阅读说明：本技术 一种阿胶浆智能供盒流水线及供盒方法 (Intelligent donkey-hide gelatin syrup box supply assembly line and box supply method ) 是由 王兵 王中诚 秦玉峰 苏树祥 许桐辉 于 2019-09-11 设计创作，主要内容包括：本发明实施例公开了一种阿胶浆智能供盒流水线,包括链网线输送平台,在所述链网线输送平台的末端设置有与链网线输送平台贴合接触的送料传送带,所述链网线输送平台起始端的正面设置有取盒机器人,在所述链网线输送平台的末端侧面设置有高速伺服电机侧推机构,且在所述高速伺服电机侧推机构上安装有礼盒动作检测传感器,所述送料传送带上依次设置有激光打码机构、视觉相机检测系统和剔除侧推机构；还包括一种供盒方法；本发明通过利用取盒机器人的配合实现自动出盒,并且在出盒时还能够对礼盒进行打标和放废,调整礼盒的出盒数量和秩序,便于后续工艺的处理。(The embodiment of the invention discloses an intelligent donkey-hide gelatin syrup supply box assembly line which comprises a chain network line conveying platform, wherein a feeding conveyor belt which is in fit contact with the chain network line conveying platform is arranged at the tail end of the chain network line conveying platform, a box taking robot is arranged on the front side of the starting end of the chain network line conveying platform, a high-speed servo motor side-pushing mechanism is arranged on the side surface of the tail end of the chain network line conveying platform, a gift box action detection sensor is arranged on the high-speed servo motor side-pushing mechanism, and a laser coding mechanism, a visual camera detection system and a rejection side-pushing mechanism are sequentially arranged on the feeding conveyor belt; also included is a method of providing a cartridge; the invention realizes automatic box discharging by using the cooperation of the box taking robot, marks and wastes can be marked and discharged when the box is discharged, the box discharging quantity and the box discharging order of the gift boxes can be adjusted, and the subsequent process treatment is convenient.)

1. An intelligent donkey-hide gelatin syrup box supply assembly line comprises a chain network line conveying platform (1), wherein a feeding conveyor belt (2) which is in contact with the chain network line conveying platform (1) in a fitting manner is arranged at the tail end of the chain network line conveying platform (1), and is characterized in that a box taking robot (3) is arranged on the front side of the starting end of the chain network line conveying platform (1), and a sponge sucker (4) is arranged on the box taking robot (3) through an action arm;

a high-speed servo motor side-pushing mechanism (5) is arranged on the side surface of the tail end of the chain network cable conveying platform (1), a gift box action detection sensor (6) is arranged on the high-speed servo motor side-pushing mechanism (5), the gift box detection sensor (6) starts the high-speed servo motor side-pushing mechanism (5) to push the gift box onto the feeding conveyor belt (2) when detecting the gift box, the feeding conveyor belt (2) is sequentially provided with a laser coding mechanism (7), a visual camera detection system (8) and a rejecting side-pushing mechanism (9), a material collecting platform (10) is arranged at the other side of the feeding conveyor belt (2) corresponding to the rejecting side-pushing mechanism (9), a finished gift box conveyor belt (11) which is vertical to the feeding conveyor belt (2) is arranged at the tail end of the feeding conveyor belt (2), and a finished gift box side pushing device (12) is arranged at the joint of the feeding conveyor belt (2) and the finished gift box conveyor belt (11).

2. The intelligent donkey-hide gelatin thick liquid supply box assembly line of claim 1, characterized in that, chain net twine conveying platform (1) and pay-off conveyer belt (2) are mutually perpendicular, high-speed servo motor side push mechanism (5) set up in the other side of chain net twine conveying platform (1) corresponding pay-off conveyer belt (2).

3. The assembly line of claim 1, wherein a gift box limit frame (13) is arranged at the edge of the collection platform (10), a gift box overfill detection sensor (14) is fixedly mounted on the inner wall of the gift box limit frame (13) corresponding to the side pushing direction of the gift box, and the gift box overfill detection sensor (14) is connected with a warning device through a processing system.

4. The intelligent donkey-hide gelatin syrup feeding box assembly line of claim 1, characterized in that, the initiating end both sides of chain net twine conveying platform (1) are all provided with case and chop stacking area (16) through tray positioning mechanism (15), and are provided with backing plate placing area (18) through backing plate placing mechanism (17) in any side of chain net twine conveying platform (1), get box robot (3) and install subaerial through the robot base.

