CN113844880A

CN113844880A - Connecting line transfer machine

Info

Publication number: CN113844880A
Application number: CN202111018708.6A
Authority: CN
Inventors: 李向前; 王恩报; 李兴; 刘天宇
Original assignee: Gti Tianjin Technology Development Co ltd
Current assignee: Gti Tianjin Technology Development Co ltd
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2021-12-28

Abstract

The invention relates to the technical field of manufacturing of production equipment of quartz crystal oscillators, and discloses a connecting line transfer machine, wherein a lower rack mechanism is provided with a lid basket lifting mechanism, two sides of the lid basket lifting mechanism are respectively provided with a right side stacking detection mechanism and a left side stacking detection mechanism, the rear section of the lid basket lifting mechanism is provided with a lid collecting mechanism, one side of the right side stacking detection mechanism is provided with a right bulk material supply mechanism, and one side of the left side stacking detection mechanism is provided with a left bulk material supply mechanism. According to the precise matching among the mechanisms, the functions of visual precise positioning, accurate picking of the mechanical arm, high-speed transfer, precise placement, finished product storage, finished product output and the like can be smoothly realized, and all the requirements of the process can be stably realized.

Description

Connecting line transfer machine

Technical Field

The invention relates to the technical field of manufacturing of production equipment of quartz crystal oscillators, in particular to a connecting line transfer machine.

Background

The quartz crystal oscillator, as a standard frequency source or a quartz crystal of a pulse signal source, is widely applied to the fields of communication, industrial control, security protection, smart phones, internet of things, automotive electronics, intelligent wearing, smart homes, robots, GPS, clock control and the like, and becomes an indispensable component for the electronic industry and the technological development. Based on its excellent characteristics and low cost, quartz crystal is difficult to replace by other components for a long period of time in the future. In the 20 th century and the 90 th era, the development of digital electronic technology, and modern society enter the information age. Under the promotion of strong market demands, the quartz crystal component industry is rapidly developed and grown, the application field of quartz crystals is further expanded, the prior art is low in efficiency, the accurate visual positioning is not good, the high automation performance is not achieved, and the number of defective products is large. Therefore, a person skilled in the art provides a line transfer machine to solve the problems mentioned in the background art.

Disclosure of Invention

The present invention is directed to a transfer machine for transferring a workpiece to a carrier.

In order to achieve the purpose, the invention provides the following technical scheme:

a connecting line transfer machine comprises a lower frame mechanism, an upper frame mechanism is arranged on the edge of the upper end of the lower frame mechanism, a LID basket lifting mechanism is arranged on the lower frame mechanism, a right side stacking detection mechanism and a left side stacking detection mechanism are respectively arranged on two sides of the LID basket lifting mechanism, a LID collecting mechanism is arranged at the upper end of the LID basket lifting mechanism, a right bulk material supply mechanism is arranged on one side of the right side stacking detection mechanism, a right side LID lower CCD mechanism is arranged above the right side stacking detection mechanism, a left bulk material tray mechanism is arranged on one side of the left side stacking detection mechanism, a left side LID transfer mechanism is arranged on one side above the left bulk material supply mechanism, a left bulk material tray electrostatic eliminator is arranged on one side of the left bulk material tray mechanism, a right bulk material tray electrostatic eliminator is arranged on one side of the right bulk material tray mechanism, and a left side LID transfer mechanism is arranged on one side above the left bulk material supply mechanism, a right LID transfer mechanism is arranged on one side above the right bulk material tray mechanism, a left side LID upper CCD mechanism assembly is arranged above the left bulk material tray mechanism, a right side LID upper CCD mechanism assembly is arranged above the right bulk material tray mechanism, a LID vibration tray mechanism is arranged above the LID collecting mechanism, a LID feeding detection mechanism is arranged at one end of the LID vibration tray mechanism, a PKG collecting mechanism is arranged at one end of the LID feeding detection mechanism, a PKG empty tray containing mechanism is arranged on one side of the LID feeding detection mechanism, a PKG feeding and conveying mechanism is arranged at one end of the PKG empty tray containing mechanism, a PKG lower CCD mechanism is arranged on one side of the PKG feeding and conveying mechanism, a PKG transfer mechanism is arranged at one end of the PKG lower CCD mechanism, a PKG vibration tray mechanism is arranged on one side above the PKG transfer mechanism, and a PKG feeding and conveying mechanism is arranged on the other side above the PKG transfer mechanism, the one end that PKG shakes a set mechanism is provided with PKG pan feeding detection mechanism, PKG feed conveying mechanism's one end is provided with PKG charging tray steering mechanism, one side that PKG charging tray steering mechanism is provided with PKG feed hand-basket mechanism, and PKG charging tray steering mechanism's one end is provided with PKG pan feeding delivery track mechanism, PKG pan feeding detection mechanism's one end is provided with apron and moves the mechanism, one side that the apron moved the mechanism is provided with apron feed bin mechanism, and the one end that the apron moved the mechanism is provided with PKG and accomodates transport mechanism, the one end that the transport mechanism was accomodate to PKG is provided with finished product charging tray steering mechanism, one side that finished product charging tray steering mechanism is provided with finished product hand-basket mechanism, one side that finished product hand-basket mechanism is provided with finished product output mechanism.

As a still further scheme of the invention: the right bulk material feeding mechanism and the left bulk material feeding mechanism are of the same structure, the right bulk material feeding mechanism and the left bulk material feeding mechanism comprise supporting units, a bulk material disc assembly, a bulk material disc pressing jig, a bulk material feeding mechanism driving unit, two bulk material feeding mechanism supporting units are fixed on a lower rack base plate through bolts, the bulk material feeding mechanism driving unit is fixed on the bulk material feeding mechanism supporting unit, the bulk material feeding mechanism driving unit drives the bulk material disc pressing jig to move axially, and the bulk material disc assembly is a detachable part and is fixed in the bulk material disc pressing jig.

As a still further scheme of the invention: the CCD mechanism assembly on the left side lid and the CCD mechanism assembly on the right side lid are of the same structure, a CCD assembly driving unit on the left side lid and a CCD assembly driving unit on the right side lid are respectively arranged on the CCD mechanism assembly on the left side lid and the CCD mechanism assembly on the right side lid, and the CCD assembly driving unit on the left side lid and the CCD assembly driving unit on the right side lid are fixed on the upper vision supporting unit.

As a still further scheme of the invention: the left side LID transfer mechanism and the right side LID transfer mechanism are of the same structure and respectively comprise a transfer mechanism supporting unit, a defective product containing assembly, a left side transfer mechanical arm mechanism, a transfer driving shaft and a right side transfer mechanical arm mechanism, the left side LID transfer mechanism and the right side LID transfer mechanism are fixed on the lower rack mechanism through supporting units through screws, the transfer driving shaft is installed on the transfer mechanism supporting unit, and the transfer driving shaft drives the left side transfer mechanical arm mechanism and the right side transfer mechanical arm mechanism to move left and right through a linear motor.

As a still further scheme of the invention: the left side lid lower CCD mechanism and the right side lid lower CCD mechanism comprise a lower visual support unit, a lower camera component and a lower light source component, the lower visual support unit is fixed on a bottom plate of the lower rack mechanism, and the lower camera component and the lower light source component are fixed on the lower visual support unit.

As a still further scheme of the invention: the right side is folded material detection mechanism and is folded material detection mechanism in the left side and all include folding material detection mechanism supporting element, fold material and detect the camera, and the light source subassembly is folded material detection mechanism supporting element and is fixed on lower frame mechanism bottom plate, folds material and detect the camera, and the light source subassembly is fixed on folding material detection mechanism supporting element through a mounting panel.

As a still further scheme of the invention: the lid basket mechanism comprises a basket mechanism fixing component, a basket detection sensor, a basket movement driving unit, a charging tray extending out of the sensor, a charging tray in-place detection sensor, the basket mechanism fixing component is fixed below a lower rack large bottom plate through a bolt, the basket movement driving unit is connected with the basket mechanism fixing component, the basket detection sensor is arranged on a driving plate capable of contacting the basket, and the basket can be replaced. The tray extending sensor and the tray in-place detection sensor are arranged on the handstand supporting unit.

As a still further scheme of the invention: collect mechanism power component, get a set layer board, charging tray presss from both sides tight layer board, charging tray die clamping cylinder, the position detection subassembly of falling hand, the position detection of the back falling hand, back set subassembly of pushing away, the position of falling hand, character recognition camera, the station is placed to the finished product, the position support unit of falling hand, on collecting mechanism power component installation chassis mechanism bottom plate, it is whole by getting a set layer board to accomodate the subassembly, charging tray presss from both sides tight layer board, charging tray die clamping cylinder, back set subassembly is constituteed. The hand position detection assembly is arranged on the bottom plate of the lower rack mechanism and used for detecting the rear hand position and is arranged on one side of the storage assembly. The finished product placing station is arranged on the bottom plate of the lower frame mechanism. The hand-reversing supporting unit supports the hand-reversing station and the character recognition camera to be installed on the bottom plate of the lower frame mechanism.

As a still further scheme of the invention: CCD feeding detection mechanisms are arranged on the lid feeding detection mechanism and the PKG feeding detection mechanism respectively, each CCD feeding detection mechanism comprises a detection mechanism supporting unit, a detection mechanism driving unit and a camera detection assembly, the detection mechanism supporting unit is fixed on the lower rack bottom plate, the detection mechanism driving unit is fixed on the detection mechanism supporting unit, and the camera detection assembly is installed on the detection mechanism driving unit.

As a still further scheme of the invention: the PKG feeding and conveying track mechanism comprises a conveying track supporting unit, a conveying track power unit, a track starting sensor and a track stopping sensor, the whole mechanism is built by adopting sectional materials, and the conveying track supporting unit supports the whole mechanism and is installed on a bottom plate of a lower rack mechanism. The track start sensor is installed on the inner side of the conveying track supporting unit through a motor fixing piece, and the track stop sensor is fixed at the rear end of the conveying track supporting unit through a metal plate.

As a still further scheme of the invention: PKG feed hand-basket mechanism includes hand-basket drive unit, hand-basket mechanism supporting component, hand-basket PMKD, the hand-basket has or not to detect the sensor, output track support piece, output unit, standby sensor, output track drive unit, there is or not to detect the sensor current layer, the charging tray is visited out and is detected the sensor, PKG feed hand-basket mechanism passes through hand-basket mechanism supporting component and fixes in the lower frame bottom plate below, hand-basket drive unit is responsible for the drive, it carries out the up-and-down motion to drive hand-basket PMKD, the hand-basket has or not to detect the sensor and fixes the one side position at hand-basket PMKD. The lifting basket is placed on the lifting basket fixing bottom plate. The output unit is supported above the jacking mechanism and inside the lifting basket by the output rail supporting piece. The standby sensor, the standby sensor and the output track driving unit are arranged on a machined part to form an output unit, the detection sensor is arranged on the current layer, the material tray extending-out detection sensor is arranged on two vertical plates, and the vertical plates are fixed on a bottom plate of the lower rack mechanism.

As a still further scheme of the invention: the PKG charging tray steering mechanism comprises a PKG charging tray steering mechanism supporting assembly, a conveying track power assembly, a track rotating power assembly, a charging tray in-place sensor, a charging tray detection sensor and a conveying track starting sensor, wherein the PKG charging tray steering mechanism supporting assembly is fixed on a lower rack bottom plate, the whole mechanism is supported, the track rotating power assembly is fixed on the PKG charging tray steering mechanism supporting assembly through a machined part, the conveying track power assembly, the charging tray in-place sensor and the charging tray detection sensor are arranged, and the conveying track starting sensor is assembled together through the machined part to form a charging tray conveying track.

