Paper tube feeding device and assembling machine

Abstract

The utility model provides a kind of paper tube feeding device and assembling machine.Paper tube feeding device includes: paper tube feeding manipulator, including paper tube feeding mechanical arm and holder, the holder is installed in the output end of the paper tube feeding mechanical arm, the paper tube feeding mechanical arm is configured as can according to actual working condition drive the holder between paper tube material taking station, detection station, assembly station and discard station Switching work station, the paper tube feeding mechanical arm is also configured as can drive the holder rotates around first axis, the holder is configured as can hold and release paper tube;First image acquisition unit is configured as can collect the first image of detection station;Control unit is coupled with paper tube feeding manipulator and first image acquisition unit respectively, and receives first image, and control unit is configured as can control paper tube feeding manipulator action.Through the setting first image acquisition unit and control unit, for accurate identification paper tube posture, reduce the error assembly rate of paper tube and box body provides hardware foundation.

Description

Technical Field

[0001] This utility model relates to the field of packaging box production equipment technology, and in particular to a paper tube feeding device and assembly machine. Background Technology

[0002] In the packaging industry, the appearance and functionality of packaging boxes are crucial to a product's market competitiveness. Some packaging boxes have internal slots for precise item positioning. To further enhance the box's aesthetics, strengthen its structure, and meet other specific packaging requirements, paper tubes are often attached to the walls of these slots. Paper tubes are tubular (or ring-shaped) paper materials with a certain degree of flexibility and support.

[0003] During the assembly of paper tubes and boxes, it is sometimes necessary to place the paper tubes into the receiving slots in a specific posture (or orientation) to ensure that the quality, aesthetics, and overall performance of the packaging box meet specific design and usage requirements. However, current assembly equipment cannot identify whether the paper tube posture is correct, which can easily lead to incorrect assembly. This not only affects the quality of the packaging box, reduces the product's aesthetics and functionality, but also increases the defect rate in the production process, reduces production efficiency, and increases production costs.

[0004] The content of the background section is merely the technology known to the inventor and does not necessarily represent the prior art in this field. Utility Model Content

[0005] This utility model provides a paper tube feeding device, comprising: A paper tube feeding robot includes a paper tube feeding robot arm and a gripper. The gripper is installed at the output end of the paper tube feeding robot arm. The paper tube feeding robot arm is configured to drive the gripper to switch working positions between a paper tube picking station, a detection station, an assembly station, and a discard station according to actual working conditions. The paper tube feeding robot arm is also configured to drive the gripper to rotate around a first axis (which can be understood as the z-axis of a spatial rectangular coordinate system). The gripper is configured to grip and release paper tubes. One or more first image acquisition units, wherein the first image acquisition units are configured to acquire a first image of the detection station; The control unit is coupled to the paper tube feeding robot and the first image acquisition unit respectively, and receives the first image. The control unit is configured to control the movement of the paper tube feeding robot. When the gripper is located at the detection station, the paper tube held by the gripper is located within the field of view of the first image acquisition unit.

[0006] According to one aspect of the present invention, the paper tube feeding device further includes one or more first light sources configured to project light onto the detection station.

[0007] According to one aspect of the present invention, the paper tube feeding device further includes a universal adjustment bracket, the first image acquisition unit is disposed on the universal adjustment bracket, and the universal adjustment bracket is configured to adjust the orientation and position of the first image acquisition unit.

[0008] According to one aspect of the present invention, the control unit is configured to identify preset features on the paper tube based on the image, and control the paper tube feeding robot arm to move the gripper to the assembly station or the waste disposal station, and control the gripper to release the paper tube.

[0009] According to one aspect of the present invention, the paper tube feeding device further includes: A second image acquisition unit is disposed above the assembly station and configured to acquire a second image of the assembly station; and The second light source is located above the assembly station and configured to project light onto the assembly station. The control unit is coupled to the second image unit and receives the second image. The control unit is configured to control the paper tube feeding robot arm to move the gripper to the assembly station according to the second image, and to control the gripper to release the paper tube.

[0010] According to one aspect of the present invention, the paper tube feeding device further includes an adjustable bracket, on which the second image acquisition unit and the second light source are mounted, and the adjustable bracket is configured to adjust the positions of the second image acquisition unit and the second light source.

