CN106040534B - A kind of automatic glue seal device with full-automatic linear manipulator - Google Patents

A kind of automatic glue seal device with full-automatic linear manipulator Download PDF

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Publication number
CN106040534B
CN106040534B CN201610617600.1A CN201610617600A CN106040534B CN 106040534 B CN106040534 B CN 106040534B CN 201610617600 A CN201610617600 A CN 201610617600A CN 106040534 B CN106040534 B CN 106040534B
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CN
China
Prior art keywords
manipulator
automatic
full
machine component
glue seal
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CN201610617600.1A
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Chinese (zh)
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CN106040534A (en
Inventor
饶杰
谢彦腾
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EELY Guangzhou Electronic Technology Co Ltd
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EELY Guangzhou Electronic Technology Co Ltd
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Priority to CN201610617600.1A priority Critical patent/CN106040534B/en
Publication of CN106040534A publication Critical patent/CN106040534A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type

Abstract

A kind of automatic glue seal device with full-automatic linear manipulator, including manipulator, material preparing table, sealing adhesive device and blanking bench set the adsorbent equipment to grab machine component on manipulator;Material preparing table is to place machine component;Sealing adhesive device includes the molding machine of detent jig and one end, machine component of the blanking bench to put sealing completion, manipulator can move to material preparing table, so that adsorbent equipment grabs machine component to detent jig, sealing is carried out to machine component via molding machine, and via the machine component of adsorbent equipment crawl sealing completion and is placed to blanking bench.The automatic glue seal device with full-automatic linear manipulator provided by the invention is substituted artificial progress feeding, blanking using manipulator and carries plastic uptake, and high degree of automation is conducive to improve working efficiency.In addition, carrying out carrying plastic uptake movement using manipulator, it is avoided that artificial work for a long time and the product occurred in the handling process is caused to fall situation, be conducive to the quality of production for improving product.

Description

A kind of automatic glue seal device with full-automatic linear manipulator
Technical field
The present invention relates to machinery equipment field more particularly to a kind of automatic sealing package mucilage bindings with full-automatic linear manipulator It sets.
Background technique
Currently, needing to carry out sealing to touch screen, to complete its manufacturing procedure in the process of manufacture of touch screen. It is existing to touch screen carry out sealing when, usually completed using molding machine.It specifically, will be in vacuum formed box using manual type The touch screen panel for not carrying out sealing takes out the pallet for putting molding machine into, starts molding machine, when molding machine is complete to touch screen panel After sealing, holds rubber suction cups and take out the touch screen panel after completing sealing, and place to discharging area.
Using aforesaid way, every molding machine is required to that an operator is lasting to be repeated feeding, blanking action, remove Plastic uptake etc. is transported, human cost is higher and man efficiency is not high;Simultaneously as entire sealing process is required to operator's participation, because This, artificial intensity of working is higher and is possible to product occur in the handling process to fall situation, is easy to cause not product quality Good situation.
Summary of the invention
In view of the above-mentioned problems in the prior art, the object of the present invention is to provide one kind without artificial participation is Achievable feeding, blanking and the automatic glue seal device with full-automatic linear manipulator of plastic uptake movement.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of automatic glue seal devices with full-automatic linear manipulator comprising
Manipulator is provided with the adsorbent equipment to grab machine component;
Material preparing table, to place machine component;
Sealing adhesive device, the sealing adhesive device include detent jig and the molding machine positioned at detent jig one end;
And blanking bench, to place the machine component of sealing completion;
The manipulator is able to drive the adsorbent equipment and moves to the material preparing table, so that the adsorbent equipment grabs institute It states machine component and sealing is carried out to the machine component via the molding machine to the detent jig, and via the absorption The machine component that device crawl sealing is completed is placed to the blanking bench.
As an improvement of the above technical solution, the manipulator includes the first movement mechanism moved along first direction, edge Second mobile mechanism of second direction movement and the third mobile mechanism moved along third direction, second mobile mechanism are sliding Dynamic to be connected to the first movement mechanism, the third mobile mechanism is slidably connected to second mobile mechanism, and described first Direction, second direction and the orthogonal setting of third direction;The adsorbent equipment is provided in the third mobile mechanism.
Further, the manipulator further includes fixed guide rail, the first movement mechanism include first driving device and First sliding part, the first driving device drive first sliding part to move along the extending direction of the fixed guide rail.
