CN106040534A - Automatic glue sealing device with fully-automatic linear mechanical hand - Google Patents
Automatic glue sealing device with fully-automatic linear mechanical hand Download PDFInfo
- Publication number
- CN106040534A CN106040534A CN201610617600.1A CN201610617600A CN106040534A CN 106040534 A CN106040534 A CN 106040534A CN 201610617600 A CN201610617600 A CN 201610617600A CN 106040534 A CN106040534 A CN 106040534A
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- CN
- China
- Prior art keywords
- mechanical hand
- automatic
- full
- glue seal
- linear mechanical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Abstract
The invention discloses an automatic glue sealing device with a fully-automatic linear mechanical hand. The device comprises the mechanical hand, a material preparation platform, a glue sealing device and a discharge platform, wherein a suction device for capturing a machined element is arranged on the mechanical hand; the material preparation platform is used for bearingthe machined element; the glue sealing device comprises a clamping jig and a glue sealer at one end of the clamping jig; the discharge platform is used for bearinga machined element subjected to glue sealing; the mechanical hand can move to the material preparation platform to enable the suction device to capture the machined element to the clamping jig, glue sealing is performed on the machined element by virtue of the glue sealer, and the machined element subjected to glue sealing is captured and placed on the discharge platform by the suction device. According to the automatic glue sealing device with the fully-automatic linear mechanical hand, the mechanical hand is adopted for feeding, dischargingand carryingplastic forming instead of a worker, so that the device is high in automation degree and favorable for improving the working efficiency; in addition, the mechanical hand is used for carrying plastic forming operation, so that the condition of product drop caused by long-time work of the worker in a carrying process can be avoided, and the production quality of a product is favorably improved.
Description
Technical field
The present invention relates to technical field of mechanical equipment, particularly relate to a kind of automatic sealing package mucilage binding with full-automatic linear mechanical hand
Put.
Background technology
At present, in the process of manufacture of touch screen, need touch screen is carried out sealing, to complete its manufacturing procedure.
Existing when touch screen is carried out sealing, generally utilize molding machine to complete.Specifically, use manual type by vacuum formed box
The touch panel not carrying out sealing takes out the pallet putting molding machine into, starts molding machine, when molding machine is complete to touch panel
After becoming sealing, the touch panel after hand-held rubber suction cups will complete sealing takes out, and places to discharging area.
Using aforesaid way, every molding machine is required to lasting the repeating feeding, blanking action, remove of operator
Fortune plastic uptakes etc., human cost is higher and man efficiency is the highest；Participate in simultaneously as whole sealing process is required to operator, because of
This, artificial work intensity is higher and likely occurs that in handling process product drops situation, easily causes not product quality
Good situation.
Summary of the invention
In view of the above-mentioned problems in the prior art, it is an object of the invention to, it is provided that a kind of without manually participating in i.e.
The automatic glue seal device with full-automatic linear mechanical hand of feeding, blanking and plastic uptake action can be completed.
To achieve these goals, the following technical scheme of embodiment of the present invention offer:
The invention provides a kind of automatic glue seal device with full-automatic linear mechanical hand, it includes
Mechanical hand, is provided with to capture the adsorbent equipment of machine component；
Material preparing table, in order to place machine component；
Sealing adhesive device, described sealing adhesive device includes screens tool and is positioned at the molding machine of described screens tool one end；
And blanking bench, in order to place the machine component that sealing completes；
Described mechanical hand can drive described adsorbent equipment to move to described material preparing table, so that described adsorbent equipment captures institute
State machine component to described screens tool, via described molding machine, described machine component carried out sealing, and via described absorption
Device captures the machine component placement extremely described blanking bench that sealing completes.
As the improvement of technique scheme, described mechanical hand includes the first travel mechanism, the edge moved in the first direction
Second travel mechanism of second direction motion and the 3rd travel mechanism that moves along third direction, described second travel mechanism is sliding
Being dynamically connected in described first travel mechanism, described 3rd travel mechanism is slidably connected to described second travel mechanism, and described first
The orthogonal setting of direction, second direction and third direction；It is provided with described adsorbent equipment in described 3rd travel mechanism.
Further, described mechanical hand also includes fixing guide rail, described first travel mechanism include the first driving means and
First sliding part, described first driving means drives described first sliding part to move along the bearing of trend of described fixing guide rail.
Further, described second travel mechanism includes the second driving means and the second sliding part, and described second drives dress
Put and drive described second sliding part to move along the bearing of trend of described first sliding part；Described 3rd travel mechanism includes that the 3rd drives
Dynamic device and the 3rd sliding part, described 3rd driving means drives described 3rd sliding part along the extension side of described second sliding part
To motion, described adsorbent equipment is located on described 3rd sliding part, so that described 3rd sliding part drives described adsorbent equipment edge
The bearing of trend motion of described second sliding part.
Further, described first driving means, the second driving means and the 3rd driving means are cylinder or motor.
As the improvement of technique scheme, described adsorbent equipment includes vacuum generator and sucker, and described vacuum occurs
Device is in order to produce negative pressure of vacuum, so that described sucker captures machine component.