[0011] This utility model also provides an assembly machine, comprising: A conveyor configured to transport the box to an assembly station; A first positioning mechanism, disposed on the conveyor, is configured to position the box at an assembly station; and The paper tube feeding device as described above.

[0012] According to one aspect of the present invention, the assembly machine further includes a box feeding device, the box feeding device comprising: The box feeding suction cup is configured to pick up and release the box; and A box-feeding robotic arm is connected to the box-feeding suction cup and configured to drive the box-feeding suction cup to switch between a box-picking station and a box-releasing station, wherein the box-releasing station is located above the conveyor.

[0013] According to one aspect of the present invention, the conveyor is further configured to convey the box to a pressure-holding station; the assembly machine further includes a pressure-holding device, the pressure-holding device comprising: A pressure holding plate is disposed above the pressure holding station; and A pressure-holding cylinder is connected to the pressure-holding plate and configured to drive the pressure-holding plate to rise and fall.

[0014] According to one aspect of the present invention, the conveyor is further configured to convey the box to a dispensing station; the assembly machine further includes a dispensing device, the dispensing device comprising: A second positioning mechanism is provided on the conveyor and configured to position the box at the dispensing station; A dispensing head is positioned above the dispensing station; and A dispensing robotic arm is connected to the dispensing head and configured to drive the dispensing head to move along a preset path.

[0015] According to one aspect of the present invention, the conveyor is further configured to transport the box to the unloading station; the assembly machine further includes an unloading device, the unloading device comprising: The feeding suction cup is configured to pick up and release the box; and A material unloading robotic arm is connected to the material unloading suction cup and configured to drive the material unloading suction cup to switch between the material unloading station and the material storage station.

[0016] According to one aspect of the present invention, the assembly machine further includes a waste collection container, which is disposed at the waste disposal station.

[0017] Compared with existing technologies, embodiments of this utility model provide a paper tube feeding device and an assembly machine. By incorporating a first image acquisition unit and a control unit, a hardware foundation is provided for accurately identifying the paper tube's posture and reducing the error rate of paper tube assembly with the box. In practical applications, the first image acquisition unit can acquire a first image at the detection station and send it to the control unit. The control unit analyzes and processes the first image to determine whether the posture of the paper tube held by the paper tube feeding robot is correct. Based on this determination, the control unit can control the paper tube feeding robot to load the paper tube into the box with the correct posture, or it can control the paper tube feeding robot to discard the paper tube to the waste disposal station, thereby avoiding incorrect assembly. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 An exploded view of a partial structure (semi-finished product) of a packaging box in the related art is shown; Figure 2 A schematic diagram of a paper tube in the related art is shown; Figure 3 A schematic diagram of a paper tube feeding device according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of a partial structure of a paper tube feeding device according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of an assembly machine according to an embodiment of the present invention is shown; Figure 6 A top view of a portion of the structure of an assembly machine according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of a box feeding device according to an embodiment of the present invention is shown; Figure 8 A schematic diagram of a pressure-holding device according to an embodiment of the present invention is shown; Figure 9 A schematic diagram of a partial structure of a dispensing device according to an embodiment of the present invention is shown; Figure 10 A schematic diagram of a feeding device according to an embodiment of the present invention is shown. Detailed Implementation

[0020] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0021] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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 utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for mutual communication; 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 utility model according to the specific circumstances.

[0023] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0024] The following disclosure provides many different embodiments or examples for implementing various structures of this invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0025] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0026] Figure 1 An exploded view of a partial structure (semi-finished product) of a packaging box 100 in the related art is shown. Figure 1 As shown, the packaging box 100 includes at least a box body 110, a paper tube 120, and an inner liner 130. The box body 110 has a first end 111 (… Figure 1 (left end) and second end 112 ( Figure 1 At the right end of the box body 110, there is a receiving groove 113 on the inner side of the bottom wall. The receiving groove 113 is close to the first end 111 of the box body 110 and is mainly used to hold and position items. Figure 2 A schematic diagram of a paper tube 120 in the related art is shown. (See diagram below.) Figure 2 As shown, the paper tube 120 is made of multiple layers of paper rolled and glued together, wherein the innermost layer of paper ( Figure 2 The end of the red section forms an inclined inner seam 121. For example... Figure 1 As shown, the paper tube 120 is assembled in the receiving groove 113. The inner liner 130 is disposed inside the box body 110 and covers the paper tube 120.