As a still further scheme of the invention: the PKG feeding and conveying mechanism comprises a conveying track supporting unit, a conveying track power unit, a material tray presence or absence detection sensor and a material tray in-place detection sensor, the whole mechanism is built by adopting sectional materials, and the conveying track supporting unit supports the whole mechanism and is installed on a bottom plate of a lower rack mechanism. The detection sensor is arranged on the inner side of the conveying track supporting unit, and the material tray in-place detection sensor is fixed at the rear end of the conveying track supporting unit through a metal plate.

As a still further scheme of the invention: PKG feed transport mechanism includes feed transport drive unit, gets the tray layer board, colludes a set locating pin, colludes a set locating piece, cylinder about the tray, cylinder around the locating pin, the charging tray has or not to detect the sensor, track elasticity limit, track location limit, feed transport drive unit installs on lower rack mechanism bottom plate, gets the tray layer board, colludes a set locating pin, colludes a set locating piece, cylinder about the tray, cylinder installation is in the same place around the locating pin, the constitution transport drags the subassembly. The rail elastic edge and the rail positioning edge are arranged on the bottom plate of the lower rack mechanism through the hexagonal prism and are arranged on two sides of the feeding, carrying and driving unit. The tray presence or absence detection sensor is arranged on one side of the elastic edge of the track;

the PKG transfer mechanism comprises a transfer manipulator mechanism, a transfer driving unit and PKG transfer supports, wherein the two PKG transfer supports are arranged on a bottom plate of the lower rack mechanism, the transfer driving unit is arranged on the PKG transfer supports, and the transfer manipulator mechanism is arranged on the transfer driving unit.

As a still further scheme of the invention: the lower CCD mechanism of the PKG comprises a lower visual support unit, a lower camera assembly and a lower light source assembly, wherein the lower visual support unit is fixed on a bottom plate of the lower rack mechanism, and the lower camera assembly and the lower light source assembly are fixed on the lower visual support unit.

As a still further scheme of the invention: the PKG empty tray accommodating mechanism comprises a jacking driving unit, an empty tray accommodating mechanism supporting piece and an empty tray accommodating lifting basket, whether a material tray exists on the current layer or not is detected, the material tray extends out of a detection sensor, and the empty tray accommodating mechanism supporting piece supports the whole mechanism and is fixed below a bottom plate of the lower rack. The empty tray is accommodated in the lifting basket and is placed at the position of the jacking upper plate for disassembling the lifting basket. Whether the current layer has the charging tray to detect, the charging tray is stretched out and is detected and install on a machined part, fixes on lower rack mechanism bottom plate.

As a still further scheme of the invention: the PKG collecting mechanism comprises a PKG collecting mechanism driving unit, a collecting disc supporting plate cylinder, a collecting disc clamping supporting plate, a collecting mechanism back pushing block, a collecting disc upper positioning plate, a collecting disc supporting plate, a hand reversing assembly, a finished product hand reversing track, a material disc detecting sensor or not, a PKG collecting mechanism driving unit is fixed on a lower rack mechanism bottom plate, a collecting assembly is installed above the PKG collecting mechanism driving unit and is composed of the collecting disc supporting plate cylinder, the collecting disc clamping supporting plate, the collecting mechanism back pushing block, a material disc upper positioning plate, the collecting disc supporting plate is built through being combined with a machined part, the hand reversing assembly is directly fixed on the lower rack mechanism bottom plate and is installed at the head end and the tail end of the PKG collecting mechanism driving unit. Finished product handstand track has or not charging tray to detect the sensor, and handstand track has or not charging tray to detect the sensor and passes through the sheet metal component to be fixed in one side of receiving mechanism.

As a still further scheme of the invention: the cover plate transfer mechanism comprises a cover plate transfer mechanism supporting unit, a cover plate transfer mechanism driving unit, a feed detection light source, a feed detection camera assembly, a cover plate carrying assembly, a cover plate adsorption assembly, a cover plate carrying air cylinder and a positioning pin, wherein the cover plate transfer mechanism supporting unit is installed on a lower rack bottom plate, the cover plate transfer mechanism driving unit and an ultra-flat aluminum plate are installed on the cover plate transfer mechanism supporting unit, one side of the cover plate transfer mechanism driving unit is the feed detection camera assembly, and the other side of the cover plate transfer mechanism driving unit is the cover plate carrying assembly. The cover plate adsorption assembly is combined with the cover plate carrying cylinder through the positioning pin matched with some machined parts to form the cover plate carrying assembly.

The PKG storage and transportation mechanism comprises a finished product transportation driving assembly, a material tray clamping cylinder, a tray upper-lower cylinder, a tray taking supporting plate, a rail supporting column, a rail assembly, a reverse pushing plate assembly and a finished product transportation driving assembly, wherein the finished product transportation driving assembly is fixed on a bottom plate of a lower rack mechanism. The material tray clamping cylinder, the tray upper and lower cylinders, the tray taking tray, the hand reversing and pushing tray assembly and the machined part are matched to form the finished product carrying assembly. The track assembly is installed on lower rack mechanism bottom plate with 4 track support columns.

As a still further scheme of the invention: the cover plate storage bin mechanism comprises a cover plate storage bin mechanism supporting assembly, an upper top plate and a cover plate storage bin driving assembly, wherein the cover plate is provided with or not provided with a detection sensor, the cover plate is in place with the detection sensor, the cover plate is tilted to detect the sensor, the cover plate storage bin mechanism supporting assembly is fixed on a lower rack bottom plate, the upper top plate is provided with or not provided with a detection sensor, the cover plate is in place with the detection sensor, and the cover plate is tilted to detect the sensor and is arranged at each position of the jacking mechanism.

As a still further scheme of the invention: the finished material tray steering mechanism comprises a steering mechanism supporting assembly, a rail rotating power assembly, a conveying rail power assembly, a material tray in-place detection sensor, a material tray detection sensor, a conveying rail starting sensor, a steering mechanism supporting assembly, a whole mechanism and a rail rotating power assembly, wherein the material tray detection sensor is arranged on the material tray, the conveying rail starting sensor is arranged on the material tray, the steering mechanism supporting assembly is fixed on a lower rack bottom plate, and the rail rotating power assembly is fixed on the steering mechanism supporting assembly through a machined part. The conveying track power assembly, the material tray in-place detection sensor, the material tray whether have detection sensor, the conveying track start sensor assembles together through the machined part, constitutes the material tray conveying track.

As a still further scheme of the invention: finished product hand-basket mechanism includes finished product hand-basket mechanism supporting element, climbing mechanism power component, the hand-basket fixed plate, the hand-basket has or not to detect the sensor, delivery track supporting element, charging tray delivery unit, the charging tray sensor that targets in place, current position charging tray has or not the sensor, delivery track power component, there is or not charging tray to detect the sensor current layer, the charging tray pops out the detection sensor, whole finished product hand-basket mechanism is supported to finished product hand-basket mechanism supporting element, fix below lower frame bottom plate, climbing mechanism power component, the hand-basket fixed plate, the hand-basket has or not to detect other parts of sensor cooperation, constitute climbing mechanism. The lifting basket is a detachable part and is manually placed on the lifting basket fixing plate. The conveying track supporting unit supports the material lifting disc conveying unit and is installed on the jacking mechanism fixing plate. The tray is in place the sensor, and the current position charging tray has or not sensor, and the conveying track power component cooperates some parts and assembles charging tray conveying unit. Whether there is a charging tray detection sensor in the current layer, the charging tray stretches out detection sensor and installs in sensor support side, and the support is fixed on the bottom plate.

As a still further scheme of the invention: the finished product output mechanism comprises a finished product output track supporting unit, an output track power assembly, a material tray in-place detection sensor and a material tray detection sensor, the whole mechanism is built by adopting sectional materials, the finished product output track supporting unit supports the whole mechanism, the output track power assembly is installed inside the sectional materials, the material tray in-place detection sensor is fixed at the tail end of the output track, and the material tray detection sensor is fixed in the middle of the mechanism.

Compared with the prior art, the invention has the beneficial effects that:

the line moves and carries the machine, and material loading and unloading adopt the line delivery track to connect different boards, improve board efficiency greatly, reduce artifical loss. According to the precise matching among the mechanisms, the functions of visual precise positioning, accurate picking of the mechanical arm, high-speed transfer, precise placement, finished product storage, finished product output and the like can be smoothly realized, and all the requirements of the process can be stably realized.

The invention has wide practicability, compact structure and high cost performance, can be compatible with different models, and the development of the equipment technology can be widely applied to other products in the crystal industry, thereby playing a good promoting role in national autonomous production.

Drawings

FIG. 1 is a schematic structural view of a line transfer machine;

FIG. 2 is a schematic structural diagram of an upper frame mechanism and a lower frame mechanism of a connecting line transfer machine;

FIG. 3 is a schematic structural view of a bulk material supply mechanism in an inline transfer machine;

FIG. 4 is a schematic structural view of a CCD mechanism assembly on a lid in a line transfer machine;

FIG. 5 is a schematic diagram of a LID transfer mechanism in an inline transfer machine;

FIG. 6 is a schematic structural view of a CCD mechanism under lid in a line transfer machine;

FIG. 7 is a schematic structural view of a stacking detection mechanism in an inline transfer machine;

FIG. 8 is a schematic structural view of a lid basket lifting mechanism in the on-line transfer machine;

FIG. 9 is a schematic view of the power assembly of the take-up mechanism of the inline transfer machine;

FIG. 10 is a schematic structural view of a front CCD feeding detection mechanism in a line transfer machine;

FIG. 11 is a schematic structural view of a PKG feed conveying track mechanism in an inline transfer machine;

fig. 12 is a schematic diagram of a PKG feeding basket mechanism in an inline transfer machine (structure;

FIG. 13 is a schematic structural view of a PKG tray steering mechanism in an on-line transfer machine;

FIG. 14 is a schematic view of a PKG feed conveyor mechanism in an inline transfer machine;

FIG. 15 is a schematic view of a PKG feed handling mechanism in an inline transfer robot;

FIG. 16 is a schematic structural view of a PKG transfer mechanism in an in-line transfer machine;

FIG. 17 is a schematic view of a PKG feed conveyor mechanism in an inline transfer vehicle;

FIG. 18 is a schematic structural view of a PKG empty tray storage mechanism in an inline transfer machine;

FIG. 19 is a schematic view of a PKG collecting mechanism in an inline transfer machine;

FIG. 20 is a schematic view of a cover plate transfer mechanism of the on-line transfer machine;

FIG. 21 is a schematic view of a PKG receiving and transporting mechanism in an inline transfer robot;

FIG. 22 is a schematic structural view of a cover plate bin mechanism in an inline transfer machine;

FIG. 23 is a schematic view of a steering mechanism of a product tray in a line transfer machine;