Further, described adsorbent equipment also includes that support bar, described support bar vertically extend and is located at described machine
On hand, described support bar is provided with loading plate to tool on the one end away from described mechanical hand, and described sucker is multiple, between distinguishing the most successively
Every being arranged on described loading plate, and the surface of the absorption face of described sucker and machine component be arranged in parallel.
Further, described adsorbent equipment also includes that electromagnetic valve, described electromagnetic valve are electrically connected with described vacuum generator,
Produce negative pressure of vacuum in order to send signal to control described vacuum generator or stop producing negative pressure of vacuum.
As the improvement of technique scheme, described adsorbent equipment also includes electromagnetic valve, described electromagnetic valve and described vacuum
Generator is electrically connected with, and produces vacuum in order to send signal bear to control described vacuum generator generation negative pressure of vacuum or stopping
Pressure.
Further, described angle regulator includes the driving element being located on described mechanical hand and drives described in being connected to
Moving the gear of element, pinion rotation described in described driving element drives, to drive described adsorbent equipment to rotate.
Further, described mechanical hand being provided with fixed frame, described fixed frame includes the first batten, is parallel to institute
State the second batten of the first batten and be connected to the Article 3 plate between described first batten and the second batten, described Article 1
Plate is provided with reinforcing plate on vertically, described driving means is installed on described reinforcing plate, and the driving of described driving means
The dynamic axle center of rotating shaft be arranged in parallel with the upper surface of described first batten, and described gear is fixedly connected on described drive shaft.
Further, described gear is helical gear.
Further, described gear includes the first gear and the second gear, and described first gear is with described driving element even
Connecing, described second gear is vertically arranged with described first gear, and described second gear engages with described first gear, described suction
Adsorption device is fixedly connected on described second gear.
Further, the angle of regulation range of described angle regulator is 0 °～360 °.
As the improvement of technique scheme, described in there is the automatic glue seal device of full-automatic linear mechanical hand also include work
Station, described mechanical hand, material preparing table, sealing adhesive device and described blanking bench are all located on described workbench.
It is respectively symmetrically as the improvement of technique scheme, described material preparing table and described blanking bench and is located at described screens tool
Both sides, and the table surface height of described material preparing table is consistent with the table surface height of described blanking bench.
As the improvement of technique scheme, described screens tool includes at least one screens groove, and described mechanical hand is successively
Described machine component is placed each screens groove to described screens tool.
As the improvement of technique scheme, described in there is the automatic glue seal device of full-automatic linear mechanical hand also include control
Device processed, described control device is in order to control the motion of described mechanical hand, so that described mechanical hand realizes adding described in motion crawl
Work element.
What the present invention provided the have automatic glue seal device of full-automatic linear mechanical hand, compared with prior art, have with
Lower advantage:
(1) participate in without artificial, reduce cost of labor.The automatic sealing package mucilage binding with full-automatic linear mechanical hand of the present invention
Put, by arranging mechanical hand, and be provided with to capture the adsorbent equipment of machine component on a robotic arm such that it is able to realize logical
Cross this mechanical hand simulate manually carry out feeding, blanking and carrying plastic uptake action, instead of employing manually-operated mode, it is not necessary to
Artificial participation, advantageously reduces cost of labor.
(2) compact overall structure and work efficiency are high.What the present invention provided has the automatic sealing package of full-automatic linear mechanical hand
Adhesive dispenser, manually carries out feeding, blanking and carrying plastic uptake owing to using mechanical hand to substitute, and therefore, automaticity is high, favorably
In improving work efficiency.Additionally, utilize mechanical hand to complete above-mentioned action, it is not necessary to additionally arrange handling module and conveyor module, whole
Body compact conformation, and area occupied is less.
(3) product quality problem during carrying plastic uptake is reduced.What the present invention provided has full-automatic linear mechanical hand
Automatic glue seal device, utilize mechanical hand carry out carry plastic uptake action, therefore, it is possible to avoid use manually carry out labor for a long time
The product made and be likely to result in handling process occurring drops situation, is conducive to improving the quality of production of product.
(4) can regulate angle, the position placed to adapt to different machine component captures.The present invention have complete from
The automatic glue seal device of linear mechanical hand is by being provided with angle regulator on described mechanical hand, and described absorption is filled
Put and be connected with described angle regulator such that it is able to utilize described angle regulator to regulate described adsorbent equipment relative to
The angle of described mechanical hand, is conducive to adapting to the crawl of the machine component of different placement location, applied widely.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the automatic glue seal device with full-automatic linear mechanical hand that the embodiment of the present invention provides
Figure；
Fig. 2 is the structural representation of the mechanical hand that the embodiment of the present invention provides；
Fig. 3 is the structural representation at another visual angle of Fig. 2；
Fig. 4 is that the IV of Fig. 3 is to partial enlarged drawing.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
For ease of describe, can use such as here " ... under ", " ... below ", D score, " ... on ", " on "
Deng space relative terms, an element or feature and another (a bit) element or relation of feature as illustrated in the drawing are described.