[0027] like Figure 1 and Figure 2 As shown, to improve the overall aesthetics of the packaging box 100 (box body 110), when assembling the paper tube 120 into the receiving slot 113, the placement posture (direction) of the paper tube 120 needs to be precisely controlled to ensure that the side containing the inner seam 121 is close to the second end 112 of the box body 110. In this way, the inner seam 121 will be difficult to see under the cover of the side wall of the first end 111 of the box body 110. Furthermore, to prevent the inner seam 121 from being accidentally opened by items during subsequent use, it is also necessary to ensure that the inner seam 121 in the paper tube 120 faces downwards (i.e., the end of the innermost layer of paper is above the inner seam 121) during assembly.

[0028] To facilitate machine identification of the paper tube 120's orientation, an identification mark is provided on the outer surface of the paper tube 120. This identification mark is related to the orientation of the inner seam 121. Specifically, the identification mark can be two parallel lines of different colors (e.g., Figure 2 (The red and green diagonal lines in the text). Figure 2 In the first direction (clockwise) shown, if the red diagonal line precedes the green diagonal line, the inner seam 121 faces downwards, and the orientation (direction) of the paper tube 120 meets the requirements; if the green diagonal line precedes the red diagonal line, the inner seam 121 faces upwards, and the orientation (direction) of the paper tube 120 does not meet the requirements. Those skilled in the art will readily understand that the identification mark can also take other forms, such as two parallel lines of different thicknesses, and this utility model is not limited thereto.

[0029] Figure 3 A schematic diagram of a paper tube feeding device 200 according to an embodiment of the present invention is shown. Figure 4 A schematic diagram of a portion of the structure of a paper tube feeding device 200 according to an embodiment of the present invention is shown below. Figure 3 and Figure 4 Provide a detailed description.

[0030] like Figure 3 and Figure 4 As shown, the paper tube feeding device 200 mainly includes a first image acquisition unit 210, a paper tube feeding robot 220, and a control unit 230. One or more first image acquisition units 210 can be provided, and these units are arranged around the inspection station, capable of acquiring first images of the inspection station from different directions. The control unit 230 is coupled to the first image acquisition units 210 and can receive the first images from them.

[0031] The paper tube feeding robot 220 includes a paper tube feeding robotic arm 221 and a gripper 222. The gripper 222 is mounted on the output end of the paper tube feeding robot 220 and is configured to grip and release paper tubes. The paper tube feeding robotic arm 221 is configured to drive the gripper 222 to switch between a paper tube picking station, an inspection station, an assembly station, and a discard station. The control unit 230 is also coupled to the paper tube feeding robot 220 and is configured to control the movement of the paper tube feeding robot 220. Specifically, when the gripper 222 is located at the paper tube picking station, it can pick up paper tubes from the feeding equipment (e.g., hopper, column, etc.); when the gripper 222 is located at the inspection station, the paper tube held by the gripper 222 is within the field of view of the first image acquisition unit 210; when the gripper 222 is located at the assembly station, it can load the paper tubes into the receiving slots of the box; when the gripper 222 is located at the waste disposal station, it can discard the paper tubes into the waste collection container. Furthermore, the paper tube loading robot arm 221 is also configured to drive the gripper 222 to rotate around a first axis (which can be understood as the z-axis of a spatial rectangular coordinate system) to facilitate adjustment of the paper tube's posture (direction).

[0032] According to one embodiment of the present invention, such as Figure 3 and Figure 4 As shown, four first image acquisition units 210 can be provided, namely first image acquisition unit 210a, first image acquisition unit 210b, first image acquisition unit 210c, and first image acquisition unit 210d. Among them, the first image acquisition unit 210a is located on the first side of the inspection station (e.g., Figure 3 (Left side of the image), the first image acquisition unit 210b is located on the second side of the inspection station (e.g., on the left side of the image). Figure 3 (On the right side of the image), the height of the first image acquisition units 210a and 210b is basically flush with the inspection station. The first image acquisition units 210a and 210b are mainly used to photograph the outer surface of the paper tube, which is equipped with identification marks, so that the orientation of the inner seam can be determined through the corresponding first image. The first image acquisition units 210c and 210d are spaced apart on the first side of the inspection station, slightly lower than the inspection station, and inclined. The first image acquisition units 210c and 210d are mainly used to photograph the inner surface of the paper tube, so that the position of the inner seam can be determined through the corresponding first image.