Further, second mobile mechanism includes the second driving device and the second sliding part, the second driving dress Driving second sliding part is set to move along the extending direction of first sliding part;The third mobile mechanism includes that third is driven Dynamic device and third sliding part, the third driving device drive the third sliding part along the extension side of second sliding part To movement, the adsorbent equipment is set on the third sliding part, so that the third sliding part drives the adsorbent equipment edge The extending direction of second sliding part moves.
Further, the first driving device, the second driving device and third driving device are cylinder or motor.
As an improvement of the above technical solution, the adsorbent equipment includes vacuum generator and sucker, and the vacuum occurs Device is to generate negative pressure of vacuum, so that the sucker grabs machine component.
Further, the adsorbent equipment further includes support rod, and the support rod extends along the vertical direction is set to the machine On hand, the support rod is provided with loading plate to tool on one end far from the manipulator, the sucker be it is multiple, respectively successively between Every being set on the loading plate, and the absorption face of the sucker and the surface of machine component are arranged in parallel.
Further, the adsorbent equipment further includes solenoid valve, and the solenoid valve and the vacuum generator are electrically connected, To send signal, to control, the vacuum generator generates negative pressure of vacuum or stopping generates negative pressure of vacuum.
As an improvement of the above technical solution, the adsorbent equipment further includes solenoid valve, the solenoid valve and the vacuum Generator is electrically connected, and the vacuum generator generation negative pressure of vacuum is controlled to send signal or stops generation vacuum and is born Pressure.
Further, the angle adjustment device includes the driving element on the manipulator and is connected to the drive The gear of dynamic element, the driving element drives the gear rotation, to drive the adsorbent equipment to rotate.
Further, fixed frame is provided on the manipulator, the fixed frame includes the first batten, is parallel to institute The third batten stating the second batten of the first batten and being connected between first batten and the second batten, described first Plate along the vertical direction on be provided with stiffening plate, the driving device is installed on the stiffening plate, and the drive of the driving device The axle center of turn axis and the upper surface of first batten are arranged in parallel, and the gear is fixedly connected on the drive shaft.
Further, the gear is helical gear.
Further, the gear includes first gear and second gear, and the first gear and the driving element connect It connects, the second gear is vertically arranged with the first gear, and the second gear is engaged with the first gear, the suction Adsorption device is fixedly connected on the second gear.
Further, the angle of regulation range of the angle adjustment device is 0 °~360 °.
As an improvement of the above technical solution, the automatic glue seal device with full-automatic linear manipulator further includes work Make platform, the manipulator, material preparing table, sealing adhesive device and the blanking bench are set on the workbench.
As an improvement of the above technical solution, the material preparing table and the blanking bench are respectively symmetrically set to the detent jig Two sides, and the table surface height of the material preparing table is consistent with the table surface height of the blanking bench.
As an improvement of the above technical solution, the detent jig includes at least one detent slot, and the manipulator is successively The machine component is placed to each detent slot to the detent jig.
As an improvement of the above technical solution, the automatic glue seal device with full-automatic linear manipulator further includes control Device processed, movement of the control device to control the manipulator add so that the manipulator realizes that movement crawl is described Work element.
The automatic glue seal device with full-automatic linear manipulator provided by the invention, compared with prior art, have with Lower advantage:
(1) it is participated in without artificial, reduces cost of labor.The automatic sealing package mucilage binding with full-automatic linear manipulator of the invention It sets, by the way that manipulator is arranged, and is provided with the adsorbent equipment to grab machine component on a robotic arm, it is logical so as to realize The manipulator is crossed to simulate artificial feeding, blanking and the carrying plastic uptake of carrying out and act, instead of manually-operated mode is used, is not necessarily to It is artificial to participate in, advantageously reduce cost of labor.
(2) compact overall structure and work efficiency is high.The automatic sealing package with full-automatic linear manipulator provided by the invention Adhesive dispenser, due to substituting artificial progress feeding, blanking using manipulator and carrying plastic uptake, high degree of automation, favorably In raising working efficiency.In addition, above-mentioned movement is completed using manipulator, it is whole without additional setting handling module and conveyor module Body is compact-sized, and area occupied is less.
(3) product quality problem carried during plastic uptake is reduced.It is provided by the invention that there is full-automatic linear manipulator Automatic glue seal device, carry out carrying plastic uptake movement using manipulator, therefore, can be avoided and carry out labor for a long time using artificial The product made and be likely to result in occurring in the handling process falls situation, is conducive to the quality of production for improving product.