FIG. 24 is a schematic structural view of a basket lifting mechanism in an inline transfer machine;

fig. 25 is a schematic structural view of a product discharge mechanism in the inline transfer machine.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 25, in an embodiment of the present invention, a line transfer machine includes a lower rack mechanism 3001, an upper rack mechanism 3002 is disposed at an upper end edge of the lower rack mechanism 3001, and a lid basket mechanism 1004 is disposed on the lower rack mechanism 3001, a right side stacking detection mechanism 1002 and a left side stacking detection mechanism 1005 are disposed at two sides of the lid basket mechanism 1004, respectively, a lid collecting mechanism 1003 is disposed at an upper end of the lid basket mechanism 1004, a right bulk material supply mechanism 1001 is disposed at one side of the right side stacking detection mechanism 1002, a right side lid CCD mechanism 1031 is disposed above the right side stacking detection mechanism 1002, a left bulk material tray mechanism 1006 is disposed at one side of the left side stacking detection mechanism 1006, a left side lid CCD mechanism 1008 is disposed above the left side stacking detection mechanism 1002, a left side bulk material tray electrostatic eliminator 1007 is disposed at one side of the left bulk material tray mechanism 1006, a right bulk material tray electrostatic eliminator 1032 is disposed at one side of the right bulk material tray mechanism 1001, a left LID transfer mechanism 1009 is arranged on one side above the left bulk material supply mechanism 1006, a right LID transfer mechanism 1030 is arranged on one side above the right bulk material tray mechanism 1001, a left LID upper CCD mechanism component 1010 is arranged on the upper side of the left bulk material supply mechanism 1006, a right LID upper CCD mechanism component 1029 is arranged on the upper side of the right bulk material tray mechanism 1001, a LID vibration tray mechanism 1028 is arranged on the upper side of the LID collection mechanism 1003, a PKG collection mechanism 1026 is arranged on the upper side of the LID vibration tray mechanism 1028, a LID feeding detection mechanism 1027 is arranged on the upper side of the PKG collection mechanism 1026, a PKG empty tray collection mechanism 1011 is arranged on one side of the LID feeding detection mechanism 1027, a PKG feeding and conveying mechanism 1013 is arranged on one end of the PKG empty tray collection mechanism 1011, a PKG lower CCD mechanism 1012 is arranged on one side of the PKG feeding and conveying mechanism 1013, and a PKG feeding detection mechanism 1023 is arranged on the upper side of the PKG feeding and conveying mechanism 1013, a PKG transfer mechanism 1025 is arranged at one end of the PKG lower CCD mechanism 1012, a PKG vibration tray mechanism 1024 is arranged at one side above the PKG transfer mechanism 1025, a PKG feeding and conveying mechanism 1014 is arranged at the other side above the PKG transfer mechanism 1025, a PKG feeding and detecting mechanism 1023 is arranged at one end of the PKG vibration tray mechanism 1024, a PKG tray steering mechanism 1016 is arranged at one end of the PKG feeding and conveying mechanism 1014, a PKG feeding and lifting basket mechanism 1015 is arranged at one side of the PKG tray steering mechanism 1016, a PKG feeding and conveying track mechanism 1017 is arranged at one end of the PKG tray steering mechanism 1016, a cover plate transfer mechanism 1018 is arranged at one end of the cover plate transfer mechanism 1018, a cover plate bin mechanism 1022 is arranged at one side of the cover plate transfer mechanism 1018, a PKG receiving and conveying mechanism 1033 is arranged at one end of the cover plate receiving and conveying mechanism 1018, a finished product tray steering mechanism 1039 is arranged at one end of the PKG receiving and conveying mechanism 1013, a finished product basket mechanism 1020 is arranged on one side of the finished product tray steering mechanism 1019, and a finished product output mechanism 1021 is arranged on one side of the finished product basket mechanism 1020.

The right bulk cargo feed mechanism and the left bulk cargo feed mechanism are of the same structure, the right bulk cargo feed mechanism and the left bulk cargo feed mechanism comprise supporting units 4001, a bulk cargo disk assembly 4002, a bulk cargo disk pressing jig 4003, a bulk cargo feed mechanism driving unit 4004, the two bulk cargo feed mechanism supporting units 4001 are fixed on a lower rack base plate through bolts, the bulk cargo feed mechanism driving unit 4004 is fixed on the bulk cargo feed mechanism supporting unit 4001, the bulk cargo feed mechanism driving unit 4004 drives the bulk cargo disk pressing jig 4003 to move axially, the bulk cargo disk assembly 4002 is a detachable part and is fixed in the bulk cargo disk pressing jig 4003, the bulk cargo is uniformly poured on the bulk cargo disk assembly 4002 manually, and a lid product is provided for a machine table. The drive unit 4004 of the bulk material supply mechanism is composed of a high-precision module driven by a servo motor, and carries a specially processed bulk material disc assembly 4002 to move back and forth. CCD mechanism subassembly 1010 discernment location on the LID of left side, left side LID moves and carries manipulator mechanism 1009 and can get the material, places in LID collecting mechanism 1003, and the screening material is carried out after the circulation of path once to bulk cargo feed mechanism, discerns the action of picking up again behind the screening material, all picks up the product in the bulk cargo dish and receive in the mechanism, and the time of the reducible manual handling board of the action of screening material.

CCD mechanism component 1010 on the left side lid and CCD mechanism component 1029 on the right side lid are of the same structure, CCD assembly driving unit 5002 on the left side lid and CCD assembly driving unit 5004 on the right side lid are fixed on upper vision supporting unit 5001, CCD assembly driving unit 5002 on the left side lid and CCD assembly driving unit 5004 on the right side lid drive CCD mechanism component 1010 on the left side lid and CCD mechanism component 1029 on the right side lid to collect the bulk cargo positions on left bulk cargo disk mechanism 1006 and right bulk cargo disk mechanism 1001 mechanism, position the product, and output to the control system.

The left side LID transfer mechanism 1009 and the right side LID transfer mechanism 1030 are of the same structure and respectively comprise a transfer mechanism supporting unit 6001, a defective product storage assembly 6002, a left side transfer manipulator mechanism 6003, a transfer driving shaft 6004, a right side transfer manipulator mechanism 6005, a left side LID transfer mechanism 1009 and a right side LID transfer mechanism 1030 which are fixed on a lower rack mechanism through screws by the supporting unit 6001, a transfer driving shaft 6004 which is arranged on the transfer mechanism supporting unit 6001, the transfer driving shaft 6004 drives the left side transfer manipulator mechanism 6003 and the right side transfer manipulator mechanism 6005 to move left and right by using a linear motor, a CCD mechanism assembly 1010 on the left side LID takes a picture of a product on the left bulk material tray mechanism 1006, after the position is determined, the transfer driving shaft 6004 drives the left side transfer manipulator mechanism 6003 to take the material, the picture is taken by the CCD mechanism 1008 and the left side stacking detection mechanism 1005 under the left side LID, and the angle and the position and whether the stacking material is stacked material are determined, the transfer drive shaft 6004 and the lid take-up mechanism 1003 compensate the product placement position, and after the position is determined, the left transfer robot mechanism 6003 places the product on the tray of the lid take-up mechanism 1003. The right side is the same as the left side. If the CCD mechanism under the lid or the left-side stacking detection mechanism 1005 does not identify the product, the product is placed into a defective product storage assembly.

The left side lid lower CCD mechanism and the right side lid lower CCD mechanism comprise lower visual support units 7001, lower camera assemblies 7002 and lower light source assemblies 7003, the lower visual support units 7001 are fixed on the lower frame mechanism base plate, the lower camera assemblies 7002 and the lower light source assemblies 7003 are fixed on the lower visual support units 7001, images collected by the lower camera assemblies 7002 can be quickly and accurately visually captured, deviation values are output, and the lower light source assemblies 7003 are matched with the lower camera assemblies 7002 for capturing images in the process.

The right side is folded material detection mechanism and is all including folding material detection mechanism supporting unit 8001 with left side and fold material detection mechanism, fold material detection camera 8002, light source subassembly 8003, fold material detection mechanism supporting unit 8001 and fix on lower frame mechanism bottom plate, fold material detection camera 8002, light source subassembly 8003 is fixed on fold material detection mechanism supporting unit 8001 through a mounting panel, the image that will fold material detection camera 8002 and gather fast carries out the analysis, judge whether fold the material, in this process, light source subassembly 8003 cooperates below camera subassembly 1202 to carry out work.

The lid basket mechanism 1004 comprises a basket mechanism fixing component 9001, a basket 9002, a basket detection sensor 9003, a basket movement driving unit 9004, a charging tray extending sensor 9005, a charging tray in-place detection sensor 9006, a basket mechanism fixing component 9001 is fixed below a lower frame large bottom plate through bolts, the basket movement driving unit 9004 is connected with the basket mechanism fixing component 9001, the basket detection sensor 9003 is arranged on a driving plate capable of contacting the basket 9002, and the basket 9002 is a replaceable basket capable of being taken down. Charging tray detecting sensor 9005, charging tray in-place detecting sensor 9006 is installed on handstand supporting unit 6011, basket motion driving unit 9004 drives lifting basket 9002 component to do vertical motion, the lifting basket rises to the first layer, when charging tray in lifting basket 9002 is detected by charging tray in-place detecting sensor 9006, lid collecting mechanism 1003 takes out the charging tray on the current layer in the lifting basket, the lifting basket stops, waiting for lid collecting mechanism 1003 to move, when the current charging tray is completed, lid collecting mechanism 1003 reaches a specified safety position, lifting basket 9002 continues to move to the next layer again, the repeated action is performed, at the moment, charging tray detecting sensor 9005 can detect the charging tray in a specific time point, once the charging tray is detected to pop out, the machine will halt to alarm, and prompt an operator to perform manual intervention.

Collect mechanism power component 10001, get a set tray 10002, the charging tray presss from both sides tight tray 10003, charging tray die clamping cylinder 10004, the position of falling the hand detection component 10005, the position of falling the hand in rear detects 10006, back pushing tray subassembly 10007, the position of falling the hand 10008, character recognition camera 10009, station 10010 is placed to the finished product, the support unit 10011 of falling the hand, collect mechanism power component 10001 and install on the lower rack mechanism bottom plate, it is whole by getting a set tray 10002 to accomodate the subassembly, charging tray presss from both sides tight tray 10003, charging tray die clamping cylinder 10004, back pushing tray subassembly 10007 is constituteed. The hand position detection module 10005, the back hand position detection module 10006 are installed on the bottom plate of the lower frame mechanism, on one side of the storage module. The finished product placement station 10010 is mounted on a bottom plate of the lower frame mechanism. The hand-reversing support unit 10011 supports the hand-reversing station 10008 and the character recognition camera 10009, and is installed on the bottom plate of the lower frame mechanism. The collecting mechanism power assembly 10001 drives the collecting assembly to move forwards, the collecting tray 10002 extends into the lid basket mechanism 1004, the tray clamping cylinder 10004 rises to drive the collecting tray 10002 to support a tray in the lid basket mechanism 1004, the collecting mechanism power assembly 10001 drives the collecting assembly to move backwards, the collecting tray 10002 drives the tray to move backwards, the tray reaches the position above the handstand station 10008, the handstand tray clamping cylinder 10004 descends, the collecting tray 10002 places the tray on the handstand station 10008, the collecting mechanism power assembly 10001 drives the collecting assembly to move forwards again, the tray clamping plate 10003 clamps the tray on the handstand station 10008, the clamped character identifies the character on the tray by the collecting camera 10009, the character identification is successful, and the collecting mechanism power assembly 10001 drives the whole mechanism to move backwards to a designated position. If the character recognition is unsuccessful, the mechanism acts reversely, the material tray is put back into the lifting basket, and a new tray is taken out. When the tray is filled with lid products by the manipulator mechanism, the collecting mechanism power assembly 10001 drives the collecting assembly to move backwards to the position above the finished product placing station 10010, the tray clamping cylinder 10004 descends to drive the tray clamping supporting plate 10003 to move downwards, and the tray is placed on the finished product placing station 10010. The collecting mechanism power assembly 10001 drives the whole mechanism to move forwards again until the back push tray assembly 10007 is arranged in front of the material tray, the material tray clamping cylinder 10004 rises to drive the back push tray assembly 10007 to rise, the collecting mechanism power assembly 10001 drives the whole mechanism to move backwards, the back push tray assembly 10007 pushes the material tray to push the material tray above the lid vibration tray mechanism 1028, and the action is completed at the moment. Then, the disk is taken again and the operation is repeated.

The lid feeding detection mechanism 1027 comprises a detection mechanism supporting unit 1201, a detection mechanism driving unit 1202 and a camera detection assembly 1203, wherein the detection mechanism supporting unit 1201 is fixed on the bottom plate of the lower rack, the detection mechanism driving unit 1202 is fixed on the detection mechanism supporting unit 1201, the camera detection assembly 1203 is installed on the detection mechanism driving unit 1202, after a tray in the lid shaking mechanism is taken out by a PKG collecting mechanism 1026, the PKG collecting mechanism 1026 moves in cooperation with the front CCD feeding detection mechanism to detect and position each product on the tray, and a discharge position is determined for the PKG transfer mechanism 1025.