5. The intelligent donkey-hide gelatin syrup feeding and boxing production line of claim 4, wherein the action areas of the boxing and chopping area (16), the base plate placing area (18) and the box taking robot (3) are all surrounded by a safety protection net (19) fixed on the ground to form an isolation area.

6. A box supplying method of an intelligent box supplying assembly line of donkey-hide gelatin syrup is characterized by comprising the following steps:

step 100, manually conveying stacked gift boxes to a tray positioning station, wherein a partition plate is arranged between every four layers of gift boxes;

200, sucking the gift boxes by a robot through a sponge sucker, placing the gift boxes on a chain network cable according to a set direction, sucking a partition plate between the gift boxes after every four layers of gift boxes are sucked, and placing the partition plate on a base plate placing station;

step 300, the gift box is conveyed to a high-speed servo motor side pushing mechanism at the tail end through a chain network cable, and when a sensor detects the gift box, the side pushing mechanism starts to act to push the gift box onto a belt line perpendicular to the gift box;

step 400, laser coding is carried out on the gift boxes on the belt line, the unqualified gift boxes are removed after the code is coded and detected by an industrial camera vision detection system, and the successfully coded gift boxes are pushed to the next station through a box pushing mechanism at the tail end of the belt line to finish box discharging.

7. The intelligent donkey-hide gelatin syrup feeding assembly line of claim 6, wherein in step 200, the specific method for taking the box by the robot is as follows:

step 201, determining the positions of the manual stacking gift boxes on two sides of the robot;

202, numbering the positions of the two manual stacking gift boxes, and identifying the parameters of the gift boxes at the positions according to the numbers to determine the box taking period of the robot;

and step 203, arranging a warning device on the robot, sending a warning signal in the warning range of each box taking period, and taking boxes alternately according to the period at the positions of the two manual stacking gift boxes by the robot.

8. The intelligent donkey-hide gelatin syrup feeding production line of claim 7, wherein the specific steps for determining the box taking period of the robot are as follows:

determining the total number of layers of the gift boxes, and dividing the number of groups according to the total number of layers from bottom to top according to multiples of four;

rechecking the division of the actual group number and the box taking sequence of the robot;

and determining the box taking time of the single-layer gift boxes and the box taking time of each group of gift boxes, and taking the box period of the single-side manual stacking gift boxes according to the weighted time of the total number of layers and the total number of groups.

9. The assembly line of claim 6, wherein in step 300, the specific lateral pushing manner of the lateral pushing mechanism of the high-speed servo motor is as follows:

301, sequentially transmitting the gift boxes after the boxes are taken by the robot to the tail ends of the chain network cables according to the transmission direction of the chain network cables;

and step 302, arranging a blocking device at the tail end of the chain network cable, starting the side pushing mechanism to perform box pushing operation when the sensor detects sufficient gift boxes, and braking the side pushing mechanism at an initial position until the gift boxes on the chain network cable are supplemented to the sufficient gift boxes when the number of the gift boxes is insufficient.

10. The intelligent donkey-hide gelatin syrup feeding and packaging line of claim 9, wherein the sensor method comprises:

arranging a plurality of sensors along the transmission direction of the chain network cable according to the width of a single gift box;

a plurality of sensors independently detect and obtain detection signals;

carrying out logical operation on detection signals of a plurality of sensors, sending an action instruction when the detection signals of the plurality of sensors are all 'yes', and not sending the action instruction when the detection signal of any one sensor is 'no';

when the detection signal of the sensor which is not at the end position is 'not' and the duration exceeds a first threshold value, sending a fault warning signal of the side pushing mechanism; and when the last sensor detects that the last sensor is not, and the duration exceeds a second threshold value, sending a box taking fault warning signal.

Technical Field

The embodiment of the invention relates to the technical field of production lines, in particular to an intelligent donkey-hide gelatin syrup box supply production line and a donkey-hide gelatin syrup box supply method.

Background

Along with the improvement of automation level, often need can go out the box according to the order of setting for when automatic packing to can also beat sign indicating number and detect the gift box as required when going out the box, select qualified gift box, and realize that the automation of gift box is useless.