Be appreciated that when an element or layer be referred to as another element or layer " on ", " being connected to " or " being couple to " another element or
During layer, it can directly on another element or layer, be directly connected to or be couple to another element or layer, or residence can be there is
Between element or layer.
It is appreciated that terminology used here merely to describe specific embodiment, is not intended to limit the present invention.Here
During use, the most clearly stating, otherwise singulative " " and " being somebody's turn to do " are also intended to include plural form.Further
Ground, when using in this manual, term " include " and/or " comprising " show described feature, entirety, step, element and/or
The existence of assembly, but be not excluded for other features one or more, entirety, step, element, assembly and/or the existence of a combination thereof or
Increase.Description subsequent descriptions is to implement the better embodiment of the present invention, and right described description is to illustrate that the present invention's is general
For the purpose of principle, it is not limited to the scope of the present invention.Protection scope of the present invention is when depending on the defined person of claims
It is as the criterion.
Seeing also Fig. 1 to Fig. 4, a kind of for embodiment of the present invention offer has the automatic of full-automatic linear mechanical hand
Sealing adhesive device 100, including mechanical hand 10, material preparing table 20, sealing adhesive device 30 and blanking bench 40, described mechanical hand 10 is provided with
In order to capture the adsorbent equipment 11 of machine component (sign), described material preparing table 20 is in order to place the machine component treating sealing.Institute
Stating sealing adhesive device 30 and include screens tool 31 and molding machine (sign), described screens tool 31 is located at described material preparing table 20 1
Side, described molding machine is positioned at one end of described screens tool 31, and described blanking bench 40 is in order to place the machine component that sealing completes；
Described mechanical hand 10 can move to described material preparing table 20, so that described adsorbent equipment 11 captures described machine component to described card
Position tool 31, carries out sealing via described molding machine, and it is complete to capture sealing via described adsorbent equipment 11 described machine component
The described machine component become is placed to described blanking bench 40.What the embodiment of the present invention provided has oneself of full-automatic linear mechanical hand
Dynamic sealing adhesive device 100, gets the raw materials ready owing to using mechanical hand 10 to substitute to be accomplished manually, carries plastic uptake and blanking action, therefore,
Work without artificial participation during whole sealing, greatly reduce artificial working strength, simultaneously because the machine of employing
Xie Shou 10 automatization is operated, and is conducive to improving work efficiency.Additionally, present invention offer has full-automatic linear mechanical hand
Automatic glue seal device 100 may be used to touch screen or other glasss capture and carry out sealing.Preferably, with institute
Stating machine component is to illustrate as a example by touch screen.
Specifically, work for the ease of described mechanical hand 10, described in there is the automatic sealing package mucilage binding of full-automatic linear mechanical hand
Put 100 and also include that institute is all located at by workbench 50, described mechanical hand 10, material preparing table 20, sealing adhesive device 30 and described blanking bench 40
State on workbench 50, so that the overall structure of the whole automatic glue seal device 100 with full-automatic linear mechanical hand is more
Compact, reduce the movement travel of mechanical hand 10, be conducive to improving the work efficiency of mechanical hand 10.
In the present embodiment, for the ease of the movement of described mechanical hand 10, to drive described adsorbent equipment 11 to move, described
Mechanical hand 10 includes the first the 12, second travel mechanism of travel mechanism 13 and the 3rd travel mechanism 14, described first travel mechanism
12 A motions in the first direction, described second travel mechanism 13 B in a second direction is slidably connected to described first travel mechanism 12,
Described 3rd travel mechanism 14 is slidably connected to described second travel mechanism 13 along third direction C, described first direction A, second
Direction B and the orthogonal setting of third direction C；It is provided with described adsorbent equipment 11 in described 3rd travel mechanism 14.Specifically
Ground, as in figure 2 it is shown, for the ease of the motion of described first travel mechanism 12, described mechanical hand 10 also includes fixing guide rail 15, institute
Stating the first travel mechanism 12 and include the first driving means 121 and the first sliding part 122, described first driving means 121 drives institute
State the first sliding part 122 to move along the bearing of trend of described fixing guide rail 15.That is, described first direction A is described fixing guide rail
The bearing of trend of 15, the most described first direction A is X-direction.Preferably, described fixing guide rail 15 can be located at described workbench 50
On, described first driving means 121 can be cylinder or motor, and described first sliding part 122 is the slide block being provided with slide rail, in order to
Described second travel mechanism 13 moves along described first sliding part 122.
Described second travel mechanism 13 includes the second driving means 131 and the second sliding part 132, described second driving means
131 drive described second sliding part 132 to move along the bearing of trend of described first sliding part 122.Specifically, described second drive
Device 131 can be cylinder or motor, and described second sliding part 132 can be the slide block identical with described first sliding part 122 structure,
Described second direction B is the bearing of trend of described first sliding part 122, i.e. described second direction B is Y-direction.