The PKG feeding and conveying track mechanism 1017 comprises a conveying track supporting unit 1301, a conveying track power unit 1302, a track starting sensor 1303 and a track stopping sensor 1304, wherein the whole mechanism is built by sectional materials, and the conveying track supporting unit 1301 supports the whole mechanism and is installed on a bottom plate of a lower rack mechanism. The feeding track power unit 1302, the track start sensor 1303 passes through the motor fixing part and is installed on the inner side of the feeding track supporting unit 1301, the track stop sensor 1304 is fixed at the rear end of the feeding track supporting unit 1301 through a metal plate, the track start sensor 1303 detects that a material tray is conveyed from the front end of the mechanism, the feeding track power unit 1302 is started to drive a belt to convey the material tray, when the material tray is conveyed to the position above the track stop sensor 1304, the feeding track power unit 1302 stops, the material tray is stopped above the track, and when a follow-up mechanism needs to supply the material tray, the feeding track power unit 1302 is started to convey the material tray to the PKG material tray steering mechanism 1016.

The PKG feeding basket mechanism 1015 comprises a basket driving unit 1401, a basket mechanism supporting assembly 1402, a basket fixing bottom plate 1403, a basket presence or absence detection sensor 1404, an output rail supporting member 1405, an output unit 1406, a standby sensor 1407, a standby sensor 1408, an output rail driving unit 1409, a current layer presence or absence detection sensor 1410, a material tray is detected out from a detection sensor 1411, the PKG feeding basket mechanism is fixed below the lower frame bottom plate 1401 through the basket mechanism supporting assembly 1402, the basket driving unit is responsible for driving, the basket fixing bottom plate 1403 is driven to move up and down, and the basket presence or absence detection sensor 1404 is fixed at one side position of the basket fixing bottom plate 1403. The basket is placed on the basket securing floor 1403. The output unit 1406 is supported above the jacking mechanism, inside the basket, by means of the output rail support 1405. Spare sensor 1407, spare sensor 1408, output track drive unit 1409 is installed on a machined part, constitute output unit 1406, there is detection sensor 1410 in the current layer, the charging tray stretches out detection sensor 1411 and installs on two risers, the riser is fixed on lower rack mechanism bottom plate, when the line moves the machine start single-machine mode of carrying, this basket is adopted in the PKG charging tray feeding, the manual work is placed the charging tray in the basket, place the basket on basket fixed bottom plate 1403 again, basket has detection sensor 1404 to carry out once earlier at this moment, ensure that the basket is correct to have placed on climbing mechanism. The basket driving unit 1401 drives the basket to move, when the basket moves to a specified height, the current layer presence detection sensor 1410 detects whether a material tray exists on the current layer in the basket, if the material tray exists, the output unit 1406 drives a belt by the output track driving unit 1409 to drive the material tray on the current layer to be output outwards until the material tray is output to the PKG material tray steering mechanism 1016, the output track driving unit 1409 stops driving, and the basket moves to the next layer to wait for the material tray request of the machine table. And repeating the action after the requirement is met.

The PKG tray steering mechanism 1016 comprises a PKG tray steering mechanism supporting assembly 1501, a conveying track power assembly 1502, a track rotating power assembly 1503, a tray in-place sensor 1504, a tray existence detection sensor 1505 and a conveying track starting sensor 1506, wherein the PKG tray steering mechanism supporting assembly 1501 is fixed on a bottom plate of a lower rack and supports the whole mechanism, the track rotating power assembly 1503 is fixed on the PKG tray steering mechanism supporting assembly 1501 through a machined part, the conveying track power assembly 1502, the tray in-place sensor 1504, the tray existence detection sensor 1505 and the conveying track starting sensor 1506 are assembled together through the machined part to form a tray conveying track. When the machine station adopts a connection mode, the whole track does not rotate, only the function of tray conveying is used, the conveying mechanism receives a tray conveyed by the PKG feeding conveying mechanism 1017, the conveying track starting sensor 1506 senses that the tray is started by the conveying track power assembly 1502, the tray is received, when the tray moves to the upper part of the mechanism and the tray in-place sensor 1504 detects the tray, the conveying track power assembly 1502 stops, and whether the tray is conveyed to the PKG feeding conveying mechanism 1014 or not is judged according to the situation. When the machine station adopts a single machine mode, a conveying mechanism needs to rotate 90 degrees firstly, a track rotating power assembly 1503 drives an upper conveying track to rotate and stops after the upper conveying track is in place, a material tray conveyed by a PKG feeding basket lifting mechanism 1015 is waited to be received, after the material tray starts to be conveyed, a conveying track starting sensor 1506 senses the material tray, then a conveying track power assembly 1502 starts to receive the material tray, when the material tray moves to the upper part of the mechanism, and a material tray in-place sensor 1504 detects the material tray, the conveying track power assembly 1502 stops, then the track rotating power assembly 1503 drives the conveying track to rotate 90 degrees in the opposite direction again, the conveying track stops after the material tray is in place, and whether the material tray is conveyed to a PKG feeding conveying mechanism 1014 or not is judged according to the situation.

The PKG feeding and conveying mechanism comprises a conveying track supporting unit 1601, a conveying track power unit 1602, a tray presence or absence detection sensor 1603 and a tray in-place detection sensor 1604, the whole mechanism is built by section bars, and the conveying track supporting unit 1601 supports the whole mechanism and is installed on a bottom plate of a lower rack mechanism. The device comprises a conveying track power unit 1602, a tray presence detection sensor 1603 is installed on a motor fixing part and is installed on the inner side of a conveying track supporting unit 1601, a tray in-place detection sensor 1604 is fixed at the rear end of the conveying track supporting unit 1601 through a metal plate, when the tray presence detection sensor 1603 detects that no tray exists, a PKG tray steering mechanism 1016 is waited to convey a tray to the device, when the PKG tray steering mechanism 1016 is started, the conveying track power unit 1602 is started simultaneously, the tray is conveyed to a track, when the tray in-place detection sensor 1604 detects the tray, the conveying track power unit 1602 stops, and the PKG supply conveying mechanism 1013 is waited to take the tray away. The PKG feed transport mechanism 1013 takes away the trays on the rails, detects the presence or absence of a tray when the tray presence or absence detection sensor 1603 detects the absence of a tray, sends the tray request to the front-end mechanism, waits for the PKG tray steering mechanism 1016 to convey the tray to the mechanism, and repeats the operation.

The PKG feeding and conveying mechanism 1014 comprises a feeding and conveying driving unit 1701, a tray taking supporting plate 1702, a tray hooking positioning pin 1703, a tray hooking positioning block 1704, a tray up-down cylinder 1705, a positioning pin front-back cylinder 1706, a tray presence or absence detection sensor 1707, a rail elastic edge 1708 and a rail positioning edge 1709, wherein the feeding and conveying driving unit 1701 is installed on a bottom plate of a lower rack mechanism, the tray taking supporting plate 1702, the tray hooking positioning pin 1703, the tray hooking positioning block 1704, the tray up-down cylinder 1705 and the positioning pin front-back cylinder 1706 are installed and combined together to form a conveying and dragging assembly. The rail elastic side 1708 and the rail positioning side 1709 are mounted on the lower chassis base plate on both sides of the feed transport drive unit 1701 by a hexagonal prism. A tray presence detection sensor 1707 is mounted on one side of the elastic edge 1708 of the track; the feeding and carrying driving unit 1701 drives the carrying dragging assembly to drive the tray-taking supporting plate 1702 to enable the dragging barrier on the supporting plate to be positioned in front of the material tray, then the tray upper and lower air cylinders 1705 push upwards, the dragging barrier drags the PKG material tray on the PKG feeding and conveying mechanism 1014 forwards to move, and the material tray is dragged to the middle of the positioning rail, namely the rail elastic edge 1708 and the rail positioning edge 1709 to be clamped and positioned. Then the tray up-down cylinder 1705 descends, the feeding and carrying driving unit 1701 drives the carrying dragging assembly to move backwards, the tray up-down cylinder 1705 pushes upwards to enable the tray hooking positioning pin 1703 to be inserted into the inherent hole position on the tray, the positioning pin front-back cylinder 1706 retracts, the tray hooking positioning pin 1703 and the tray hooking positioning block 1704 are used for clamping one degree of freedom of the tray, and at the moment, the horizontal degree of freedom of the tray on the track is limited, so that the positioning is realized. After the products are picked and transferred by the PKG transfer mechanism 1025, the feeding and conveying driving unit 1701 drives the conveying dragging component to move backwards, empty trays are conveyed into the PKG empty tray containing mechanism 1011, the positioning pin front and rear air cylinders 1706 are pushed out, the empty trays completely enter the PKG empty tray containing mechanism 1011 at the moment, then the tray up and down air cylinders 1705 descend, the feeding and conveying driving unit 1701 moves forwards to a tray taking position, one tray is taken again, and the operation is repeated.

The PKG transfer mechanism includes a transfer robot mechanism 1801, a transfer drive unit 1802, a PKG transfer support member 1803, two PKG transfer support members 1803 mounted on the bottom plate of the lower frame mechanism, a transfer drive unit 1802 mounted on the PKG transfer support member 1803, a transfer robot mechanism 1801 mounted on the transfer drive unit 1802, the transfer drive unit 1802 carrying the transfer robot mechanism 1801 for movement to the upper side of the PKG supply/conveyance mechanism 1013 for picking up products on the tray, can calculate according to the distance between the suction nozzle and the product, can suck a plurality of products at the same time, improves the efficiency, and after being picked up, the manipulator moves from the position of the feeding tray to the position of the material receiving tray, and the position of the product and the angle required to be compensated are confirmed by collecting and imaging the material by the camera below the manipulator, then the rotating motor carries out angle compensation, carries out the blowing according to camera feedback position, places the product in the material receiving plate. And removing the position of the feeding disc again to take the materials, and repeating the action.

The PKG lower CCD mechanism 1012 includes a lower visual support unit 1901, a lower camera module 1902, a lower light source module 1903, the lower visual support unit 1901 is fixed on the lower chassis mechanism bottom plate, the lower camera module 1902, the lower light source module 1903 is fixed on the lower visual support unit 1901, images collected by the lower camera module 1902 are quickly and accurately visually captured, and an offset value is output, in this process, the lower light source module 1903 cooperates with the lower camera module 1902 to work.

The PKG empty tray storage mechanism 1011 includes a lift-up drive unit 2001, an empty tray storage mechanism support 2002, an empty tray storage basket 2003, a detection 2004 for the presence or absence of a tray on the current floor, a tray extraction detection sensor 2005, and an empty tray storage mechanism support 2002, which supports the entire mechanism and is fixed under the bottom plate of the lower rack. The empty tray storage basket 2003 is a detachable basket and is placed at the position of the jacking upper plate. The current layer has the charging tray to detect 2004, and the charging tray is popped out and is detected 2005 and install on a machined part, fixes on lower rack mechanism bottom plate, and jacking drive unit 2001 drives the basket and reaches the appointed height, and in the current layer has charging tray to detect sensor 2004 and detects the basket, whether current layer has the charging tray, as preventing slow-witted operation. If no material tray exists, the PKG feeding and conveying mechanism 1013 finishes the operation on the material tray, after the product on the material tray is completely picked up, the PKG feeding and conveying mechanism 1013 forwards pushes the material tray, and when the material tray completely enters the lifting basket, the PKG feeding and conveying mechanism 1013 backwards moves to continue the operation, at this time, the lifting driving unit 2001 drives the lifting basket to move to the next layer, the sensor detects whether the material tray exists in the layer, and if the material tray exists, the lifting driving unit moves to the next layer and detects again. The action is then repeated. Before the lifting basket moves up and down, the material tray outburst detection sensor 2005 detects whether the material tray outburst the lifting basket, if so, the machine station gives an alarm and needs the intervention of an operator, and if not, the machine station normally moves.

