 1724 through a sliding block and a sliding rail.

[0058] Preferably, the upper bag supporting mechanism 12 comprises a first suction disc control cylinder 121 and a second suction disc control cylinder 122. The first suction disc control cylinder 121 controls the lifting movement of a first suction disc 123. The second suction disc control cylinder 122 controls the movement of a cylinder mounting plate 124. The cylinder mounting plate 124 is provided with a third suction disc control cylinder 125, which controls the movement of a second suction disc 126. The first suction disc 123 adsorbs the bag body, and the second suction disc 126 adsorbs the bag opening.

[0059] The upper heat sealing mechanism 13 comprises an upper control cylinder 131, which controls the movement of an upper heat sealing strip mounting plate 132. The upper heat sealing strip mounting plate 132 is provided with an upper heat sealing strip 133.

[0060] The upper bag pressing mechanism 14 comprises a bag pressing cylinder 141, which controls the lifting movement of a silica gel strip mounting plate 142. The silica gel strip mounting plate 142 is provided with a silica gel strip 143.

[0061] The lower bag supporting mechanism 15 and the lower heat sealing mechanism 16 are both mounted on the lower mounting plate 18, which is mounted on one side of the lifting mounting plate 1721, the lower bag supporting mechanism 15 comprises a plurality of lower suction cups 151, and the lower heat sealing mechanism 16 comprises a lower heat sealing strip 161; the lower heat sealing strip 161 corresponds to the upper heat sealing strip 133 in an up-down manner.

[0062] Preferably, the disc pushing into bag mechanism 4 comprises a disc placing platform 41 and a disc sensor 42, one side of the disc placing platform 41 is provided with a disc pushing servo drive 43, the disc pushing servo drive 43 controls the movement of a pushing plate 44, the pushing plate 44 is provided with a V-shaped limiting plate 45, the disc sensor 42 is mounted on a sensor support 46, the disc pushing servo drive 43 comprises a disc pushing servo motor, the disc pushing servo motor drives the pushing plate to move through a synchronous wheel and a synchronous belt, the pushing plate 44 is connected to the synchronous belt, when the disc sensor 42 senses that there is a disc on the disc placing platform 41, the disc pushing servo drive 43 controls the pushing plate 44 to push the disc to move.

[0063] Preferably, the bag opening mechanism 6 comprises an upper bag opening mechanism 61, a lower bag opening mechanism 62 and a bag supporting mechanism 63, the upper bag opening mechanism 61 comprises a bag opening mounting support 611, the bag opening mounting support 611 is provided with a bag opening cylinder mounting plate 612, the bag opening cylinder mounting plate 612 is provided with a bag opening lifting cylinder 613 and a bag opening rotary control cylinder 614, the bag opening lifting cylinder 613 controls the movement of an upper bag opening suction cup 615, the bag opening rotary control cylinder 614 controls the movement of a rack 616, the rack 616 is in meshing transmission with a gear 617, the gear 617 is mounted on a rotary shaft 618, the rotary shaft 618 is mounted on the bottom of the bag opening cylinder mounting plate 612 through a shaft seat, the rotary shaft 618 is provided with a bag clamping plate 619, after the bag clamping plate 619 clamps the bag opening, the bag opening rotary control cylinder 614 drives the bag clamping plate 619 to rotate by a certain angle to clamp the bag opening; the lower bag opening mechanism 62 comprises a lower bag opening cylinder 621, the lower bag opening cylinder 621 controls the movement of a lower suction cup mounting plate 622, a plurality of lower suction cups 623 are arranged on the lower suction cup mounting plate 622 in an interval manner;

[0064] The bag supporting mechanism 63 is located below the disc entering end of the disc placing platform 41, the bag supporting mechanism 63 comprises a bag supporting cylinder mounting plate 631, the bag supporting cylinder mounting plate 631 is provided with a bag supporting cylinder 632, the bag supporting cylinder 632 controls the movement of a bag supporting sliding plate 633, the bag supporting sliding plate 633 is provided with a bag supporting plate 634, the disc entering end of the disc placing platform 41 is provided with a notch, and the bag supporting plate 634 is located at the notch; the upper bag opening mechanism 61 and the lower bag opening mechanism 62 open the bag opening, and the bag supporting mechanism 63 supports the bag.