Described 3rd travel mechanism 14 includes the 3rd driving means 141 and the 3rd sliding part 142, described 3rd driving means
141 drive described 3rd sliding part 142 to move along the bearing of trend of described second sliding part 132.Specifically, the described 3rd drive
Device 141 can be cylinder or motor, and described 3rd sliding part 142 is for tie with described first sliding part 122 and the second sliding part 132
The slide block that structure is identical.Described third direction C is the bearing of trend of described second sliding part 132, i.e. described third direction C is Z side
To, thus realize described mechanical hand 10 and in the motion of X-direction, Y-direction and Z-direction, and then described adsorbent equipment can be driven
11 move in X-direction, Y-direction and Z-direction, adjust with the placement location travel direction according to different machine components, it is ensured that institute
State adsorbent equipment 11 and can capture the machine component of different placement location.
Further, for the ease of fixing in described 3rd travel mechanism 14 of described adsorbent equipment 11, described the
Being provided with fixed frame 16 on one end of three sliding parts 142, described fixed frame 16 includes fixing with described 3rd sliding part 142
Connect the first batten 161, be parallel to the second batten 162 of described first batten 161 and be vertically connected at described Article 1
Article 3 plate 163 between plate 161 and the second batten 162, and described first batten the 161, second batten 162 and Article 3 plate
163 connect formation has the framework of installing space.Described adsorbent equipment 11 is fixedly connected on described first batten 161, and part
It is positioned at the installing space of described framework.
Specifically, described adsorbent equipment 11 includes vacuum generator 111 and sucker 112, described vacuum generator 111 in order to
Produce negative pressure of vacuum, so that described sucker 112 captures machine component.Preferably, described vacuum generator 111 is installed on described
On one batten 161, described sucker 112 is located on described second batten 162, and the absorption of described sucker 112 is facing to processing
The surface of element.Described vacuum generator 111 is utilized to produce negative pressure of vacuum so that described sucker 112 is capturing described processing unit
During part, it is possible to adsorb the surface of machine component firmly such that it is able to prevent capture during described machine component drop and
Cause the situation that machine component damages.Additionally, use sucker 112 to capture machine component, it is possible to prevent from using sharp object
Capture and machine component surface is caused the situation scratching damage.
Further, for the ease of fixing sucking disk 112, described adsorbent equipment 11 also includes support bar 113, described support bar
113 vertically extensions are located on described mechanical hand 10.Specifically, described support bar 113 is vertically located at described
On two battens 162, in order to sucker 112 described in subsequent installation also makes the absorption of described sucker 112 facing to machine component
Surface.
Described support bar 113 is provided with loading plate 114 on the one end away from described mechanical hand 10, described sucker 112 is many
Individual, interval is located on described loading plate 114 the most successively, and the absorption face of described sucker 112 is parallel with the surface of machine component
Arrange.In the present embodiment, described loading plate 114 is circular slab, and multiple suckers 112 are along the center cyclization of described loading plate 114
Shape arranges.Use the design that multiple sucker 112 is set on loading plate 114, it is possible to when machine component is captured, it is possible to
Increase the crawl area to this machine component, the situation that during preventing from further capturing, machine component drops.
So that described vacuum generator 111 to produce negative pressure of vacuum the most controlled, described adsorbent equipment 11 also includes electricity
Magnet valve 115, described electromagnetic valve 115 is electrically connected with described vacuum generator 111, sends out to control described vacuum in order to send signal
Raw device 111 produces negative pressure of vacuum or stops producing negative pressure of vacuum.In the present embodiment, described electromagnetic valve 115 is located at described first
On batten 161, and described electromagnetic valve 115 and described vacuum generator 111 are adjacent to arranging, in order to described electromagnetic valve 115 and institute
State the electric connection of vacuum generator 111.Additionally, described vacuum generator 111 and described electromagnetic valve 115 are arranged at institute
State on the first batten 161, it is possible to the overall structure making described adsorbent equipment 11 is the compactest.
The described automatic glue seal device 100 with full-automatic linear mechanical hand also includes angle regulator 60, described angle
Degree adjusting means 60 is located on described mechanical hand 10, and described adsorbent equipment 11 is fixedly connected on described angle regulator 60.?
In the present embodiment, the angle of regulation range of described angle regulator 60 is 0 °～360 °, utilizes described angle regulator 60
Regulate the described adsorbent equipment 11 relative angle relative to described mechanical hand 10 such that it is able to make described adsorbent equipment 11 energy
Enough machine components according to different placed angles carry out angular adjustment, so that this adsorbent equipment 11 is capable of capturing smoothly processing
Element.Preferably, when described machine component when sealing face is the most just to described molding machine place plane, now can by adjust
Save the rotational angle of described angle regulator 60, such as 45 °, 90 °, 180 ° or 360 ° etc., so that the treating of described machine component
Sealing face is final just to described molding machine place plane, consequently facilitating carry out sealing.