[0033] By setting up the first image acquisition unit 210 and the control unit 230, a good hardware foundation is provided for accurately identifying the posture (direction) of the paper tube and reducing the error assembly rate of the paper tube and the box. In some embodiments, the control unit 230 can be configured to have image recognition function. Specifically, the control unit 230 can analyze and process the first images output by the first image acquisition units 210a and 210b to accurately identify the identification marks on the outer surface of the paper tube and determine the orientation of the inner seam according to the arrangement order of the red and green lines. If the inner seam is facing upward, the control unit 230 will control the paper tube feeding robot arm 221 to move the gripper 222 to the waste disposal station and control the gripper 222 to release the paper tube, thereby discarding the paper tube into the waste collection container, thus preventing unqualified paper tubes from entering subsequent processes. Correspondingly, the control unit 230 can also analyze and process the first images output by the first image acquisition units 210c and 210d to determine whether there is an inner seam in the first image and determine the position of the inner seam accordingly. If the position of the inner seam does not meet the preset requirements, the control unit 230 will control the paper tube feeding robot arm 221 to drive the gripper 222 to rotate around the first axis by a preset angle (e.g., 180°) to adjust the posture (orientation) of the paper tube and ensure that the position of the inner seam meets the assembly requirements. If the inner seam faces downward and the position of the inner seam meets the assembly requirements, the control unit 230 will control the paper tube feeding robot arm 221 to move the gripper 222 to the assembly station and control the gripper 222 to release the paper tube, thereby completing the assembly of the paper tube and the box body.

[0034] According to one embodiment of the present invention, such as Figure 3 and Figure 4 As shown, the paper tube feeding device 200 also includes one or more universal adjustment brackets 240. The first image acquisition unit 210 is mounted on the corresponding universal adjustment bracket 240. The orientation and position of the first image acquisition unit 210 can be adjusted using the universal adjustment bracket 240 to ensure that the first image acquisition unit 210 can be accurately aligned with the detection station to obtain clear and accurate image information. In addition, this design can also improve the flexibility and adaptability of the paper tube feeding device 200, making it easy to adjust according to different paper tube sizes and detection requirements.

[0035] According to one embodiment of the present invention, such as Figure 3 and Figure 4 As shown, the paper tube feeding device 200 may further include one or more first light sources 250, which are disposed around the inspection station and configured to project light onto the inspection station. For example: in Figure 3 and Figure 4In the illustrated embodiment, three first light sources 250 are provided, namely first light source 250a, first light source 250b, and first light source 250c. First light source 250a is located on the first side of the inspection station (e.g., ...). Figure 3 The first light source 250a is located on the left side of the detection station and is mounted on a universal adjustment bracket 240, which allows adjustment of the light projection direction of the first light source 250a. The first light source 250b is located on the second side of the detection station (e.g., on the left side of the station). Figure 3 The first light source 250b is located on the right side of the image acquisition unit 250 and mounted on another universal adjustment bracket 240, which allows adjustment of the light projection direction of the first light source 250b. The third light source c is located directly below the detection station. By setting these first light sources 250, the light can be effectively supplemented, ensuring that the first image acquisition unit 210 can capture clear and accurate image information.

[0036] According to one embodiment of the present invention, such as Figure 3 and Figure 4 As shown, the paper tube feeding device 200 may further include a second image acquisition unit 260. The second image acquisition unit 260 is positioned above the assembly station and configured to acquire a second image of the assembly station. Correspondingly, the control unit 230 is coupled to the second image acquisition unit 260 and is capable of receiving the second image. In practical applications, the box is placed on the assembly station, waiting for the paper tube feeding device 200 to accurately load the paper tube. In some embodiments, the control unit 230, by analyzing and processing the second image, can accurately determine the position information of the receiving slot in the box, and accordingly control the paper tube feeding robotic arm 221 to move the gripper 222 to the assembly station, and control the gripper 222 to release the paper tube, ensuring that the paper tube can be accurately loaded into the receiving slot of the box.