The PKG collecting mechanism 1026 comprises a PKG collecting mechanism driving unit 2101, a tray taking and supporting plate cylinder 2102, a tray clamping cylinder 2103, a tray clamping and supporting plate 2104, a collecting mechanism rear pushing block 2105, a tray upper positioning plate 2106, a tray supporting plate 2107, a hand reversing assembly 2108, a finished product hand reversing assembly 2109, a finished product hand reversing track with a tray detection sensor 2110 or not, a hand reversing track with a tray detection sensor 2111 or not, a PKG collecting mechanism driving unit 2101 is fixed on a bottom plate of a lower rack mechanism, a collecting assembly is installed above the PKG collecting mechanism driving unit 2101, the collecting assembly is composed of the tray taking and supporting plate cylinder 2102, the tray clamping and supporting plate 2103, the tray clamping and supporting plate 2104, a collecting mechanism rear pushing block 2105, the tray upper positioning plate 2106, the tray supporting plate 2107 is built by combining with a machined part, the hand reversing assembly 2108, the finished product hand reversing assembly 2109 is directly fixed on the bottom plate of the lower rack mechanism, and is installed at the head end and the tail end of the PKG collecting mechanism driving unit 2101. The finished product pouring hand track has a tray detecting sensor 2110, the pouring hand track has a tray detecting sensor 2111 fixed on one side of the collecting mechanism through a sheet metal part, before the mechanism moves, a tray taking and supporting cylinder 2102 and a tray clamping cylinder 2103 are both positioned at the lower position, a front-end device gives a tray signal, then a PKG collecting mechanism driving unit 2101 drives a tray supporting plate 2107 to move forwards, the tray taking and supporting cylinder 2102 controls the tray supporting plate 2107 to lift upwards, a tray on a lid vibrating mechanism 1028 is taken out, a PKG collecting mechanism driving unit 2101 drives a mechanism to move backwards to a specified position, the tray taking and supporting cylinder 2102 controls the tray 2107 to move downwards, the tray is placed on a pouring hand component 2108, then the tray taking and supporting mechanism driving unit 2101 drives the collecting mechanism to move forwards to the specified position, the tray clamping cylinder 2103 controls the tray clamping plate 2104 to lift upwards, the material tray is clamped by the material tray upper positioning plate 2106 and moves backwards. At the moment, the lid feeding detection mechanism 1027 moves in coordination with the mechanism, lid product feeding detection is firstly carried out, the detection result and the position of a good product are output to a machine table, the PKG transfer mechanism 1025 carries out product discharging, after the product is placed in a complete tray, the PKG collecting mechanism driving unit 2101 drives the collecting mechanism to backwards move to the position of a finished product reversing hand assembly 2109, the tray clamping cylinder 2103 controls the tray clamping supporting plate 2104 to downwards put down the tray, the PKG collecting mechanism driving unit 2101 drives the collecting mechanism to forwards move to a specified position again, the tray clamping cylinder 2103 controls the tray clamping supporting plate 2104 to upwards support, and the full tray is pushed to the PKG tray shaking mechanism by utilizing the supporting plate rear end pushing block. The PKG take-up mechanism driving unit 2101 drives the take-up mechanism again to move forward to the specified position, and the tray palette 2107 removes the tray again, repeating the operation.

The cover plate transfer mechanism 1018 includes a cover plate transfer mechanism support unit 2201, a cover plate transfer mechanism drive unit 2202, a pan detection light source 2203, a pan detection camera component 2204, a cover plate transport component 2205, a cover plate adsorption component 2206, a cover plate transport cylinder 2207, a positioning pin 2208, the cover plate transfer mechanism support unit 2201 is mounted on the bottom plate of the lower rack, the cover plate transfer mechanism drive unit 2202 and an ultra-flat aluminum plate are mounted on the cover plate transfer mechanism support unit 2201, one side of the cover plate transfer mechanism drive unit 2202 is the pan detection camera component 2204, and the other side is the cover plate transport component 2205. A cover plate adsorption component 2206, a cover plate carrying cylinder 2207 and a positioning pin 2208 are matched with some machined parts to form a cover plate carrying component 2205, a PKG receiving and carrying mechanism 1033 drags a material tray to move to a designated position, a cover plate transfer mechanism driving unit 2202 drives a material feeding detection camera component 2204 to carry out material feeding detection on products in the material tray, after detection is finished, the PKG receiving and carrying mechanism 1033 drags the material tray to a material tray placing position, the material tray is placed on a track, at the moment, the cover plate transfer mechanism driving unit 2202 drives the cover plate carrying component 2205 to move above a cover plate bin mechanism 1022, the cover plate carrying cylinder 2207 descends, the positioning pin 2208 is inserted into a positioning hole of an upper cover plate, the cover plate adsorption component 2206 sucks the cover plate, the cover plate carrying cylinder 2207 ascends to drive the cover plate to ascend, then the cover plate transfer mechanism driving unit 2202 drives the cover plate carrying component 2205 to move above the material tray, the cover plate carrying cylinder 2207 descends, and the positioning pin 2208 is inserted into the positioning hole of the material tray, the cover plate adsorption component 2206 puts down the cover plate, the cover plate carrying cylinder 2207 rises, the cover plate stays above the material plate, and the cover plate is fastened. The cover transfer mechanism driving unit 2202 drives the cover transfer unit 2205 to move to the standby position and waits for the next operation command. And repeating the action when the next material tray comes.

The PKG storage and transportation mechanism 1033 includes a finished product transportation driving assembly 2301, a tray clamping cylinder 2302, a tray up-down cylinder 2303, a tray taking plate 2304, a rail supporting column 2305, a rail assembly 2306, a reverse hand pushing plate assembly 2307, and the finished product transportation driving assembly 2301 is fixed on the bottom plate of the lower rack mechanism. A tray clamping cylinder 2302, a tray upper and lower cylinder 2303, a tray taking tray 2304, a reverse hand pushing tray assembly 2307 and a finished product carrying assembly formed by matching with a machined part. The track assembly 2306 is installed on the bottom plate of the lower frame mechanism by 4 track supporting columns 2305, the finished product carrying driving assembly 2301 controls the tray taking plate 2304 of the finished product carrying assembly to go to the bottom of the PKG tray vibrating mechanism 1024, the tray up-and-down cylinder 2303 controls the tray taking plate 2304 to ascend, the tray clamping cylinder 2302 clamps the tray, and then the finished product carrying driving assembly 2301 drives the finished product carrying assembly to take the tray out and move to a specified position. And the feeding detection mechanism is matched with the PKG feeding detection mechanism 1023 to move so as to carry out feeding detection on products in the feeding tray. After the detection is completed, the finished product carrying driving assembly 2301 controls the finished product carrying assembly to place the tray on the track assembly 2306, and waits for the cover plate transferring mechanism 1018 to place the upper cover plate on the tray. Then, the finished product carrying driving assembly 2301 controls the reversing pushing tray assembly 2307 behind the finished product carrying assembly to push the tray into the finished product tray steering mechanism 1019, and the finished product carrying driving assembly 2301 controls the finished product carrying assembly to move to a standby position to wait for the next tray of products to be in place.

The cover plate bin mechanism comprises a cover plate bin mechanism supporting assembly 2401, an upper top plate 2402, a cover plate bin driving assembly 2403, a cover plate detecting sensor 2404, a cover plate in-place detecting sensor 2405, a cover plate tilting detecting sensor 2406, the cover plate bin mechanism supporting assembly 2401 is fixed on a bottom plate of a lower rack, the upper top plate 2402, the cover plate detecting sensor 2404, the cover plate in-place detecting sensor 2405, the cover plate tilting detecting sensor 2406 is installed at each part of the top mechanism, the upper cover plate is manually placed in the bin, the cover plate detects the cover plate by the cover plate detecting sensor 2404, the cover plate bin driving assembly 2403 drives a lead screw assembly to drive the upper top plate 2402 to move upwards, and the operation is stopped until the cover plate in-place detecting sensor 2405 detects a material tray. Waiting for the cover plate transfer mechanism 1018 to take away the cover plate on the uppermost layer, the cover plate bin driving component 2403 drives the screw rod component to drive the upper top plate 2402 to move upwards again until the cover plate in-place detection sensor 2405 detects the material tray, and then stopping and repeating the action. Until all the covers are removed, the cover presence/absence detecting sensor 2404 detects the absence of a cover, and the cover magazine mechanism supporting assembly 2401 drives the upper top plate 2402 to move downward and performs a reset operation. The machine station gives an alarm and waits for an operator to place the cover plate and then continue to operate. During the period, the cover plate tilting detection sensor 2406 is always in a detection state, and once the cover plate is detected, the machine station gives an alarm to wait for manual intervention, which indicates that the cover plate is abnormal.

The finished product tray steering mechanism 1022 includes a steering mechanism support assembly 2501, a rail rotation power assembly 2502, a conveying rail power assembly 2503, a tray in-place detection sensor 2504, a tray presence or absence detection sensor 2505, a conveying rail start sensor 2506, the steering mechanism support assembly 2501 is fixed on the bottom plate of the lower rack to support the whole mechanism, and the rail rotation power assembly 2502 is fixed on the steering mechanism support assembly 2501 through a workpiece. The feeding track power assembly 2503, the tray in-place detection sensor 2504, the tray presence or absence detection sensor 2505, the feeding track starting sensor 2506 is assembled together through a machining piece to form a tray feeding track to receive a full tray pushed by the PKG storage and transportation mechanism 1033, the feeding track starting sensor 2506 detects that the tray comes, the feeding track power assembly 2503 is started, the conveying belt starts to move, the tray starts to move upwards, and the feeding track power assembly 2503 stops running until the tray in-place detection sensor 2504 detects the tray. The orbital rotation power assembly 2502 then rotates the conveying orbital 90 degrees and the conveying orbital power assembly 2503 is activated to begin conveying the tray toward the product carrier mechanism 1020. After the tray stops in place in the finished product basket mechanism 1020, the rail rotating power assembly 2502 drives the conveying rail to rotate 90 degrees in the reverse direction, and the conveying rail is reset to confirm that the conveying rail reaches the standby position, and the conveying rail moves repeatedly when the next tray arrives.

Finished product hand-basket mechanism includes finished product hand-basket mechanism supporting unit 2601, climbing mechanism power component 2602, hand-basket fixed plate 2603, the hand-basket has or not detection sensor 2604, conveying track supporting unit 2605, charging tray conveying unit 2606, charging tray in place sensor 2607, current position charging tray has or not sensor 2608, conveying track power component 2609, current layer has or not charging tray detection sensor 2610, charging tray pops out detection sensor 2611, finished product hand-basket mechanism supporting unit 2601 supports whole finished product hand-basket mechanism, fix below the lower rack bottom plate, climbing mechanism power component 2602, hand-basket fixed plate 2603, the hand-basket has or not detection sensor 2604 to cooperate other parts, constitute climbing mechanism. The basket is a detachable component and is manually placed on the basket fixing plate 2603. The conveying rail supporting unit 2605 supports the tray lifting conveying unit 2606 and is mounted on the jacking mechanism fixing plate. The tray position sensor 2607, the current position tray has a sensor 2608, and the conveying track power assembly 2609 is matched with some parts to assemble the tray conveying unit 2606. There is not charging tray detection sensor 2610 at the current layer, and the charging tray pops out detection sensor 2611 and installs in sensor support side, and the support is fixed on the bottom plate, the unit mode condition, and finished product charging tray steering mechanism 1019 comes the charging tray conveying, and conveying track power component 2609 is when last mechanism begins to carry this moment, synchronous start, accepts the charging tray. When the tray in-place sensor 2607 detects a tray, the conveyor track power assembly 2609 stops and the tray is in place. Then the jacking mechanism drives the lifting basket to rise by means of the jacking mechanism power assembly 2602, the lifting basket runs to the next layer, and the material tray is supported by the lifting basket. Waiting for the next material tray to come, and repeating the action. Under the condition of a connecting line mode, the jacking mechanism and the basket lifting mechanism do not move, the finished material tray is conveyed by the finished material tray steering mechanism 1019, and at the moment, the conveying track power assembly 2609 is synchronously started to accept the material tray when the last mechanism starts conveying. When the tray in-place sensor 2607 detects a tray, the conveying track power assembly 2609 stops, the tray is in place, whether the next mechanism can convey the tray is judged, and if the next mechanism can convey the tray, the conveying track power assembly 2609 starts, and the tray is conveyed to the next mechanism. Then wait for the tray and repeat the action.