Further, described angle regulator 60 includes the driving element 61 being located on described mechanical hand 10 and is connected to
The gear 62 of described driving element 61, described driving element 61 drives described gear 62 to rotate, to drive described adsorbent equipment 11
Rotate.Specifically, described driving element 61 is the motor being located on described first batten 161, and in order to prevent described driving
Element 61 shakes and causes described driving element 61 to separate with described first batten 161, at described first batten 161 towards described
It is additionally provided with reinforcing plate 161a, i.e. described reinforcing plate 161a is the batten vertically extended, institute on the direction of installing space
State driving element 61 to be installed in described reinforcing plate 161a.Described driving element 61 includes drive shaft, and described drive shaft
The upper surface of axle center and described first batten 161 be arranged in parallel, described gear 62 is connected with described drive shaft, to pass through
Stating drive shaft rotation drives described gear 62 to rotate.
Further, it is connected with described adsorbent equipment 11 for the ease of described gear 62, to drive described adsorbent equipment 11
Rotating, described gear 62 includes the first gear 621 and the second gear 622, described first gear 621 and described driving element 61
Drive shaft connects, and described second gear 622 is vertically arranged with described first gear 621, and described second gear 622 is with described
First gear 621 engages, and described adsorbent equipment 11 is fixedly connected on described second gear 622.Utilize described second gear 622 with
Described first gear 621 engages, thus when described first gear 621 rotates under the drive of described drive shaft, described
One gear 621 can drive to described second gear 622, so that described second gear 622 rotates, to drive described adsorbent equipment
11 rotate.
Further, owing to described driving element 61 is installed in the installing space of described fixed frame 16, therefore, described
Gear 62 is preferably helical gear, to reduce space hold, avoids in the vertical direction to cause dry to described sucker 112 simultaneously
Relate to.That is, described first gear 621 and the second gear 622 is helical gear, and described first gear 621 and the second gear 622
The shape of the number of teeth and the gear teeth can be consistent or inconsistent, arranges according to practical situation.
During concrete operations, when described mechanical hand 10 moves to machine component position, now, if the surface of machine component with
The absorption face of sucker 112 is not at same parallel plane, the most now, can open described driving element 61 and drive described first gear
621 rotate, and then drive to described second gear 622, drive 112 turns of described sucker by the rotation of described second gear 622
It is dynamic, until the face of drawing of described sucker 112 is parallel with the surface of described machine component, consequently facilitating this sucker 112 captures processing
Element.
Additionally, when described mechanical hand 10 moves to machine component position, and described sucker 112 is made to capture described processing
Element is to the position of described screens tool 31, now, if described machine component treat sealing position and described molding machine place
Direction the most in the same direction, then can rotate by controlling described gear 62, to drive described sucker 112 to rotate, until described machine component
Treat that sealing position and direction, molding machine place are in the same direction, in order to molding machine is treated sealing position and is carried out sealing operation.
It is understood that in the present embodiment, the rotational angle of described gear 62 can be according to described sucker 112 and processing
The position adjustments of element is arranged, and can also arrange according to the position adjustments of machine component with screens tool 31 simultaneously, add depending on actual
Station is put and is adjusted.
Further, so that the motion of described mechanical hand 10 is the most controlled, described in there is full-automatic linear mechanical hand
Automatic glue seal device 100 also include control device 70, described control device 70 in order to control the motion of described mechanical hand 10, with
Make described mechanical hand 10 realize motion and capture described machine component.Specifically, described control device 70 can use PLC control or
It is to use C++ module to be controlled.Preferably, described control device 70 can be placed on described workbench 50, in order to connects
The motion of mechanical hand 10 described in line traffic control, it is possible to be disposed adjacent on the ground of described workbench 50, as long as can be easy to described
The line of mechanical hand 10.
In the present embodiment, so that the entirety of the whole automatic glue seal device 100 with full-automatic linear mechanical hand
More compact structure, described material preparing table 20 can arrange by neighbouring described mechanical hand 10, such as, described material preparing table 20 is located at described machinery
The side of hands 10.Multiple placing trough 21 can be provided with, in order to place machine component on described material preparing table 20.When operator are by case
When machine component in body is carried in moving region, mechanical hand 10 place, can be by controlling the motion of mechanical hand 10, it is achieved will
Machine component correspondence in casing is placed to each placing trough 21, captures the most one by one and seals to screens tool 31
Glue.
In order to improve sealing efficiency, described screens tool 31 includes at least one screens groove (sign), described machine
Described machine component is placed in each screens groove to described screens tool 31 by tool hands 10 successively.Preferably, in this enforcement
In example, described screens tool 31 includes that two screens grooves, described mechanical hand 10 move on described material preparing table 20, and capture a piece of
Machine component, to one of them screens groove, then starts molding machine and this machine component carries out sealing, now, described mechanical hand 10
Continue to move on described material preparing table 20, capture another sheet machine component to another one screens groove, then sealing is completed
Machine component captures to blanking bench 40, circulates successively.