[0065] Preferably, the material taking bag mechanical arm 5 comprises a material taking bag mounting support 51, the material taking bag mounting support 51 is provided with a material taking bag horizontal movement control cylinder 52, the material taking bag horizontal movement control cylinder 52 controls the movement of a material taking bag lifting cylinder mounting plate 53, the material taking bag lifting cylinder mounting plate 53 is provided with a material taking bag lifting control cylinder 54, the material taking bag lifting control cylinder 54 controls the movement of a material taking bag suction disc mounting support 55, the material taking bag suction disc mounting support 55 is provided with a plurality of material taking bag suction discs 56 at intervals.

[0066] Preferably, the labeling mechanical arm 8 comprises a labeling X-axis servo module 81, a labeling Y-axis servo module 82 and a labeling Z-axis servo module 83, the labeling X-axis servo module 81 controls the movement of the labeling Y-axis servo module 82, the labeling Y-axis servo module 82 controls the movement of the labeling Z-axis servo module 83, the labeling Z-axis servo module 83 controls the movement of a labeling rotary control motor mounting plate 84, the labeling rotary control motor mounting plate 84 is provided with a labeling rotary control motor 85, and the labeling rotary control motor 85 drives the rotation of a labeling suction plate 86.

[0067] Preferably, the mechanical arm carrying mechanism 3 comprises a horizontal movement servo module 31, the horizontal movement servo module 31 controls the movement of a lifting servo module 32, the lifting servo module 32 controls the lifting of a rotary control servo motor 33, and the rotary control servo motor 33 drives the rotation of a carrying suction disc 34.

[0068] The horizontal movement servo module 31 comprises a carrying servo motor mounting plate, the carrying servo motor mounting plate is provided with a carrying servo motor, a carrying transmission synchronous belt and two carrying transmission synchronous belt wheels, the output shaft of the carrying servo motor is connected with one of the carrying transmission synchronous belt wheels, the two carrying transmission synchronous belt wheels are connected through the carrying transmission synchronous belt, the carrying transmission synchronous belt is connected with a horizontal movement sliding plate, the horizontal movement sliding plate is connected with the carrying servo motor mounting plate through a sliding rail and a sliding block, and the lifting servo module 32 is installed on the horizontal movement sliding plate.

[0069] Preferably, the AOI detection mechanism 2 comprises a first visual detection area 21 and a second visual detection area 22, the first visual detection area 21 is provided with four first light strips 23 arranged in a square shape, the lower side of the first visual detection area 21 is provided with a lower visual detection camera 24, one side of the first visual detection area 21 is provided with a side visual detection camera 25 and a side light strip 26, the second visual detection area 22 is provided with four second light strips 27 arranged in a square shape, and the upper side of the second visual detection area 22 is provided with an upper visual detection camera 28; the first visual detection area 21 is used for detecting whether there is damage on the upper surface of the tray, the second visual detection area 22 is used for detecting whether there is damage on the bottom and side of the tray, when there is damage on the upper surface, lower surface or side of the tray, the mechanical arm carrying mechanism will carry the NG tray to the NG conveying line 19 to send out, and the good tray is carried to the tray pushing and bagging mechanism for bagging.

[0070] The side visual inspection camera 25 is installed on a side camera adjusting assembly, the side camera adjusting assembly is installed on the first camera support 251, the side camera adjusting assembly comprises a side adjusting mounting plate 252, a side adjusting lifting screw 253 is arranged on the side adjusting mounting plate 252, the side adjusting lifting screw 253 controls the movement of a side lifting adjusting sliding plate 254, the side lifting adjusting sliding plate 254 is slidably connected to the side adjusting mounting plate 252 through a sliding rail and a sliding block, one end of the side lifting adjusting sliding plate 254 is connected to a side front and back adjusting mounting plate 255, the side front and back adjusting mounting plate 255 is provided with a front and back adjusting sliding plate 256 and a side front and back adjusting screw 257, the side front and back adjusting screw 257 controls the movement of the front and back adjusting sliding plate 256, and the side visual inspection camera 25 is installed on the front and back adjusting sliding plate 256.