Although the automatic discharging of gift boxes can be realized in the prior art, manual material supplementing is still needed in the process, namely, the automatic box discharging is met by manual material supplementing on the basis of an automatic production line. Because general automation work area all is mechanical motion, consequently in order to guarantee safety, the workman is not allowed to get into corresponding danger area when machinery carries out the operation, and because this kind of reality makes often need the shut down operation when mending the box, when stopping to mend the box operation, will influence the play box order of follow-up gift box, the phenomenon of neutral appears. And the box discharging mode is not beneficial to subsequent processing.

Disclosure of Invention

Therefore, the embodiment of the invention provides an intelligent donkey-hide gelatin syrup box supply assembly line and a donkey-hide gelatin syrup box supply method, which realize automatic detection by arranging an automatic detection and waste discharge mechanism so as to meet the quality requirement of a gift box, and solve the problem that shutdown and material supplement are needed in the prior art in a periodic operation mode.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

an intelligent donkey-hide gelatin syrup box supply assembly line comprises a chain network line conveying platform, wherein a feeding conveyor belt which is in contact with the chain network line conveying platform in a fitting manner is arranged at the tail end of the chain network line conveying platform;

chain net twine conveying platform's terminal side is provided with high-speed servo motor side push mechanism, and is in install gift box action detection sensor on the high-speed servo motor side push mechanism, gift box detection sensor starts high-speed servo motor side push mechanism and pushes away the gift box to the pay-off conveyer belt when detecting the gift box on, it beats ink recorder and constructs, vision camera detecting system and rejects side push mechanism to set gradually laser on the pay-off conveyer belt, is provided with the platform that gathers materials on the position that the side push mechanism was rejected in pay-off conveyer belt opposite side correspondence the end of pay-off conveyer belt be provided with pay-off conveyer belt vertically finished product gift box conveyer belt, the junction of pay-off conveyer belt and finished product gift box conveyer belt is provided with finished product gift box side push device.

The embodiment of the invention is also characterized in that the chain network cable conveying platform is vertical to the feeding conveyor belt, and the high-speed servo motor side pushing mechanism is arranged on the other side of the chain network cable conveying platform corresponding to the feeding conveyor belt.

The embodiment of the invention is also characterized in that a gift box limit frame is arranged at the edge of the aggregate platform, a gift box overfilling detection sensor is fixedly arranged on the inner wall of the gift box limit frame corresponding to the gift box side pushing direction, and the gift box overfilling detection sensor is connected with a warning device through a processing system.

The box taking robot is characterized in that the two sides of the starting end of the chain and network line conveying platform are provided with a box chopping stacking area through a tray positioning mechanism, a base plate placing area is arranged on any one side of the chain and network line conveying platform through a base plate placing mechanism, and the box taking robot is installed on the ground through a robot base.

An embodiment of the invention is further characterized in that the action areas of the boxing and chopping area, the base plate placing area and the box taking robot are all surrounded by a safety protection net fixed on the ground to form an isolation area.

In addition, the invention also provides a box supply method of the intelligent box supply assembly line of donkey-hide gelatin syrup, which comprises the following steps:

step 100, manually conveying stacked gift boxes to a tray positioning station, wherein a partition plate is arranged between every four layers of gift boxes;

200, sucking the gift boxes by a robot through a sponge sucker, placing the gift boxes on a chain network cable according to a set direction, sucking a partition plate between the gift boxes after every four layers of gift boxes are sucked, and placing the partition plate on a base plate placing station;

step 300, the gift box is conveyed to a high-speed servo motor side pushing mechanism at the tail end through a chain network cable, and when a sensor detects the gift box, the side pushing mechanism starts to act to push the gift box onto a belt line perpendicular to the gift box;

step 400, laser coding is carried out on the gift boxes on the belt line, the unqualified gift boxes are removed after the code is coded and detected by an industrial camera vision detection system, and the successfully coded gift boxes are pushed to the next station through a box pushing mechanism at the tail end of the belt line to finish box discharging.

The embodiment of the present invention is further characterized in that, in step 200, the specific method for taking the box by the robot is as follows:

step 201, determining the positions of the manual stacking gift boxes on two sides of the robot;

202, numbering the positions of the two manual stacking gift boxes, and identifying the parameters of the gift boxes at the positions according to the numbers to determine the box taking period of the robot;

and step 203, arranging a warning device on the robot, sending a warning signal in the warning range of each box taking period, and taking boxes alternately according to the period at the positions of the two manual stacking gift boxes by the robot.