It is understood that for the ease of the motion controlling mechanical hand 10, when described mechanical hand 10 captures a piece of processing unit
Part is to one of them screens groove, and starts molding machine when carrying out sealing, can block to another by capturing another sheet machine component
Position groove, the machine component then sealing completed captures and is placed back on material preparing table 20, the most again captures adding on material preparing table 20
Work element, in screens groove, circulates successively, until the machine component on material preparing table 20 is the state that sealing completes, will the most again
The machine component that all sealings on material preparing table 20 complete captures to blanking bench 40.
Further, the installation for the ease of described molding machine is fixed, and described sealing adhesive device 30 includes installing rack 32, described
Installing rack 32 includes base 321 and is connected to two columns 322 of described base 321 both sides, and described molding machine is mountable to described
On two columns 322.Additionally, screens tool 31 can be located on described base 321, so that described molding machine is controlled relative to described screens
Tool 31 has certain height, in order to the machine component being positioned on described screens tool 31 is sealed by described molding machine
Glue.
Further, capture machine component for the ease of mechanical hand 10 and place to blanking bench 40, described blanking bench 40 with
Described material preparing table 20 can be symmetrically set in the both sides of described screens tool 31, then mechanical hand 10 moves to screens tool from material preparing table 20
The distance of 31 is equal with the distance moving to blanking bench 40 from screens tool 31, and simultaneously, the table surface height of described blanking bench 40
It is consistent with the table surface height of described material preparing table 20, consequently facilitating operator are at the movement position of input sequence controlled machine hands 10
Time calculating, also reduce mechanical hand 10 travel.Preferably, in order to place more machine component, improve processing
Efficiency, described blanking bench 40 also can arrange multiple draw-in groove by corresponding material preparing table 20, in order to places the processing unit that sealing completes
Part.
When concrete operations, the machine component that lamination is good is placed on material preparing table 20 by first operator, starts described
Mechanical hand 10 button, described mechanical hand 10 is automatically positioned and carries out positioning (X-direction, Y-direction and Z-direction) to described material preparing table 20
First machine component, described control device 70 sends a signal on described adsorbent equipment 11 to obtain electromagnetic valve 115, to control
State vacuum generator 111 start produce negative pressure of vacuum, now, can be according to the absorption face of the sucker 112 on mechanical hand 10 and processing
The most parallel the judging whether of the finished surface of element needs anglec of rotation adjusting means 60, if need not regulate angle, then machine
Tool hands 10 captures machine component in the screens groove 311 of screens tool 31, and then mechanical hand 10 continues location to material preparing table 20
Another machine component, with timed unit 70 send control signal start molding machine first machine component is carried out sealing,
Molding machine is automatically stopped at the origin position set after completing sealing, another machine component is placed to card by mechanical hand 10 simultaneously
Position tool 31 another screens groove 311 in, then mechanical hand 10 location has captured sealing machine component placement former to it
The first position on material preparing table 20, sends signal control molding machine with timed unit 70 and starts and start another machine component
Sealing, such palikinesia, last machine component on material preparing table 20 is placed on before screens tool 31 starts sealing,
The machine component that all sealings that mechanical hand 10 positions to material preparing table 20 before complete, and overall crawl is mobile to blanking bench 40
On, the most again the machine component that last sealing completes directly is captured to blanking bench 40 from screens tool 31, circulates successively,
Thus realize being carried and blanking action by mechanical hand 10 complete independently feeding action, plastic uptake, reduce intensity of manually working, improve
Automatization's sealing efficiency.
Further, it is to be appreciated that when operation, described mechanical hand 10 also can be arranged the machine component treating sealing is captured
To described material preparing table 20, then described mechanical hand 10 is set and carries out the processing treating sealing on the described material preparing table 20 of location crawl
Element is placed to screens tool 31, and described control device 70 sends control signal and starts described molding machine to first processing unit
Part carries out sealing, and now, described mechanical hand 10 continues location to described material preparing table 20, and captures another described machine component and put
Putting another screens groove to described screens tool 31, now, first described machine component sealing is completed by described molding machine, institute
State mechanical hand 10 location capture described machine component that first sealing complete and place extremely after described blanking bench, again position to
Described material preparing table 20 captures the next one and treats the machine component of sealing, circulates successively.
What the present invention provided has the automatic glue seal device of full-automatic linear mechanical hand, by using mechanical hand to substitute people
Work carries out feeding, blanking and carrying plastic uptake, and therefore, automaticity is high, is conducive to improving work efficiency.Additionally, utilize machinery
Hands carries out carrying plastic uptake action, manually carries out for a long time working and being likely to result in carrying therefore, it is possible to avoid using
The product occurred in journey drops situation, is conducive to improving the quality of production of product.
Embodiments described above, is not intended that the restriction to this technical scheme protection domain.Any in above-mentioned enforcement
Amendment, equivalent and the improvement etc. made within the spirit of mode and principle, should be included in the protection model of this technical scheme
Within enclosing.