[0071] The upper visual inspection camera 28 is installed on an upper camera adjusting assembly, the upper camera adjusting assembly is installed on an upper camera mounting support 281, the upper camera adjusting assembly comprises a bottom plate 282, an upper front and back adjusting sliding plate 283 and an upper front and back adjusting screw 284 are arranged on the bottom plate 282, the upper front and back adjusting screw 284 adjusts the position of the upper front and back adjusting sliding plate 283, a left and right adjusting sliding plate 285 and a left and right adjusting screw 286 are arranged on the upper front and back adjusting sliding plate 283, the left and right adjusting screw 286 controls the left and right positions of the left and right adjusting sliding plate 285, the left and right adjusting sliding plate 285 is provided with an upper and lower adjusting mounting side plate 287, an upper and lower adjusting screw 288 and an upper and lower adjusting sliding plate 289 are arranged on the upper and lower adjusting mounting side plate 287, the upper and lower adjusting screw 288 adjusts the height position of the upper and lower adjusting sliding plate 289, and the upper visual inspection camera 28 is installed on the upper and lower adjusting sliding plate 289.

[0072] The working process of the application is as follows: the manipulator carrying mechanism 3 carries the tray after AOI detection to the tray pushing and bagging mechanism 4, and then the tray pushing and bagging mechanism 4 pushes the tray into a bag, before entering the bag, the equipment has completed the actions of taking and opening the bag and is waiting at the tray pushing and bagging mechanism 4, after the tray enters the bag, the tray moves through the bag conveying line 7, moves to the heat sealing station, the bag heat sealing mechanism 10 opens the bag opening through the upper and lower suction cups, the vacuum suction nozzle is inserted, the silica gel pressing strip is pressed to compact the bag opening, the negative pressure value of the vacuum suction nozzle 171 is controlled through the precision pressure regulating valve, the vacuum suction nozzle 171 is pulled out after reaching the vacuum degree, the heating strip is pressed to seal the opening, and finally the packaged tray flows out.

[0073] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and structures of the present application, and the scope of the present application is defined by the appended claims and their equivalent ranges.

Claims

1. A tray AOI detection and bagging apparatus, comprising a frame, characterized in that, The rack is provided with an AOI detection mechanism, a mechanical hand carrying mechanism, a disc pushing into bag mechanism, a material bag taking mechanical hand, a bag opening mechanism, a material bag conveying line, a label sticking mechanical hand, a label printer and a material bag heat sealing mechanism; The material bag taking mechanical hand takes a material bag from a material bag bin and places it on the material bag conveying line, the material bag conveying line conveys the material bag to a bag opening station, the bag opening mechanism opens the material bag to wait for a loading disc, the mechanical hand carrying mechanism carries the loading disc to the AOI detection mechanism for visual detection of whether there is damage on the surface of the loading disc, the good product after detection is carried by the mechanical hand carrying mechanism to the disc pushing into bag mechanism, the disc pushing into bag mechanism pushes the loading disc into the bag, the material bag conveying line conveys the material bag to a label sticking station, the label sticking mechanical hand takes a label from the label printer and sticks the label on the material bag, the material bag after sticking the label is conveyed to a heat sealing station, and the material bag heat sealing mechanism performs vacuumizing and heat sealing treatment on the material bag, and the material bag after heat sealing is sent out by the material bag conveying line.

2. The tray AOI inspection and bagging apparatus of claim 1, wherein, The material bag heat sealing mechanism comprises a heat sealing mounting support, the heat sealing mounting support is provided with an upper bag supporting mechanism, an upper heat sealing mechanism, an upper bag pressing mechanism, a lower bag supporting mechanism, a lower heat sealing mechanism and a vacuumizing mechanism, the vacuumizing mechanism comprises a vacuumizing suction nozzle and a movement control mechanism for driving the vacuumizing suction nozzle to move, the upper bag supporting mechanism and the lower bag supporting mechanism open the bag mouth, the movement control mechanism controls the vacuumizing suction nozzle to insert into the bag, the upper bag pressing mechanism compacts the bag mouth, the vacuumizing suction nozzle performs vacuumizing on the bag, and after the bag is vacuumized, the vacuumizing suction nozzle is extracted, and the upper heat sealing mechanism and the lower heat sealing mechanism act to seal the bag mouth.