The embodiment of the invention is also characterized in that the specific steps for determining the box taking period of the robot are as follows:

determining the total number of layers of the gift boxes, and dividing the number of groups according to the total number of layers from bottom to top according to multiples of four;

rechecking the division of the actual group number and the box taking sequence of the robot;

and determining the box taking time of the single-layer gift boxes and the box taking time of each group of gift boxes, and taking the box period of the single-side manual stacking gift boxes according to the weighted time of the total number of layers and the total number of groups.

The embodiment of the present invention is further characterized in that, in step 300, the specific lateral pushing manner of the lateral pushing mechanism of the high-speed servo motor is as follows:

301, sequentially transmitting the gift boxes after the boxes are taken by the robot to the tail ends of the chain network cables according to the transmission direction of the chain network cables;

and step 302, arranging a blocking device at the tail end of the chain network cable, starting the side pushing mechanism to perform box pushing operation when the sensor detects sufficient gift boxes, and braking the side pushing mechanism at an initial position until the gift boxes on the chain network cable are supplemented to the sufficient gift boxes when the number of the gift boxes is insufficient.

An embodiment of the invention is further characterized in that the method of the sensor is:

arranging a plurality of sensors along the transmission direction of the chain network cable according to the width of a single gift box;

a plurality of sensors independently detect and obtain detection signals;

carrying out logical operation on detection signals of a plurality of sensors, sending an action instruction when the detection signals of the plurality of sensors are all 'yes', and not sending the action instruction when the detection signal of any one sensor is 'no';

when the detection signal of the sensor which is not at the end position is 'not' and the duration exceeds a first threshold value, sending a fault warning signal of the side pushing mechanism; and when the last sensor detects that the last sensor is not, and the duration exceeds a second threshold value, sending a box taking fault warning signal.

The embodiment of the invention has the following advantages:

the automatic box discharging device is based on the box taking robot, automatic box discharging is realized through the cooperation of the box taking robot, the box discharging order is adjusted through the action of a chain network line conveying platform and the like in the box discharging process, and the box supplementing without stopping is realized through controlling the box discharging period, so that the aim of continuously discharging boxes is fulfilled.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a flow chart of a cassette feeding method of the present invention;

in the figure: 1-chain network cable conveying platform; 2-a feeding conveyor belt; 3-a box taking robot; 4-sponge sucker; 5-a high-speed servo motor side-pushing mechanism; 6-gift box motion detection sensor; 7-laser coding mechanism; 8-a visual camera detection system; 9-removing the side pushing mechanism; 10-an aggregate platform; 11-finished gift box conveyor belt; 12-finished gift box side pushing device; 13-gift box limit frame; 14-gift box overfill detection sensor; 15-a tray positioning mechanism; 16-a chopping and piling area; 17-a pad placement mechanism; 18-a pad placement area; 19-safety protecting net.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.

As shown in fig. 1, the invention provides an intelligent donkey-hide gelatin syrup box supply assembly line which comprises a chain network line conveying platform 1, wherein a feeding conveyor belt 2 which is attached to and contacted with the chain network line conveying platform 1 is arranged at the tail end of the chain network line conveying platform 1, the chain network line conveying platform 1 and the feeding conveyor belt 2 are perpendicular to each other, a box taking robot 3 is arranged on the front side of the starting end of the chain network line conveying platform 1, and a sponge sucker 4 is arranged on the box taking robot 3 through an action arm.

In this embodiment, the box taking robot 3 takes out the gift boxes from the stacking area according to a set program, prevents the gift boxes from being intensively arranged on the chain net conveying platform 1, and pushes the gift boxes to the feeding conveyor belt 2 through the pushing operation of the side pushing mechanism.

Wherein, chain net twine conveying platform 1's initiating terminal both sides all are provided with the case through tray positioning mechanism 15 and chop the district of stacking 16, and this case chops the district of stacking 16 and is located both sides respectively to make things convenient for the manual work to mend the box safely when getting box robot 3 and getting the box, be provided with the backing plate through backing plate placer 17 in any one side of chain net twine conveying platform 1 and place the district 18, it installs subaerial to get box robot 3 through the robot base.

The box and chop stacking area 16, the base plate placing area 18 and the action area of the box taking robot 3 are all surrounded by a safety protection net 19 fixed on the ground to form an isolation area.