Claims (16)
1. an automatic glue seal device with full-automatic linear mechanical hand, it is characterised in that include
Mechanical hand, is provided with to capture the adsorbent equipment of machine component；
Material preparing table, in order to place machine component；
Sealing adhesive device, described sealing adhesive device includes screens tool and is positioned at the molding machine of described screens tool one end；And blanking
Platform, in order to place the machine component that sealing completes；
Described mechanical hand can drive described adsorbent equipment to move to described material preparing table, so that adding described in the crawl of described adsorbent equipment
Work element to described screens tool, carries out sealing via described molding machine to described machine component, and via described adsorbent equipment
Capture the machine component placement extremely described blanking bench that sealing completes.
There is the automatic glue seal device of full-automatic linear mechanical hand the most as claimed in claim 1, it is characterised in that described machinery
Hands includes the first travel mechanism, the second travel mechanism and the 3rd travel mechanism, and described first travel mechanism transports in the first direction
Dynamic, described second travel mechanism is slidably connected to described first travel mechanism in a second direction, and described 3rd travel mechanism is along the
Three directions are slidably connected to described second travel mechanism, and described first direction, second direction and third direction are orthogonal to be set
Put；It is provided with described adsorbent equipment in described 3rd travel mechanism.
There is the automatic glue seal device of full-automatic linear mechanical hand the most as claimed in claim 2, it is characterised in that described machinery
Hands also includes fixing guide rail, and described first travel mechanism includes the first driving means and the first sliding part, and described first drives dress
Put and drive described first sliding part to move along the bearing of trend of described fixing guide rail.
There is the automatic glue seal device of full-automatic linear mechanical hand the most as claimed in claim 2, it is characterised in that described second
Travel mechanism includes that the second driving means and the second sliding part, described second driving means drive described second sliding part along described
The bearing of trend motion of the first sliding part；Described 3rd travel mechanism includes the 3rd driving means and the 3rd sliding part, described
Three driving means drive described 3rd sliding part to move along the bearing of trend of described second sliding part, and described adsorbent equipment is located at institute
State on the 3rd sliding part, so that described 3rd sliding part drives described adsorbent equipment along the bearing of trend fortune of described second sliding part
Dynamic.
There is the automatic glue seal device of full-automatic linear mechanical hand the most as claimed in claim 4, it is characterised in that described first
Driving means, the second driving means and the 3rd driving means are cylinder or motor.
There is the automatic glue seal device of full-automatic linear mechanical hand the most as claimed in claim 1, it is characterised in that described absorption
Device includes vacuum generator and sucker, and described vacuum generator is in order to produce negative pressure of vacuum, so that described sucker captures processing
Element.
There is the automatic glue seal device of full-automatic linear mechanical hand the most as claimed in claim 6, it is characterised in that described absorption
Device also includes that support bar, described support bar vertically extend and is located on described mechanical hand, and described support bar is away from described
Being provided with loading plate on one end of mechanical hand, described sucker is multiple, is arranged at intervals at the most successively on described loading plate, and institute
The surface in the absorption face and machine component of stating sucker be arranged in parallel.
The automatic glue seal device with full-automatic linear mechanical hand the most as claimed in claims 6 or 7, it is characterised in that described
Adsorbent equipment also includes electromagnetic valve, and described electromagnetic valve is electrically connected with described vacuum generator, in order to send signal to control institute
State vacuum generator produce negative pressure of vacuum or stop producing negative pressure of vacuum.
There is the automatic glue seal device of full-automatic linear mechanical hand the most as claimed in claim 1, it is characterised in that described in have
The automatic glue seal device of full-automatic linear mechanical hand also includes that angle regulator, described angle regulator are located at mechanical hand
On, described adsorbent equipment is fixedly connected on described angle regulator.
There is the automatic glue seal device of full-automatic linear mechanical hand the most as claimed in claim 9, it is characterised in that described angle
Degree adjusting means includes that is located on described mechanical hand drives element and be connected to the gear of described driving element, described driving unit
Part drives described pinion rotation, to drive described adsorbent equipment to rotate.
11. automatic glue seal devices as claimed in claim 10 with full-automatic linear mechanical hand, it is characterised in that described tooth
Wheel includes that the first gear and the second gear, described first gear are connected with described driving element, described second gear and described the
One gear is vertically arranged, and described second gear engages with described first gear, and described adsorbent equipment is fixedly connected on described
Two gears.
12. automatic glue seal devices with full-automatic linear mechanical hand as described in claim 9 or 11 any one, its feature
Being, the angle of regulation range of described angle regulator is 0 °～360 °.
13. automatic glue seal devices as claimed in claim 1 with full-automatic linear mechanical hand, it is characterised in that described tool
The automatic glue seal device having full-automatic linear mechanical hand also includes workbench, described mechanical hand, material preparing table, sealing adhesive device and institute
State blanking bench to be all located on described workbench.
14. automatic glue seal devices as claimed in claim 1 with full-automatic linear mechanical hand, it is characterised in that described standby
Material platform and described blanking bench are respectively symmetrically the both sides being located at described screens tool, and the table surface height of described material preparing table with described under
The table surface height of material platform is consistent.
15. automatic glue seal devices as claimed in claim 1 with full-automatic linear mechanical hand, it is characterised in that described card
Position tool includes at least one screens groove, and it is every that described machine component is placed to described screens tool by described mechanical hand successively
One screens groove.