3. The tray AOI inspection and bagging apparatus of claim 2, wherein, The movement control mechanism comprises a lifting mounting plate and a lifting servo motor for controlling the lifting mounting plate to move, the lifting mounting plate is provided with a transverse movement control cylinder, the transverse movement control cylinder controls the transverse movement of the upper mounting plate, the upper mounting plate is provided with two synchronous wheels, a synchronous belt and a left-right control servo motor, the synchronous belt is connected with a vacuum suction nozzle mounting seat, the output shaft of the left-right control servo motor is connected with one of the synchronous wheels, the two synchronous wheels are connected through the synchronous belt, the vacuum suction nozzle is mounted on the vacuum suction nozzle mounting seat, and the vacuum suction nozzle mounting seat is slidably connected with the upper mounting plate through a sliding block and a sliding rail.

4. The tray AOI inspection and bagging apparatus of claim 3, wherein, The upper bag supporting mechanism comprises a first suction disc control cylinder and a second suction disc control cylinder, the first suction disc control cylinder controls the lifting movement of a first suction disc, the second suction disc control cylinder controls the movement of a cylinder mounting plate, the cylinder mounting plate is provided with a third suction disc control cylinder, the third suction disc control cylinder controls the movement of a second suction disc, the first suction disc adsorbs the bag body, and the second suction disc adsorbs the bag mouth; The upper heat sealing mechanism comprises an upper control cylinder, the upper control cylinder controls the movement of an upper heat sealing strip mounting plate, and the upper heat sealing strip mounting plate is provided with an upper heat sealing strip; The upper bag pressing mechanism comprises a bag pressing cylinder, the bag pressing cylinder controls the lifting movement of a silica gel strip mounting plate, and the silica gel strip mounting plate is provided with a silica gel strip; The lower supporting bag mechanism and the lower heat sealing mechanism are installed on a lower mounting plate, the lower mounting plate is installed on one side of the lifting mounting plate, the lower supporting bag mechanism includes a plurality of lower suction cups, and the lower heat sealing mechanism includes a lower heat sealing strip; the lower heat sealing strip corresponds to the upper heat sealing strip in an up-down direction.

5. The tray AOI inspection and bagging apparatus of claim 1, wherein, The push disc into bag mechanism includes a material disc placing platform and a material disc inductor, one side of the material disc placing platform is provided with a push disc servo drive, the push disc servo drive controls the movement of a push plate, the push plate is provided with a V-shaped limiting plate, the material disc inductor is installed on an inductor support, the push disc servo drive includes a push disc servo motor, the push disc servo motor drives the movement of the push plate through a synchronous wheel and a synchronous belt, the push plate is connected to the synchronous belt, and when the material disc inductor senses that there is a material disc on the material disc placing platform, the push disc servo drive controls the push plate to move the material disc.

6. The tray AOI inspection and bagging apparatus of claim 5, wherein, The bag opening mechanism includes an upper bag opening mechanism, a lower bag opening mechanism and a bag supporting mechanism, the upper bag opening mechanism includes a bag opening mounting support, the bag opening mounting support is provided with a bag opening cylinder mounting plate, the bag opening cylinder mounting plate is provided with a bag opening lifting cylinder and a bag opening rotary control cylinder, the bag opening lifting cylinder controls the movement of an upper bag opening suction cup, the bag opening rotary control cylinder controls the movement of a rack, the rack is in meshing transmission with a gear, the gear is installed on a rotary shaft, the rotary shaft is installed at the bottom of the bag opening cylinder mounting plate through a shaft seat, the rotary shaft is provided with a bag clamping plate, after the bag clamping plate clamps the bag opening, the bag opening rotary control cylinder drives the bag clamping plate to rotate by a certain angle to clamp the bag opening; the lower bag opening mechanism includes a lower bag opening cylinder, the lower bag opening cylinder controls the movement of a lower suction cup mounting plate, and a plurality of lower suction cups are arranged on the lower suction cup mounting plate at intervals. The bag supporting mechanism is located below the material disc placing platform disc entry end, the bag supporting mechanism includes a bag supporting cylinder mounting plate, the bag supporting cylinder mounting plate is provided with a bag supporting cylinder, the bag supporting cylinder controls the movement of a bag supporting slide plate, the bag supporting slide plate is provided with a bag supporting plate, the material disc placing platform disc entry end is provided with a notch, and the bag supporting plate is located at the notch; the upper bag opening mechanism and the lower bag opening mechanism open the bag opening, and the bag supporting mechanism opens the bag.