The isolation area is set up to surround the action range of the robot so as to prevent workers from being accidentally injured due to the fact that the robots enter the operation range of the robot in an unexpected manner.

Chain net twine conveying platform 1's terminal side is provided with high-speed servo motor side push mechanism 5, high-speed servo motor side push mechanism 5 sets up chain net twine conveying platform 1 corresponds the opposite side of pay-off conveyer belt 2, just is in install gift box action detection sensor 6 on the high-speed servo motor side push mechanism 5, gift box detection sensor 6 starts high-speed servo motor side push mechanism 5 when detecting the gift box and pushes away the gift box on pay-off conveyer belt 2, it beats ink recorder structure 7, vision camera detecting system 8 and rejects side push mechanism 9 to set gradually the laser on pay-off conveyer belt 2, is provided with aggregate platform 10 on the position that side push mechanism 9 was rejected in pay-off conveyer belt 2 opposite side correspondence.

The platform 10 edges that gathers materials are provided with gift box limit frame 13, and fixed mounting has gift box overflow detection sensor 14 on the inner wall of gift box limit frame 13 corresponding gift box side push direction, gift box overflow detection sensor 14 is connected with alarm device through processing system.

The end of the feeding conveyor belt 2 is provided with a finished gift box conveyor belt 11 perpendicular to the feeding conveyor belt 2, and a finished gift box side pushing device 12 is arranged at the joint of the feeding conveyor belt 2 and the finished gift box conveyor belt 11.

In the above-mentioned confession box assembly line, take out orderly the preventing on chain net conveying platform with the gift box through getting a box robot, the side through chain net conveying platform pushes away the gift box according to certain quantity and requirement on corresponding pay-off conveyer belt, carries out corresponding beating on the pay-off conveyer belt sign indicating number and detection to the output accords with the gift box of standard and puts useless the processing to the gift box of wastrel.

In addition, based on the above box supply assembly line, as shown in fig. 2, the invention also provides a box supply method of the intelligent box supply assembly line for donkey-hide gelatin syrup, and the specific working mode is as follows:

1) the manual work is sent the tray positioning mechanism department with the gift box that will pile up a pile and is formed the case and chopped the stacking area, gets for sending of better realization gift box, has the one deck baffle between every four layers of gift box, moves behind the start-up robot, and the sponge sucking disc absorbs the gift box, puts the gift box on the chain net twine, and every absorbs four layers of gift box after, with the baffle between the gift box, place the backing plate after absorbing and place the station.

2) The gift box is conveyed to the tail end high-speed servo motor side pushing mechanism through the chain network cable, and when the gift box is detected by the sensor, the side pushing mechanism starts to act to push the gift box to a belt line perpendicular to the gift box.

3) Laser coding is carried out on the gift boxes on a belt line, the code is coded and then detected by an industrial camera vision detection system, the vision detection system detects that the code is not coded correctly and the gift boxes are not placed correctly (positive and negative errors), the gift boxes are rejected on a material collecting platform through a rejection mechanism, when a sensor gift box on the platform is full, equipment alarms, and the rejected gift boxes are manually taken away; the gift boxes successfully printed with the codes are pushed to the next station through the box pushing mechanism at the tail end of the belt line.

In the invention, the specific operation steps comprise the following aspects:

and step 100, manually conveying the stacked gift boxes to a tray positioning station, wherein a partition plate is arranged between every four layers of gift boxes.

In the step, the gift box is manually placed in the corresponding zone bit, so that the box taking robot can accurately take the box, meanwhile, as the gift box is positioned in the operation range of the box taking robot, in general, in order to ensure the operation safety, static personnel enter the operation range when the box taking robot operates, but in the invention, in order to realize operation without stopping the machine, the box taking mode of the box taking robot is improved, and the defect that the box needs to be stopped and supplemented in the prior art is overcome.

In the present embodiment, in order to implement the above-mentioned non-stop box refilling and at the same time, it is necessary to ensure the safety of the box refilling worker, so based on the above consideration, the above-mentioned functions are implemented in the present invention by establishing a box fetching cycle, which is described in detail below.

Step 200, the robot absorbs the gift boxes through the sponge suckers, places the gift boxes on the chain network cable according to the set direction, and after absorbing four layers of gift boxes, absorbs the partition boards between the gift boxes and then places the partition boards on the base plate placing station.