(4) angle can be adjusted, is grabbed with adapting to the position that different machine components are placed.Of the invention has entirely certainly The automatic glue seal device of linear manipulator is filled by being provided with angle adjustment device on the manipulator, and by the absorption Set and connect with the angle adjustment device, so as to adjusted using the angle adjustment device adsorbent equipment relative to The angle of the manipulator is conducive to the crawl for adapting to the machine component of different placement locations, applied widely.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.
Fig. 1 is the structural representation of the automatic glue seal device with full-automatic linear manipulator provided in an embodiment of the present invention Figure;
Fig. 2 is the structural schematic diagram of manipulator provided in an embodiment of the present invention;
Fig. 3 is the structural schematic diagram at another visual angle of Fig. 2;
Fig. 4 is the IV of Fig. 3 to partial enlarged view.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
For ease of description, may be used herein such as " ... under ", " ... below ", "lower", " ... on ", "upper" Spaces relative terms are waited to describe the relationship of an elements or features and another (a little) elements or features as illustrated in the drawing. It is appreciated that be referred to as in another element or layer "upper", " being connected to " or " being couple to " another element when an element or layer or When layer, it can directly on another element or layer, be directly connected to or be couple to another element or layer, or there may be occupy Between element or layer.
It is appreciated that terminology used here is merely to description specific embodiment, is not intended to limit the present invention.Herein In use, clearly stating unless the context otherwise, otherwise singular " one " and "the" are also intended to including plural form.Further Ground, when used in this manual, term " includes " and/or "comprising" show the feature, entirety, step, element and/or The presence of component, but the presence that is not excluded for other one or more features, entirety, step, element, component and/or combination thereof or Increase.Specification subsequent descriptions are to implement better embodiment of the invention, and so the description is of the invention general to illustrate For the purpose of principle, the range that is not intended to limit the invention.Protection scope of the present invention is when view appended claims institute defender Subject to.
It is provided in an embodiment of the present invention a kind of with the automatic of full-automatic linear manipulator also referring to Fig. 1 to Fig. 4 Sealing adhesive device 100, including manipulator 10, material preparing table 20, sealing adhesive device 30 and blanking bench 40 are provided on the manipulator 10 To grab the adsorbent equipment 11 of machine component (not indicating), the material preparing table 20 is to place the machine component to sealing.Institute Stating sealing adhesive device 30 includes detent jig 31 and molding machine (not indicating), and the detent jig 31 is set to the material preparing table 20 1 Side, the molding machine are located at one end of the detent jig 31, machine component of the blanking bench 40 to place sealing completion; The manipulator 10 can move to the material preparing table 20, so that the adsorbent equipment 11 grabs the machine component to the card Position jig 31 carries out sealing to the machine component via the molding machine, and complete via the adsorbent equipment 11 crawl sealing At the machine component place to the blanking bench 40.It is provided in an embodiment of the present invention have full-automatic linear manipulator from Dynamic sealing adhesive device 100 is accomplished manually stock, carrying plastic uptake and blanking action due to substituting using manipulator 10, It is not necessarily to manually participate in working during entire sealing, artificial working strength is greatly reduced, simultaneously because using machine The automation of tool hand 10 works, and is conducive to improve working efficiency.In addition, provided by the invention have full-automatic linear manipulator Automatic glue seal device 100 can be used to grab touch screen or other glasswares and carry out sealing.Preferably, with institute Machine component is stated to be illustrated for touch screen.
Specifically, for the ease of the manipulator 10 work, the automatic sealing package mucilage binding with full-automatic linear manipulator Setting 100 further includes workbench 50, and the manipulator 10, material preparing table 20, sealing adhesive device 30 and the blanking bench 40 are set to institute It states on workbench 50, so that the overall structure of the entire automatic glue seal device 100 with full-automatic linear manipulator is more It is compact, the movement travel of manipulator 10 is reduced, the working efficiency for improving manipulator 10 is conducive to.
In the present embodiment, described to drive the adsorbent equipment 11 mobile for the ease of the movement of the manipulator 10 Manipulator 10 includes first movement mechanism 12, the second mobile mechanism 13 and third mobile mechanism 14, the first movement mechanism 12 move along first direction A, and B is slidably connected to the first movement mechanism 12 in a second direction for second mobile mechanism 13, The third mobile mechanism 14 is slidably connected to second mobile mechanism 13, the first direction A, second along third direction C Direction B and the orthogonal setting of third direction C;The adsorbent equipment 11 is provided in the third mobile mechanism 14.Specifically Ground, as shown in Fig. 2, the manipulator 10 further includes fixed guide rail 15, institute for the ease of the movement of the first movement mechanism 12 Stating first movement mechanism 12 includes first driving device 121 and the first sliding part 122, and the first driving device 121 drives institute The extending direction that the first sliding part 122 is stated along the fixed guide rail 15 moves.That is, the first direction A is the fixed guide rail 15 extending direction, i.e., the described first direction A are X-direction.Preferably, the fixed guide rail 15 can be set to the workbench 50 On, the first driving device 121 can be cylinder or motor, and first sliding part 122 is the sliding block equipped with sliding rail, in order to Second mobile mechanism 13 moves along first sliding part 122.