16. automatic glue seal devices as claimed in claim 1 with full-automatic linear mechanical hand, it is characterised in that described tool
The automatic glue seal device having full-automatic linear mechanical hand also includes controlling device, and described control device is in order to control described mechanical hand
Motion so that described mechanical hand realize motion capture described machine component.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610617600.1A CN106040534B (en) | 2016-07-29 | 2016-07-29 | A kind of automatic glue seal device with full-automatic linear manipulator |
| PCT/CN2016/101015 WO2018018754A1 (en) | 2016-07-29 | 2016-09-30 | Automatic sealing device having fully automatic linear robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610617600.1A CN106040534B (en) | 2016-07-29 | 2016-07-29 | A kind of automatic glue seal device with full-automatic linear manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106040534A true CN106040534A (en) | 2016-10-26 |
| CN106040534B CN106040534B (en) | 2019-02-12 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610617600.1A Active CN106040534B (en) | 2016-07-29 | 2016-07-29 | A kind of automatic glue seal device with full-automatic linear manipulator |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106040534B (en) |
| WO (1) | WO2018018754A1 (en) |
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| CN108275303A (en) * | 2018-02-08 | 2018-07-13 | 苏州公高自动化设备有限公司 | A kind of automatic IC visual packagings machine |
| CN108673536A (en) * | 2018-07-16 | 2018-10-19 | 佛山市赛鸽机器人智能科技有限公司 | A kind of robot device |
| CN108673536B (en) * | 2018-07-16 | 2024-03-26 | 佛山市赛鸽机器人智能科技有限公司 | Manipulator device |
| CN108993160A (en) * | 2018-08-10 | 2018-12-14 | 东莞理工学院 | A kind of gyropilot of hollow fiber film thread |
| CN108869487A (en) * | 2018-09-01 | 2018-11-23 | 东莞联洲电子科技有限公司 | A kind of tablet computer screen point glue laminating equipment |
| CN109334276A (en) * | 2018-12-05 | 2019-02-15 | 广东正业科技股份有限公司 | A kind of automatic turnover loading and unloading sprayed printed system |
| CN109677912A (en) * | 2019-01-21 | 2019-04-26 | 深圳智慧者机器人科技有限公司 | A kind of multi-layer board brownification matches trigger online |
| CN109677912B (en) * | 2019-01-21 | 2024-03-15 | 深圳智慧者机器人科技有限公司 | Multi-layer board browning on-line board matching machine |
| CN110271024A (en) * | 2019-06-26 | 2019-09-24 | 中日龙(襄阳)机电技术开发有限公司 | Single armed manipulator side-draw |
| CN110682271A (en) * | 2019-09-03 | 2020-01-14 | 贵州航天电器股份有限公司 | Equipment and method for replacing pins of carriers in circular connector production line |
| CN110510322A (en) * | 2019-09-29 | 2019-11-29 | 深圳赛动生物自动化有限公司 | Culture bottle automatic stacking mechanism and clamp method |
| CN111017543A (en) * | 2019-12-10 | 2020-04-17 | 上栗县金山镇中学 | Spring pressure detection device for middle school physics experiment teaching |
| CN110900644A (en) * | 2019-12-18 | 2020-03-24 | 中北大学 | Liquid medicine configuration device |
| CN111389684A (en) * | 2020-04-29 | 2020-07-10 | 深圳市联合东创科技有限公司 | Automatic glue sealing equipment |
| CN113909830A (en) * | 2020-07-08 | 2022-01-11 | 华为技术有限公司 | Assembling equipment |
| CN112079119A (en) * | 2020-08-20 | 2020-12-15 | 常州机电职业技术学院 | Magnetic clamping feeding manipulator |
| CN113019816A (en) * | 2021-03-15 | 2021-06-25 | 深圳市凯达扬自动化有限公司 | Full-automatic EC five-axis side surface glue sealing equipment |
| CN113522612A (en) * | 2021-07-19 | 2021-10-22 | 上海允孚新材料科技有限公司 | Automatic convertible work piece sand blasting equipment that sprays paint |
| CN113522612B (en) * | 2021-07-19 | 2023-06-16 | 上海允孚新材料科技有限公司 | Automatic overturning type workpiece paint spraying and sand blasting equipment |
| CN114308549A (en) * | 2022-03-14 | 2022-04-12 | 常州铭赛机器人科技股份有限公司 | Online conveying dispenser |
| WO2024036653A1 (en) * | 2022-08-17 | 2024-02-22 | 安徽瑞林精科股份有限公司 | Automatic material-preparation system |
| CN117549327A (en) * | 2024-01-08 | 2024-02-13 | 无锡星微科技有限公司杭州分公司 | Large-stroke wafer carrying robot |
| CN117549327B (en) * | 2024-01-08 | 2024-04-02 | 无锡星微科技有限公司杭州分公司 | Large-stroke wafer carrying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106040534B (en) | 2019-02-12 |
| WO2018018754A1 (en) | 2018-02-01 |
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