The finished product output mechanism 1020 comprises a finished product output track supporting unit 2701, an output track power assembly 2702, a tray in-place detection sensor 2703 and a tray existence detection sensor 2704, the whole mechanism is built by section bars, the finished product output track supporting unit 2701 supports the whole mechanism, the output track power assembly 2702 is installed inside the section bars, the tray in-place detection sensor 2703 is fixed at the tail end of the output track, and the tray existence detection sensor 2704 is fixed at the middle position of the mechanism. The working process of the finished product output mechanism is as follows: when the last mechanism conveys the material tray to the output track, the output track power assembly 2702 is started to drive the belt to move so as to convey the material tray to the inside of the mechanism, and when the material tray in-place detection sensor 2703 detects the material tray, the output track power assembly 2702 stops driving, and the material tray stops on the track. Then, whether a subsequent machine station needs a material tray is judged, if so, the output track power assembly 2702 is started to continuously convey the material tray to a subsequent mechanism. Then wait for the tray and repeat the action.

The working process of the full-automatic connecting line transfer machine comprises the following steps:

firstly, the whole machine has a plurality of positions needing manual operation:

firstly, the bulk material lad is uniformly dispersed on the bulk material trays of the left bulk material tray mechanism 1006 and the right bulk material tray mechanism 1001 by manpower.

Secondly, placing an empty receiving tray in the basket of the lid basket lifting mechanism 1004 manually

And thirdly, manually placing the baskets of the PKG empty tray storage mechanism 1011 and the finished product basket lifting mechanism 1020 at corresponding positions. The two baskets are empty baskets and can not be used for placing material trays

And fourthly, the PKG feeding basket lifting mechanism 1015 needs to judge according to the use condition of the machine, a material tray needs to be placed in the basket in a single machine mode, and the basket is empty in a line connection mode.

Fifthly, the upper cover plate of the material tray is manually placed in the cover plate bin mechanism 1022, and is not higher than the material tray in-place detection sensor.

The following parts are the automatic operation parts of the machine station:

firstly, a lower layer product lid is placed, a CCD mechanism component 1010 on the left side lid and a CCD mechanism component 1029 on the right side lid start to operate, a bulk material lid on a bulk material tray is identified, after identification, product coordinates are stored in a program, and a suction nozzle is waited for sucking materials. Meanwhile, the lid basket mechanism 1004 operates to move the basket to the first floor height, waiting for the lid collecting mechanism 1003 to take the tray, the lid collecting mechanism 1003 starts to take the tray, the tray of the tray is stretched into the basket to reach the designated position, the cylinder in the lid collecting mechanism 1003 rises to drive the tray of the tray to hold the tray, the lid collecting mechanism 1003 moves backwards to drag the tray to the handstand mechanism, the cylinder of the lid collecting mechanism 1003 descends to drive the tray of the tray to move downwards, the lid collecting mechanism 1003 moves forwards again to enable the clamping station to be below the tray, the cylinder rises to drive the clamping component to fix the tray in the lid collecting mechanism 1003, and moving backwards, at the moment, the CCD mechanism assembly 1010 on the left side lid moves to the position above the lid collecting mechanism 1003, shooting two products on the material tray in the diagonal direction, and determining the position and the angle of the material tray in the mechanism and the position and the angle of all the products in the array discharging tray through image processing and analysis. Then, the LID transfer mechanism drives the left LID transfer robot 1009 and the right LID transfer robot 1030 to pick up the products on the trays of the left tray sorter 1006 and the right tray sorter 1001, respectively, according to the product positions determined by the CCD mechanism unit 1010 on the left LID and the CCD mechanism unit 1029 on the right LID. The product suction and transfer mechanism drives the left LID transfer manipulator mechanism 1009 and the right LID transfer manipulator mechanism 1030 to move above the LID collecting mechanism 1003 in sequence, and the movement is performed in a left-to-right mode. In the moving process of the product, the lower CCD mechanism photographs the product through the left lid lower CCD mechanism 1008 and the right lid lower CCD mechanism 1031, the position and the angle of the product are confirmed again, the photographing result is output to the control system, the transfer mechanism and the lid collecting mechanism 1003 are controlled to perform position compensation, and then the material is discharged. After the product is fully placed, the lid collecting mechanism 1003 drives the material tray to move to the position above the finished product pouring track, the air cylinder descends, the lid collecting mechanism 1003 lowers the material tray, the lid collecting mechanism 1003 moves forwards again until the pushing block at the rear of the mechanism leaves the position of the material tray, the air cylinder ascends, the lid collecting mechanism 1003 moves backwards, the material tray is pushed to the lid shaking mechanism 1028, then the lid collecting mechanism 1003 removes the empty material tray again, and the operation is repeated.

And secondly, during the movement of the step 1, the upper-layer PKG product feeding track conveys the PKG products to a specified feeding position to wait for picking.

A stand-alone mode: at this moment, the full material tray is manually placed on the PKG feeding basket mechanism 1015, the basket is driven by the lifting mechanism to move downwards, after reaching the first layer of the designated position, the inner conveying mechanism supports the material tray, the conveying track moves to convey the material tray to the PKG material tray steering mechanism 1016 which rotates 90 degrees, after the material tray is received by the PKG material tray steering mechanism 1016, the material tray rotates 90 degrees reversely, and returns to the standby position, and then the material tray is conveyed to the PKG feeding conveying mechanism 1014

Wire connection mode: the PKG feeding and conveying mechanism 1017 receives full material trays conveyed by the upper equipment and conveys the full material trays to the PKG tray steering mechanism 1016 at the standby position, and the PKG tray steering mechanism 1016 receives the material trays and then conveys the material trays to the PKG feeding and conveying mechanism 1014

At this time, when the two feeding modes do not start feeding at the same time, the tray is already transferred to the PKG feeding and conveying mechanism 1014, and the tray stops after being in place, and waits for the PKG feeding and conveying mechanism 1013 to hook the tray. The PKG feeding and carrying mechanism 1013 moves backwards to enable the tray taking plate to enter the PKG feeding and conveying mechanism 1014, the cylinder of the PKG feeding and carrying mechanism 1013 ascends to drive the tray to ascend, the tray supports the material tray to move forwards to enable the material tray to enter the clamping track, after the material tray reaches a specified position, the cylinder descends, the carrying assembly descends to the lower part of the material tray, the PKG feeding and carrying mechanism 1013 moves backwards to enable the positioning pin at the front end of the carrying assembly to be aligned with the inherent circular hole of the material tray, the cylinder ascends, the positioning pin is inserted into the circular hole of the material tray, the material tray clamping cylinder moves backwards to be matched with the material tray clamping and fixing piece to clamp the material tray, at the moment, the position of the material tray on the feeding track is fixed only, the material tray moves along with the motion of the PKG feeding and carrying mechanism 1013, the PKG feeding and carrying mechanism 1013 moves forwards to reach the specified position again to wait for the manipulator assembly to pick up a product. Waiting until the robot has finished picking up the product on the PKG feed handling mechanism 1013. At the moment, the PKG feeding and conveying mechanism 1013 drives the empty tray to move forwards, the tray is conveyed into the PKG empty tray containing mechanism 1011, then the tray clamping cylinder is opened, the empty tray is conveyed into the specified position of the lifting basket, then the tray cylinder descends the PKG feeding and conveying mechanism 1013 to move backwards, the tray on the PKG feeding and conveying mechanism 1014 is removed, and the operation is repeated.

And thirdly, the PKG transfer mechanism 1025 moves to a specified position of a feeding side, a manipulator is used for picking up products, the products are sucked up, then the PKG transfer mechanism 1025 moves to a material receiving side, when the products pass through the PKG lower CCD mechanism 1012, the PKG lower CCD mechanism 1012 shoots the products on a suction nozzle, the position and the angle of the products are output to a control unit, and the PKG transfer mechanism 1025 and the PKG receiving mechanism 1026 compensate the placement position and the angle of the products according to the position relation output by the PKG lower CCD mechanism 1012 and the lid material feeding detection mechanism 1027, and discharge the products. The picking action is repeated until the product on the PKG feed handling mechanism 1013 is completely picked.

And fourthly, the cylinder of the lid tray vibrating mechanism 1028 descends to clamp the material tray, the servo motor below the material tray vibrating mechanism 1028 starts to operate to drive the cam assembly, the material tray starts to shake above the lid tray vibrating mechanism 1028, and the auxiliary product enters a material tray pit. After the tray is vibrated, the PKG collecting mechanism 1026 drives the tray taking supporting plate to stretch into the lid tray vibrating mechanism 1028, the tray taking supporting plate cylinder rises, the tray supports the tray, the PKG collecting mechanism 1026 moves backwards, the tray is supported on the hand-reversing track, the tray taking supporting plate cylinder descends, the tray is put down, the PKG collecting mechanism 1026 moves forwards again, the tray clamping cylinder rises, the tray is clamped tightly, the tray moves along with the PKG collecting mechanism 1026, then the PKG collecting mechanism 1026 moves in cooperation with the lid feeding detection mechanism 1027 above the tray taking supporting mechanism, the feeding condition of products in the tray is detected, the position of a material pit is determined, and the material placing position is determined. When the lid input detection mechanism 1027 detects a specified number of products, the PKG transfer mechanism 1025 picks up the PKG products in the PKG trays on the PKG supply and conveyance mechanism 1013 and places the PKG products in the pockets of the trays in the PKG take-up mechanism 1026. At the moment, the PKG receiving mechanism 1026, the lid feeding detection mechanism 1027 and the PKG transfer mechanism 1025 move in coordination, when the feeding is detected, the transfer mechanism removes the PKG products, when the transfer mechanism puts the products, the feeding detection is stopped, the three mechanisms move in coordination, and the PKG products are filled in the tray. Then the PKG receiving mechanism 1026 moves backward, drives the material tray to the finished product transferring position, the material tray clamping cylinder descends, places the material tray on the finished product transferring track, the PKG receiving mechanism 1026 moves forward, so that the pushing block behind the mechanism is separated from the material tray position, the material tray clamping cylinder ascends, drives the pushing block to ascend, the PKG receiving mechanism 1026 moves backward, pushes the material tray above the PKG vibrating tray mechanism 1024, and the PKG receiving mechanism 1026 moves forward again, waits for the material tray, and repeats the action.