[0037] According to one embodiment of the present invention, such as Figure 3 and Figure 4 As shown, the paper tube feeding device 200 may also include a second light source 270. The second light source 270 is disposed above the assembly station and configured to project light onto the assembly station to ensure that the second image acquisition unit 260 can capture clear and accurate image information.

[0038] According to one embodiment of the present invention, such as Figure 3 and Figure 4As shown, the paper tube feeding device 200 may further include an adjustable bracket 280. The second image acquisition unit 260 and the second light source 270 are both mounted on the adjustable bracket 280. The adjustable bracket 280 allows adjustment of the positions of the second image acquisition unit 260 and the second light source 270, ensuring precise alignment of the second image acquisition unit 260 with the detection station and enabling the second image acquisition unit 260 to capture clear and accurate image information. Preferably, the paper tube feeding device 200 may further include a lamp holder 290, through which the second light source 270 is movably mounted on the adjustable bracket.

[0039] Compared with the prior art, the embodiments of this utility model provide a paper tube feeding device 200 and an assembly machine. By setting a first image acquisition unit 210 and a control unit 230, a hardware foundation is provided for accurately identifying the paper tube posture and reducing the error assembly rate of the paper tube and the box. In practical applications, the first image acquisition unit 210 can acquire a first image at the detection station and send it to the control unit 230. The control unit 230 analyzes and processes the first image to determine whether the posture of the paper tube held by the paper tube feeding robot 220 is correct. Based on this determination, the control unit 230 can control the paper tube feeding robot 220 to load the paper tube into the box with the correct posture, or it can control the paper tube feeding robot 220 to discard the paper tube to the waste disposal station, thereby avoiding incorrect assembly.

[0040] Figure 5 A schematic diagram of an assembly machine 300 according to an embodiment of the present invention is shown below, in conjunction with... Figure 5 Provide a detailed description.

[0041] like Figure 5 As shown, the assembly machine 300 mainly includes a conveyor 310, a first positioning mechanism 320, and the paper tube feeding device 200 mentioned above. The conveyor 310 can be a belt conveyor 310, a mesh chain conveyor 310, or a plate conveyor 310, etc., and is configured to sequentially transport the box to the assembly station, pressure holding station, glue dispensing station, and unloading station. The first positioning mechanism 320 is mounted on the conveyor 310 and configured to position the box at the assembly station. The paper tube feeding device 200 is installed on one side of the conveyor 310 and is used to load the paper tube into the receiving slot of the box in the correct orientation.

[0042] Figure 6 A top view of a portion of the structure of an assembly machine 300 according to an embodiment of the present invention is shown. Figure 6As shown, the first positioning mechanism 320 may include a side stop 321, a first corner positioning head 322, a second corner positioning head 323, a first positioning cylinder 324, and a second positioning cylinder 325, wherein the side stop 321 is located on one side of the assembly station. Figure 6 (On the left side of the middle), the first corner positioning head 322, the second corner positioning head 323, the first positioning cylinder 324, and the second positioning cylinder 325 are located on the other side of the assembly station. Figure 6 (Right side of the image). The first positioning cylinder 324 is connected to the first corner positioning head 322, and the second positioning cylinder 325 is connected to the second corner positioning head 323. When the box is conveyed to the assembly position, the first positioning cylinder 324 and the second positioning cylinder 325 can be controlled to extend simultaneously, causing the first corner positioning head 322 and the second corner positioning head 323 to push the box onto the side stop 321, thereby achieving precise positioning of the box. Correspondingly, by controlling the first positioning cylinder 324 and the second positioning cylinder 325 to retract simultaneously, the first corner positioning head 322 and the second corner positioning head 323 can be retracted, thereby releasing the positioning of the box and allowing the conveyor 310 to continue conveying the box.

[0043] According to one embodiment of the present invention, such as Figure 5 As shown, the assembly machine 300 may further include a box loading device 330 for transporting boxes onto the conveyor 310. Specifically, Figure 7 A schematic diagram of a box feeding device 330 according to an embodiment of the present invention is shown. Figure 5 and Figure 7 As shown, the box feeding device 330 mainly includes a box feeding suction cup 331 and a box feeding robotic arm 332 connected to each other. The box feeding robotic arm 332 can be a multi-joint robotic arm or a selectively compliant robotic arm (SCARA), etc. It is configured to drive the box feeding suction cup 331 to switch between a box picking station and a box releasing station. The box feeding suction cup 331 is configured to pick up and release boxes. Specifically, when the box feeding suction cup 331 is located at the box picking station, it can pick up boxes from the feeding equipment (hopper); when the box feeding suction cup 331 is located at the box releasing station, it is above the conveyor 310 and can accurately place the boxes onto the conveyor 310.