In step 200, the specific method for taking the box by the robot is as follows:

step 201, determining the positions of the manual stacking gift boxes on two sides of the robot;

202, numbering the positions of the two manual stacking gift boxes, and identifying the parameters of the gift boxes at the positions according to the numbers to determine the box taking period of the robot;

and step 203, arranging a warning device on the robot, sending a warning signal in the warning range of each box taking period, and taking boxes alternately according to the period at the positions of the two manual stacking gift boxes by the robot.

In the above steps, the specific step of determining the box taking period of the robot is as follows:

determining the total number of layers of the gift boxes, and dividing the number of groups according to the total number of layers from bottom to top according to multiples of four;

rechecking the division of the actual group number and the box taking sequence of the robot;

and determining the box taking time of the single-layer gift boxes and the box taking time of each group of gift boxes, and taking the box period of the single-side manual stacking gift boxes according to the weighted time of the total number of layers and the total number of groups.

It is worth to be noted that, in the present invention, the positions of two manual stacking gift boxes need to be numbered and determined respectively, and the box refilling needs to be confirmed again after each time of box refilling.

Thus, after the first good period has been determined, the period following the box filling remains unchanged, and the box filling can be carried out in this way directly within the defined period. Thereby realizing safe box supplement without shutdown.

The determination mode of the period is further defined in the steps as follows:

for example, each palletized zone has n total layers, each layer has m small gift box layers inside, and the number of the backing plates is n-1 except the number of the backing plates at the bottom.

And setting the box taking time of each gift box small layer as T1, the plate taking time of each cushion plate as T2 and the plate taking time of the bottom cushion plate as T3, wherein the common box taking time is T-mt 1+ (n-1) T2+ T3. Therefore, the period of the box taking time on each side is mt1+ (n-1) t2+ t3, and only the entering of the box supplementing on the other side in the time range is a safe window period.

In order to ensure safety, the setting time of the threshold is not less than 2 minutes, so that the corresponding threshold needs to be determined according to the actual box taking period.

And step 300, conveying the gift boxes to a high-speed servo motor side pushing mechanism at the tail end through a chain network cable, and when a sensor detects the gift boxes, starting the side pushing mechanism to push the gift boxes to a belt line perpendicular to the side pushing mechanism.

In step 300, the specific lateral pushing manner of the high-speed servo motor lateral pushing mechanism is as follows:

301, sequentially transmitting the gift boxes after the boxes are taken by the robot to the tail ends of the chain network cables according to the transmission direction of the chain network cables;

and step 302, arranging a blocking device at the tail end of the chain network cable, starting the side pushing mechanism to perform box pushing operation when the sensor detects sufficient gift boxes, and braking the side pushing mechanism at an initial position until the gift boxes on the chain network cable are supplemented to the sufficient gift boxes when the number of the gift boxes is insufficient.

In the embodiment, the side pushing and feeding are realized in a mode that the sensor and the blocking device are mutually matched, the function of the side pushing and feeding device is to enable the gift boxes which are pushed by the side each time to be in the same state, namely, the number of the side pushing devices is the same each time, and when the number of the gift boxes is sufficient, the time intervals between adjacent side pushing devices are the same, so that the specific box discharging condition is stabilized.

In order to ensure the above-mentioned ejection, in the present embodiment, the sensor method includes:

arranging a plurality of sensors along the transmission direction of the chain network cable according to the width of a single gift box;

a plurality of sensors independently detect and obtain detection signals;

carrying out logical operation on detection signals of a plurality of sensors, sending an action instruction when the detection signals of the plurality of sensors are all 'yes', and not sending the action instruction when the detection signal of any one sensor is 'no';

when the detection signal of the sensor which is not at the end position is 'not' and the duration exceeds a first threshold value, sending a fault warning signal of the side pushing mechanism; and when the last sensor detects that the last sensor is not, and the duration exceeds a second threshold value, sending a box taking fault warning signal.

Step 400, laser coding is carried out on the gift boxes on the belt line, the unqualified gift boxes are removed after the code is coded and detected by an industrial camera vision detection system, and the successfully coded gift boxes are pushed to the next station through a box pushing mechanism at the tail end of the belt line to finish box discharging.

Based on the above, the present invention realizes automatic box discharging by using the cooperation of the box taking robot, and can mark and waste the gift boxes when discharging the gift boxes, adjust the box discharging quantity and order of the gift boxes, and facilitate the treatment of the subsequent process.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.