And fifthly, the cylinder of the PKG vibration disc mechanism 1024 descends to clamp the material disc, the servo motor below the cylinder starts to operate to drive the cam assembly, and the material disc starts to shake above the PKG vibration disc mechanism 1024 to assist the PKG products to enter a material disc pit. After shaking the dish and accomplishing, inside PKG accomodate transport mechanism 1033 and drive the charging tray layer board and get into PKG shaking mechanism 1024, PKG accomodate transport mechanism 1033 tray cylinder and rise, the charging tray layer board holds up the charging tray, PKG accomodate transport mechanism 1033 charging tray clamping cylinder and lean out, press from both sides the charging tray tightly, PKG accomodate transport mechanism 1033 and drive the charging tray and move backward, reach the assigned position after, PKG pan feeding detection mechanism 1023 accomodates transport mechanism 1033 with PKG and moves, take a picture to each product in the charging tray, detect whether the product is put into the material hole. After detection is finished, a tray clamping cylinder of the PKG collecting and carrying mechanism 1033 is opened, a tray supporting plate cylinder descends to place a tray on a lower track, the PKG collecting and carrying mechanism 1033 returns to the front end, the tray supporting plate cylinder ascends to wait for the cover plate transferring mechanism 1018 to buckle the upper cover plate on the tray.

Sixthly, when the machine starts to operate, the jacking assembly of the cover plate bin mechanism 1022 supports the cover plate in the bin to move upwards, the cover plate moves to the position of the cover plate in-place sensor above the cover plate bin mechanism 1022, the cover plate transferring mechanism 1018 waits for taking the cover plate, the cover plate transferring mechanism 1018 moves to the position above the cover plate bin mechanism 1022, the air cylinder descending control positioning rod of the cover plate transferring mechanism 1018 is inserted into the inherent hole position on the cover plate for positioning, after the air cylinder descends in place, the cover plate is sucked by the suction nozzle, the air cylinder ascends, the cover plate transferring mechanism 1018 carries the cover plate to move to the position above the material tray, the air cylinder descends, the positioning pin is positioned until the cover plate is buckled on the material tray, the suction nozzle stops sucking the cover plate, the air cylinder ascends, and the action is completed. The cover transfer mechanism 1018 returns to the standby position, waits for the tray to come, operates again, and repeats the operation.

Seventhly, after the upper cover plate is buckled on the material tray, the PKG collecting and carrying mechanism 1033 pushes the material tray backwards, a sensor at the front end of the rear finished material tray steering mechanism 1019 detects that the material tray comes, a motor of the conveying track is started, the PKG collecting and carrying mechanism 1033 is matched to convey the material tray to the upper side of the material tray steering mechanism 1019, and the motor of the conveying track stops after the sensor at the tail end detects the material tray. The PKG storage and conveyance mechanism 1033 moves forward, returns to the standby position, and waits for a tray. The tray steering mechanism 1019 rotates 90 degrees, the motor of the conveying track is started, and the tray is conveyed to the finished product basket lifting mechanism 1020.

Eighthly, the finished product basket mechanism 1020 has different actions in different modes:

a stand-alone mode: the material tray is conveyed to the finished product basket mechanism 1020, the material tray reaches the position of the material tray in-place sensor at the rear end of the conveying track in the finished product basket mechanism 1020, the conveying track stops, the basket is driven by the jacking mechanism to rise to a certain height, and the material tray is supported by the basket. After the basket is full, the lifting basket rises to the highest level, the machine station gives an alarm at the moment, an operator needs to take the tray, then the basket state is updated on an operation interface, and the machine station continues to operate.

Wire connection mode: and (3) conveying the material tray to the finished product basket mechanism 1020, stopping the conveying track when the material tray reaches the position of the material tray in-place sensor at the rear end of the conveying track in the finished product basket mechanism 1020, judging whether the rear finished product output mechanism 1021 can receive the material tray, waiting for the subsequent mechanism to request the material tray if the rear finished product output mechanism 1021 can not receive the material tray, and stopping the front end mechanism from continuously conveying the material tray to the basket mechanism. If the tray is received, the tray is continuously output to the finished product output mechanism 1021, the finished product output mechanism 1021 receives and outputs the placed product to the subsequent machine station, and the full tray of the upper cover plate is buckled.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A connecting line transfer machine is characterized by comprising a lower rack mechanism (3001), an upper rack mechanism (3002) is arranged at the edge of the upper end of the lower rack mechanism (3001), a lid basket lifting mechanism (1004) is arranged on the lower rack mechanism (3001), a right side stacking detection mechanism (1002) and a left side stacking detection mechanism (1005) are respectively arranged on two sides of the lid basket lifting mechanism (1004), a lid collecting mechanism (1003) is arranged at the upper end of the lid basket lifting mechanism (1004), a right bulk material supply mechanism (1001) is arranged on one side of the right side stacking detection mechanism (1002), a right side lid lower CCD mechanism (1031) is arranged above the right side stacking detection mechanism (1002), a left bulk material tray mechanism (1006) is arranged on one side of the left side stacking detection mechanism (1005), a left side lid lower CCD mechanism (1008) is arranged above the left side stacking detection mechanism (1005), a left side bulk material tray static electricity eliminator (1007) is arranged on one side of the left bulk material tray mechanism (1006), a right bulk material tray static electricity eliminator (1032) is arranged on one side of the right bulk material tray mechanism (1001), a left LID transfer mechanism (1009) is arranged on one side above the left bulk material supply mechanism (1006), a right LID transfer mechanism (1030) is arranged on one side above the right bulk material tray mechanism (1001), a left LID upper CCD mechanism assembly (1010) is arranged above the left bulk material supply mechanism (1006), a right LID upper CCD mechanism assembly (1029) is arranged above the right bulk material tray mechanism (1001), a LID vibration tray mechanism (1028) is arranged above the LID vibration tray mechanism (1028), a PKG collection mechanism (1026) is arranged above the PKG collection mechanism (1026), a LID feeding detection mechanism (1027) is arranged above the PKG collection mechanism (1027), and a PKG empty tray collection mechanism (1011) is arranged on one side of the LID feeding detection mechanism (1027), one end of the PKG empty tray containing mechanism (1011) is provided with a PKG feeding and conveying mechanism (1013), one side of the PKG feeding and conveying mechanism (1013) is provided with a PKG lower CCD mechanism (1012), a PKG feeding and detecting mechanism (1023) is arranged above the PKG feeding and conveying mechanism (1013), one end of the PKG lower CCD mechanism (1012) is provided with a PKG transferring mechanism (1025), one side above the PKG transferring mechanism (1025) is provided with a PKG vibrating tray mechanism (1024), the other side above the PKG transferring mechanism (1025) is provided with a PKG feeding and conveying mechanism (1014), one end of the PKG feeding and conveying mechanism (1014) is provided with a PKG tray steering mechanism (1016), one side of the PKG tray steering mechanism (1016) is provided with a PKG feeding and basket lifting mechanism (1015), one end of the PKG steering tray mechanism (1016) is provided with a PKG feeding and conveying track mechanism (1017), one end of the PKG feeding and detecting mechanism (1023) is provided with a cover plate transferring mechanism (1018), a cover plate bin mechanism (1022) is arranged on one side of the cover plate transfer mechanism (1018), a PKG (passive keyless go-between) containing and carrying mechanism (1033) is arranged at one end of the cover plate transfer mechanism (1018), a finished product tray steering mechanism (1019) is arranged at one end of the PKG containing and carrying mechanism (1033), a finished product basket lifting mechanism (1020) is arranged on one side of the finished product tray steering mechanism (1019), and a finished product output mechanism (1021) is arranged on one side of the finished product basket lifting mechanism (1020).

2. The on-line transfer machine according to claim 1, wherein the right bulk material feeding mechanism and the left bulk material feeding mechanism are of the same structure, the right bulk material feeding mechanism and the left bulk material feeding mechanism comprise supporting units (4001), a bulk material disc assembly (4002), a bulk material disc pressing jig (4003), a bulk material feeding mechanism driving unit (4004), two bulk material feeding mechanism supporting units (4001) are fixed on the bottom plate of the lower frame by using bolts, the bulk material feeding mechanism driving unit (4004) is fixed on the bulk material feeding mechanism supporting unit (4001), the bulk material feeding mechanism driving unit (4004) drives the bulk material disc pressing jig (4003) to move axially, and the bulk material disc assembly (4002) is a detachable part and is fixed in the bulk material disc pressing jig (4003).

3. The on-line transfer machine according to claim 1, wherein the CCD mechanism assembly (1010) on the left lid and the CCD mechanism assembly (1029) on the right lid are of the same structure, the CCD mechanism assembly (1010) on the left lid and the CCD mechanism assembly (1029) on the right lid are respectively provided with a CCD assembly driving unit (5002) on the left lid and a CCD assembly driving unit (5004) on the right lid, and the CCD assembly driving unit (5002) on the left lid and the CCD assembly driving unit (5004) on the right lid are fixed on the upper vision supporting unit (5001);

CCD mechanism under left side lid and CCD mechanism include below vision support unit (7001) under the right side lid, below camera subassembly (7002), below light source subassembly (7003), and below vision support unit (7001) is fixed on chassis mechanism bottom plate down, and below camera subassembly (7002), below light source subassembly (7003) are fixed in below vision support unit (7001).

4. The on-line transfer machine according to claim 1, wherein the left side LID transfer mechanism (1009) and the right side LID transfer mechanism (1030) have the same structure, and each of the left side LID transfer mechanism and the right side LID transfer mechanism comprises a transfer mechanism support unit (6001), a defective product storage assembly (6002), a left side transfer manipulator mechanism (6003), a transfer drive shaft (6004), a right side transfer manipulator mechanism (6005), the left side LID transfer mechanism (1009) and the right side LID transfer mechanism (1030) are fixed on the lower frame mechanism through the support unit (6001) by screws, the transfer drive shaft (6004) is installed on the transfer mechanism support unit (6001), and the transfer drive shaft (6004) drives the left side transfer manipulator mechanism (6003) and the right side transfer manipulator mechanism (6005) to move left and right by using a linear motor.

5. The online transfer machine according to claim 1, wherein each of the right side stacking detection mechanism and the left side stacking detection mechanism comprises a stacking detection mechanism support unit (8001), a stacking detection camera (8002), a light source assembly (8003), the stacking detection mechanism support unit (8001) is fixed on a bottom plate of the lower rack mechanism, the stacking detection camera (8002), and the light source assembly (8003) is fixed on the stacking detection mechanism support unit (8001) through a mounting plate;

lid basket mechanism (1004) is including basket mechanism fixed subassembly (9001), basket (9002), the basket detects there is no sensor (9003), basket motion drive unit (9004), charging tray evolution sensor (9005), charging tray in place detection sensor (9006), basket mechanism fixed subassembly (9001) passes through the bolt fastening in frame big bottom plate below down, basket motion drive unit (9004) are connected with basket mechanism fixed subassembly (9001), the basket detects has or not sensor (9003) to install on the drive plate that can contact basket (9002), basket (9002) are the replaceable basket that can take off, charging tray evolution sensor (9005), charging tray evolution sensor (9006) are in place and are installed on hand backing support unit (6011).

6. The on-line transfer machine according to claim 1, wherein the collecting mechanism power assembly (10001), the tray taking support plate (10002), the tray clamping support plate (10003), the tray clamping cylinder (10004), the bar position detection assembly (10005), the rear bar position detection (10006), the rear pushing plate assembly (10007), the bar position (10008), the character recognition camera (10009), the product placement station (10010), the bar support unit (10011), the collecting mechanism power assembly (10001) is installed on the bottom plate of the lower frame mechanism, the collecting assembly is integrally composed of the tray taking support plate (10002), the tray clamping support plate (10003), the tray clamping cylinder (10004), the rear pushing plate assembly (10007), the bar position detection assembly (10005), the rear bar position detection (10006) is installed on the bottom plate of the lower frame mechanism, on one side of the collecting assembly, the product placement station (10010) is installed on the bottom plate of the lower frame mechanism, the hand reversing support unit (10011) supports a hand reversing station (10008) and a character recognition camera (10009) and is arranged on a bottom plate of the lower rack mechanism; a front CCD feeding detection mechanism is arranged above the PKG collecting mechanism (1026), the front CCD feeding detection mechanism comprises a detection mechanism supporting unit (1201), a detection mechanism driving unit (1202) and a camera detection assembly (1203), the detection mechanism supporting unit (1201) is fixed on a bottom plate of the lower rack, the detection mechanism driving unit (1202) is fixed on the detection mechanism supporting unit (1201), and the camera detection assembly (1203) is installed on the detection mechanism driving unit (1202).