[0044] According to one embodiment of the present invention, such as Figure 5 As shown, the assembly machine 300 may also include a pressure-holding device 340, which is mainly used to further press the paper tube into the receiving groove of the box body to ensure that the paper tube is assembled in place. Specifically, Figure 8 A schematic diagram of a pressure-holding device 340 according to an embodiment of the present invention is shown. Figure 5 and Figure 8 As shown, the pressure-holding device 340 may include a pressure-holding plate 341 and a pressure-holding cylinder 342 connected to each other. The pressure-holding plate 341 is positioned above the pressure-holding station, and the pressure-holding cylinder 342 is configured to drive the pressure-holding plate 341 to rise and fall. For example, when the box and paper tube are conveyed to the pressure-holding station, the pressure-holding cylinder 342 can be controlled to drive the pressure-holding plate 341 to fall, thereby further pressing the paper tube into the receiving groove of the box to ensure that the paper tube is assembled in place. After the pressure-holding operation is completed, the pressure-holding cylinder 342 can be controlled to drive the pressure-holding plate 341 to rise, so that the conveyor 310 can continue to convey the box. In addition, the pressure holding device 340 may also include a pressure holding bracket 343, which is mounted on the conveyor 310. The pressure holding cylinder 342 is mounted on the pressure holding bracket 343, and the position of the pressure holding cylinder 342 on the pressure holding bracket 343 can be adjusted according to actual needs to adapt to different sizes of boxes and paper tubes, thereby improving the versatility and flexibility of the device.

[0045] According to one embodiment of the present invention, such as Figure 5 As shown, the assembly machine 300 may also include a dispensing device 350, which is mainly used to add glue to the box body to ensure a firm bond between the paper tube and the box body. Specifically, Figure 9 A schematic diagram of a portion of the structure of a dispensing device 350 according to an embodiment of the present invention is shown. Figure 5 , Figure 6 and Figure 9 As shown, the dispensing device 350 mainly includes a second positioning mechanism 351, a dispensing head 352, and a dispensing robotic arm 353. The structure of the second positioning mechanism 351 is basically the same as that of the first positioning mechanism 320, and will not be described in detail here. The second positioning mechanism 351 is mounted on the conveyor 310 and configured to position the box at the dispensing station. The dispensing head 352 is positioned approximately above the dispensing station. The dispensing robotic arm 353 can be a multi-joint robotic arm, etc., and its output end is connected to the dispensing head 352, configured to drive the dispensing head 352 to move along a preset path, thereby completing a precise dispensing operation.

[0046] According to one embodiment of the present invention, such as Figure 5 As shown, the assembly machine 300 may also include a feeding device 360. This feeding device 360 ​​is primarily used to remove the assembled paper tubes and boxes from the conveyor 310 for subsequent processes. Specifically, Figure 10 A schematic diagram of a feeding device 360 ​​according to an embodiment of the present invention is shown. Figure 5 and Figure 10As shown, the unloading device 360 ​​mainly includes an unloading suction cup 361 and an unloading robotic arm 362 connected to each other. The unloading robotic arm 362 can be a multi-joint robotic arm or a selectively compliant robotic arm (SCARA), etc., and is configured to drive the unloading suction cup 361 to switch between the unloading station and the storage station. The unloading suction cup 361 is configured to pick up and release the box. Specifically, when the unloading suction cup 361 is in the unloading station, it can pick up the box from the conveyor 310; when the unloading suction cup 361 is in the storage station, it can accurately release the box onto a temporary storage device (such as a storage plate, conveyor belt, etc.).

[0047] According to one embodiment of the present invention, such as Figure 5 As shown, the assembly machine 300 may also include a waste collection container 370, which is set at the waste disposal station for collecting paper tubes that do not meet the assembly requirements.