7. The tray AOI inspection and bagging apparatus of claim 1, wherein, The material taking bag mechanical hand includes a material taking bag mounting support, the material taking bag mounting support is provided with a material taking bag horizontal movement control cylinder, the material taking bag horizontal movement control cylinder controls the movement of a material taking bag lifting cylinder mounting plate, the material taking bag lifting cylinder mounting plate is provided with a material taking bag lifting control cylinder, the material taking bag lifting control cylinder controls the movement of a material taking bag suction cup mounting support, and a plurality of material taking bag suction cups are arranged on the material taking bag suction cup mounting support at intervals.

8. The tray AOI inspection and bagging apparatus of claim 1, wherein, The labeling mechanical hand includes a labeling X-axis servo module, a labeling Y-axis servo module and a labeling Z-axis servo module, the labeling X-axis servo module controls the movement of the labeling Y-axis servo module, the labeling Y-axis servo module controls the movement of the labeling Z-axis servo module, the labeling Z-axis servo module controls the movement of a labeling rotary control motor mounting plate, the labeling rotary control motor mounting plate is provided with a labeling rotary control motor, and the labeling rotary control motor drives the rotation of a labeling suction plate.

9. The tray AOI inspection and bagging apparatus of claim 1, wherein, The mechanical hand carrying mechanism includes a horizontal movement servo module, the horizontal movement servo module controls a lifting servo module to move, the lifting servo module controls a rotation control servo motor to lift, the rotation control servo motor drives the carrying suction cup to rotate; The horizontal movement servo module includes a carrying servo motor mounting plate, the carrying servo motor mounting plate is provided with a carrying servo motor, a carrying transmission synchronous belt and two carrying transmission synchronous pulleys, the output shaft of the carrying servo motor is connected with one of the carrying transmission synchronous pulleys, the two carrying transmission synchronous pulleys are connected through the carrying transmission synchronous belt, the carrying transmission synchronous belt is connected with a horizontal movement sliding plate, the horizontal movement sliding plate is connected with the carrying servo motor mounting plate through a sliding rail and a sliding block, and the lifting servo module is mounted on the horizontal movement sliding plate.

10. The tray AOI inspection and bagging apparatus of claim 1, wherein, The AOI detection mechanism includes a first visual detection area and a second visual detection area, the first visual detection area is provided with four first lamp strips arranged in a square shape, a lower visual detection camera is arranged below the first visual detection area, a side visual detection camera and a side lamp strip are arranged on one side of the first visual detection area, and the second visual detection area is provided with four second lamp strips arranged in a square shape. The side visual detection camera is mounted on a side camera adjusting assembly, the side camera adjusting assembly is mounted on a first camera support, the side camera adjusting assembly includes a side adjusting mounting plate, the side adjusting mounting plate is provided with a side adjusting lifting screw rod, the side adjusting lifting screw rod controls a side lifting adjusting sliding plate to move, the side lifting adjusting sliding plate is slidably connected with the side adjusting mounting plate through a sliding rail and a sliding block, one end of the side lifting adjusting sliding plate is connected with a side front-rear adjusting mounting plate, the side front-rear adjusting mounting plate is provided with a front-rear adjusting sliding plate and a side front-rear adjusting screw rod, the side front-rear adjusting screw rod controls the front-rear adjusting sliding plate to move, and the side visual detection camera is mounted on the front-rear adjusting sliding plate. The upper visual detection camera is mounted on an upper camera adjusting assembly, the upper camera adjusting assembly is mounted on an upper camera mounting support, the upper camera adjusting assembly includes a bottom plate, the bottom plate is provided with an upper front-rear adjusting sliding plate and an upper front-rear adjusting screw rod, the upper front-rear adjusting screw rod adjusts the position of the upper front-rear adjusting sliding plate, the upper front-rear adjusting sliding plate is provided with a left-right adjusting sliding plate and a left-right adjusting screw rod, the left-right adjusting screw rod controls the left-right position of the left-right adjusting sliding plate, the left-right adjusting sliding plate is provided with an upper-lower adjusting mounting side plate, the upper-lower adjusting mounting side plate is provided with an upper-lower adjusting screw rod and an upper-lower adjusting sliding plate, the upper-lower adjusting screw rod adjusts the height position of the upper-lower adjusting sliding plate, and the upper visual detection camera is mounted on the upper-lower adjusting sliding plate.

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