7. The on-line transfer machine according to claim 1, characterized in that the PKG pan feeding conveying track mechanism (1017) comprises a conveying track supporting unit (1301), a conveying track power unit (1302), a track starting sensor (1303) and a track stopping sensor (1304), wherein the whole mechanism is built by section bars, the conveying track supporting unit (1301) supports the whole mechanism, the conveying track power unit (1302) is mounted on a bottom plate of the lower rack mechanism, the track starting sensor (1303) is mounted on the inner side of the conveying track supporting unit (1301) through a motor fixing part, and the track stopping sensor (1304) is fixed at the rear end of the conveying track supporting unit (1301) through a metal plate; the PKG feeding basket mechanism (1015) comprises a basket driving unit (1401), a basket mechanism supporting assembly (1402), a basket fixing bottom plate (1403), a basket presence or absence detection sensor (1404), an output rail supporting piece (1405), an output unit (1406), a standby sensor (1407), a standby sensor (1408), an output rail driving unit (1409), a current layer presence or absence detection sensor (1410), a tray detecting detection sensor (1411), the PKG feeding basket mechanism is fixed below a lower rack bottom plate through the basket mechanism supporting assembly (1402), the basket driving unit (1401) is responsible for driving to drive the basket fixing bottom plate (1403) to move up and down, the basket presence or absence detection sensor (1404) is fixed at one side position of the basket fixing bottom plate (1403), the basket is placed on the basket fixing bottom plate (1403), the output unit (1406) is supported above the jacking mechanism by the output rail supporting piece (1405), inside the lifting basket, a standby sensor (1407), a standby sensor (1408) and an output track driving unit (1409) are arranged on a workpiece to form an output unit (1406), a detection sensor (1410) is arranged on the current layer, a tray extending-out detection sensor (1411) is arranged on two vertical plates, and the vertical plates are fixed on the bottom plate of the lower rack mechanism; the PKG material tray steering mechanism (1016) comprises a PKG material tray steering mechanism supporting assembly (1501), a conveying track power assembly (1502), a track rotating power assembly (1503), a material tray in-place sensor (1504), a material tray presence or absence detection sensor (1505), a conveying track starting sensor (1506), the PKG material tray steering mechanism supporting assembly (1501) is fixed on a bottom plate of the lower rack and supports the whole mechanism, the track rotating power assembly (1503) is fixed on the PKG material tray steering mechanism supporting assembly (1501) through a machined part, the conveying track power assembly (1502), the material tray in-place sensor (1504), the material tray presence or absence detection sensor (1505), and the conveying track starting sensor (1506) is assembled together through the machined part to form a material tray conveying track; the PKG feeding and conveying mechanism comprises a conveying track supporting unit (1601), a conveying track power unit (1602), a tray presence detection sensor (1603) and a tray in-place detection sensor (1604), wherein the whole mechanism is built by sectional materials, the conveying track supporting unit (1601) supports the whole mechanism and is installed on a bottom plate of a lower rack mechanism, the conveying track power unit (1602), the tray presence detection sensor (1603) is installed on a motor fixing part and is installed on the inner side of the conveying track supporting unit (1601), and the tray in-place detection sensor (1604) is fixed at the rear end of the conveying track supporting unit (1601) through a metal plate; the PKG feeding and carrying mechanism (1014) comprises a feeding and carrying drive unit (1701), a tray taking supporting plate (1702), a tray hooking positioning pin (1703), a tray hooking positioning block (1704), a tray upper and lower cylinder (1705), a positioning pin front and rear cylinder (1706), a tray presence or absence detection sensor (1707), a rail elastic edge (1708), a rail positioning edge (1709), a feeding and carrying drive unit (1701) installed on a bottom plate of a lower rack mechanism, a tray taking supporting plate (1702), a tray hooking positioning pin (1703), a tray hooking positioning block (1704), a tray upper and lower cylinder (1705), a positioning pin front and rear cylinder (1706) installed and combined together to form a carrying dragging component, a rail elastic edge (1708), and a rail positioning edge (1709) installed on the bottom plate of the lower rack mechanism through a hexagonal prism, on both sides of the feeding, conveying and driving unit (1701), a tray presence/absence detection sensor (1707) is installed on one side of the elastic edge (1708) of the rail; the PKG transfer mechanism comprises a transfer manipulator mechanism (1801), a transfer driving unit (1802) and a PKG transfer support (1803), wherein the two PKG transfer supports (1803) are arranged on a bottom plate of the lower rack mechanism, the transfer driving unit (1802) is arranged on the PKG transfer supports (1803), and the transfer manipulator mechanism (1801) is arranged on the transfer driving unit (1802); the PKG lower CCD mechanism (1012) comprises a lower visual support unit (1901), a lower camera assembly (1902) and a lower light source assembly (1903), wherein the lower visual support unit (1901) is fixed on a bottom plate of the lower rack mechanism, and the lower camera assembly (1902) and the lower light source assembly (1903) are fixed on the lower visual support unit (1901); the PKG empty tray receiving mechanism (1011) comprises a jacking driving unit (2001), an empty tray receiving mechanism supporting piece (2002), an empty tray receiving lifting basket (2003), a current layer whether tray exists or not detection (2004) and a tray outburst detection sensor (2005), wherein the empty tray receiving mechanism supporting piece (2002) supports the whole mechanism and is fixed below a bottom plate of a lower rack, the empty tray receiving lifting basket (2003) is a detachable lifting basket and is placed at the position of a jacking upper plate, the current layer whether tray exists or not detection (2004) is carried out, and the tray outburst detection (2005) is installed on a machined part and is fixed above the bottom plate of the lower rack mechanism; the PKG collecting mechanism (1026) comprises a PKG collecting mechanism driving unit (2101), a collecting tray supporting plate cylinder (2102), a collecting tray clamping cylinder (2103), a collecting tray clamping supporting plate (2104), a collecting mechanism retreating block (2105), a collecting tray upper positioning plate (2106), a collecting tray supporting plate (2107), a handstand assembly (2108), a finished product handstand assembly (2109), a finished product handstand track with a tray-free detection sensor (2110), a handstand track with a tray-free detection sensor (2111), a PKG collecting mechanism driving unit (2101) is fixed on a lower rack mechanism bottom plate, a collecting assembly is installed above the PKG collecting mechanism driving unit (2101), the collecting assembly is formed by the collecting tray supporting plate cylinder (2102), the collecting tray clamping cylinder (2103), the collecting tray clamping supporting plate (2101), the collecting mechanism retreating block (2105), the collecting tray upper positioning plate (2106), the collecting tray supporting plate (2107) is combined with a machined part, the finished product hand reversing assembly (2108) is directly fixed on a bottom plate of the lower rack mechanism and is arranged at the head end and the tail end of a PKG collecting mechanism driving unit (2101), a finished product hand reversing track is provided with a tray detecting sensor (2110), and the tray detecting sensor (2111) of the hand reversing track is fixed on one side of the collecting mechanism through a sheet metal part.

8. The on-line transfer machine according to claim 1, wherein the PKG receiving and carrying mechanism comprises a finished product carrying driving assembly (2301), a tray clamping cylinder (2302), a tray up-down cylinder (2303), a tray taking supporting plate (2304), a rail supporting column (2305), a rail assembly (2306), a reverse pushing plate assembly (2307), the finished product carrying driving assembly (2301) is fixed on the bottom plate of the lower frame mechanism, the tray clamping cylinder (2302), the tray up-down cylinder (2303), the tray taking supporting plate (2304), the reverse pushing plate assembly (2307) is matched with a machined part to form the finished product carrying assembly, and the rail assembly (2306) is installed on the bottom plate of the lower frame mechanism by 4 rail supporting columns (2305).

9. The on-line transfer machine according to claim 1, wherein the cover plate transfer mechanism (1018) comprises a cover plate transfer mechanism support unit (2201), a cover plate transfer mechanism drive unit (2202), a feed detection light source (2203), a feed detection camera component (2204), a cover plate transfer component (2205), a cover plate adsorption component (2206), a cover plate transfer cylinder (2207), and positioning pins (2208), wherein the cover plate transfer mechanism support unit (2201) is mounted on the bottom plate of the lower frame, the cover plate transfer mechanism drive unit (2202) is mounted on the cover plate transfer mechanism support unit (2201) with an ultra-flat plate, one side of the cover plate transfer mechanism drive unit (2202) is the feed detection camera component (2204), the other side is the cover plate transfer component (2205), the cover plate adsorption component (2206), the cover plate transfer cylinder (2207), and the positioning pins (2208) are matched with some workpieces, assembling a lid handling assembly (2205); apron feed bin mechanism is including apron feed bin mechanism supporting component (2401), go up roof (2402), apron feed bin drive assembly (2403), the apron has or not to detect sensor (2404), the apron targets in place detects sensor (2405), the apron perk detects sensor (2406), apron feed bin mechanism supporting component (2401) is fixed on the lower rack bottom plate, go up roof (2402), the apron has or not to detect sensor (2404), the apron targets in place detects sensor (2405), the apron perk detects sensor (2406) and installs at each position of climbing mechanism.

10. The on-line transfer machine according to claim 1, wherein the finished material tray turning mechanism (1022) comprises a turning mechanism supporting assembly (2501), a rail rotating power assembly (2502), a conveying rail power assembly (2503), a material tray in-place detecting sensor (2504), a material tray presence detecting sensor (2505), a conveying rail starting sensor (2506), a turning mechanism supporting assembly (2501) is fixed on the bottom plate of the lower frame to support the whole mechanism, the rail rotating power assembly (2502) is fixed on the turning mechanism supporting assembly (2501) through a workpiece, the conveying rail power assembly (2503), a material tray in-place detecting sensor (2504), a material tray presence detecting sensor (2505), and the conveying rail starting sensor (2506) is assembled together through a workpiece to form a material tray conveying rail; the finished product basket mechanism comprises a finished product basket mechanism supporting unit (2601), a jacking mechanism power assembly (2602), a basket fixing plate (2603), a basket presence or absence detection sensor (2604), a conveying track supporting unit (2605), a material tray conveying unit (2606), a material tray in-place sensor (2607), a material tray in the current position has a presence or absence sensor (2608), a conveying track power assembly (2609), a material tray presence or absence detection sensor (2610) in the current layer, a material tray ejection detection sensor (2611), a finished product basket mechanism supporting unit (2601) supports the whole finished product basket mechanism, the finished product basket mechanism supporting unit is fixed below a lower rack bottom plate, the jacking mechanism power assembly (2602), the basket fixing plate (2603), the basket presence or absence detection sensor (2604) matched with other components to form a jacking mechanism, the basket is a detachable component and is manually placed on the basket fixing plate (2603), the conveying track supporting unit (2606) supports the material tray conveying unit (2606), the tray in-place sensor (2607) is mounted on a fixed plate of the jacking mechanism, the tray in the current position is provided with a sensor (2608), the conveying track power assembly (2609) is matched with some components to assemble a tray conveying unit (2606), the current layer is provided with a tray detecting sensor (2610), the tray ejecting detecting sensor (2611) is mounted on the side surface of a sensor bracket, and the bracket is fixed on the bottom plate; finished product output mechanism (1020) include finished product output track supporting element (2701), output track power component (2702), the charging tray detects sensor (2703) that targets in place, there is charging tray detects sensor (2704), whole mechanism adopts the section bar to build and forms, finished product output track supporting element (2701) supports whole mechanism, output track power component (2702), install inside the section bar, charging tray detection sensor (2703) that targets in place fixes at output track tail end, there is charging tray detection sensor (2704) to fix in the mechanism intermediate position.