[0048] Compared with the prior art, the embodiments of this utility model provide an assembly machine 300, which, by setting up a conveyor 310, a first positioning mechanism 320, a paper tube feeding mechanism, a box feeding device 330, a pressure holding device 340, a glue dispensing device 350 and a unloading device 360, provides a reliable hardware foundation for the mechanized and automated assembly of paper tubes and boxes, which is conducive to improving assembly efficiency and quality and reducing the error assembly rate.

[0049] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A paper tube feeding device, characterized in that, include: A paper tube feeding robot includes a paper tube feeding robot arm and a gripper, wherein the gripper is installed at the output end of the paper tube feeding robot arm, the paper tube feeding robot arm is configured to drive the gripper to switch working positions between a paper tube picking station, a detection station, an assembly station and a discard station according to actual working conditions, the paper tube feeding robot arm is also configured to drive the gripper to rotate around a first axis, and the gripper is configured to grip and release paper tubes; One or more first image acquisition units, wherein the first image acquisition units are configured to acquire a first image of the detection station; The control unit is coupled to the paper tube feeding robot and the first image acquisition unit respectively, and receives the first image. The control unit is configured to control the movement of the paper tube feeding robot. When the gripper is located at the detection station, the paper tube held by the gripper is located within the field of view of the first image acquisition unit.

2. The paper tube feeding device according to claim 1, characterized in that, The paper tube feeding device further includes one or more first light sources, which are configured to project light onto the detection station.

3. The paper tube feeding device according to claim 1, characterized in that, The paper tube feeding device also includes a universal adjustment bracket, on which the first image acquisition unit is mounted. The universal adjustment bracket is configured to adjust the orientation and position of the first image acquisition unit.

4. The paper tube feeding device according to claim 1, characterized in that, The control unit is configured to identify preset features on the paper tube based on the image, and control the paper tube feeding robot arm to move the gripper to the assembly station or the waste disposal station, and control the gripper to release the paper tube.

5. The paper tube feeding device according to claim 1, characterized in that, The paper tube feeding device further includes: A second image acquisition unit is disposed above the assembly station and configured to acquire a second image of the assembly station; and The second light source is located above the assembly station and configured to project light onto the assembly station. The control unit is coupled to the second image acquisition unit and receives the second image. The control unit is configured to control the paper tube feeding robot arm to move the gripper to the assembly station according to the second image, and control the gripper to release the paper tube.

6. The paper tube feeding device according to claim 5, characterized in that, The paper tube feeding device also includes an adjustable bracket, on which the second image acquisition unit and the second light source are mounted. The adjustable bracket is configured to adjust the positions of the second image acquisition unit and the second light source.

7. An assembly machine, characterized in that, include: A conveyor, configured to transport the boxes to the assembly station; A first positioning mechanism is disposed on the conveyor and configured to position the box at the assembly station; as well as The paper tube feeding device according to any one of claims 1-6.

8. The assembly machine according to claim 7, characterized in that, The assembly machine also includes a box feeding device, which includes: The box feeding suction cup is configured to pick up and release the box; and A box-feeding robotic arm is connected to the box-feeding suction cup and configured to drive the box-feeding suction cup to switch between a box-picking station and a box-releasing station, wherein the box-releasing station is located above the conveyor.

9. The assembly machine according to claim 7, characterized in that, The conveyor is further configured to transport the box to a pressure-holding station; the assembly machine also includes a pressure-holding device, which comprises: A pressure holding plate is disposed above the pressure holding station; and A pressure-holding cylinder is connected to the pressure-holding plate and configured to drive the pressure-holding plate to rise and fall.

10. The assembly machine according to claim 7, characterized in that, The conveyor is further configured to transport the box to a dispensing station; the assembly machine also includes a dispensing device, the dispensing device comprising: A second positioning mechanism is provided on the conveyor and configured to position the box at the dispensing station; A dispensing head is positioned above the dispensing station; and A dispensing robotic arm is connected to the dispensing head and configured to drive the dispensing head to move along a preset path.

11. The assembly machine according to claim 7, characterized in that, The conveyor is further configured to transport the box to a feeding station; the assembly machine also includes a feeding device, which comprises: The feeding suction cup is configured to pick up and release the box; and A material unloading robotic arm is connected to the material unloading suction cup and configured to drive the material unloading suction cup to switch between the material unloading station and the material storage station.

12. The assembly machine according to claim 7, characterized in that, The assembly machine also includes a waste collection container, which is located at the waste disposal station.

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