Second mobile mechanism 13 includes the second driving device 131 and the second sliding part 132, second driving device 131 driving second sliding parts 132 are moved along the extending direction of first sliding part 122.Specifically, second driving Device 131 can be cylinder or motor, and second sliding part 132 can be sliding block identical with 122 structure of the first sliding part, The second direction B is the extending direction of first sliding part 122, that is, the second direction B is Y-direction.
The third mobile mechanism 14 includes third driving device 141 and third sliding part 142, the third driving device The 141 driving third sliding parts 142 are moved along the extending direction of second sliding part 132.Specifically, the third driving Device 141 can be cylinder or motor, and the third sliding part 142 is and 132 knot of first sliding part 122 and the second sliding part The identical sliding block of structure.The third direction C is the extending direction of second sliding part 132, that is, the third direction C is the side Z To realize that the manipulator 10 can be in the movement of X-direction, Y-direction and Z-direction, and then driving the adsorbent equipment 11 move in X-direction, Y-direction and Z-direction, to carry out direction adjustment according to the placement location of different machine components, it is ensured that institute The machine component of different placement locations can be grabbed by stating adsorbent equipment 11.
Further, the fixation for the ease of the adsorbent equipment 11 in the third mobile mechanism 14, described Fixed frame 16 is provided on one end of three sliding parts 142, the fixed frame 16 includes fixed with the third sliding part 142 First batten 161 of connection is parallel to the second batten 162 of first batten 161 and is vertically connected at described first Third batten 163 between plate 161 and the second batten 162, and first batten 161, the second batten 162 and third batten 163 connections form the frame with installation space.The adsorbent equipment 11 is fixedly connected on first batten 161, and part In the installation space of the frame.
Specifically, the adsorbent equipment 11 include vacuum generator 111 and sucker 112, the vacuum generator 111 to Negative pressure of vacuum is generated, so that the sucker 112 grabs machine component.Preferably, the vacuum generator 111 is installed on described On one batten 161, the sucker 112 is set on second batten 162, and the absorption of the sucker 112 is facing towards processing The surface of element.Negative pressure of vacuum is generated using the vacuum generator 111, so that the sucker 112 is grabbing the processing member When part, can firmly adsorb the surface of machine component, so as to prevent in the process of grasping the machine component fall and The case where causing machine component to damage.In addition, grab machine component using sucker 112, can prevent using sharp object come Crawl causes the case where scratching damage to machine component surface.
Further, for the ease of fixing sucking disk 112, the adsorbent equipment 11 further includes support rod 113, the support rod 113 extend on the manipulator 10 along the vertical direction.Specifically, the support rod 113 is set to described the along the vertical direction On two battens 162, in order to sucker 112 described in subsequent installation and make the absorption of the sucker 112 facing towards machine component Surface.
The support rod 113 is provided with loading plate 114 on one end far from the manipulator 10, the sucker 112 is more A, successively interval is set on the loading plate 114 respectively, and the absorption face of the sucker 112 is parallel with the surface of machine component Setting.In the present embodiment, the loading plate 114 is circular slab, and multiple suckers 112 are along the center of the loading plate 114 cyclization Shape arrangement.It, can be when being grabbed to machine component using the design that multiple suckers 112 are arranged on loading plate 114, it can Increase the crawl area to the machine component, further prevents the case where machine component is fallen during grabbing.
In order to enable the vacuum generator 111 generates, negative pressure of vacuum is more controllable, and the adsorbent equipment 11 further includes electricity Magnet valve 115, the solenoid valve 115 are electrically connected with the vacuum generator 111, and the vacuum hair is controlled to send signal Raw device 111 generates negative pressure of vacuum or stops generating negative pressure of vacuum.In the present embodiment, the solenoid valve 115 is set to described first On batten 161, and the solenoid valve 115 and the neighbouring setting of the vacuum generator 111, in order to the solenoid valve 115 and institute State the electric connection of vacuum generator 111.In addition, the vacuum generator 111 and the solenoid valve 115 are arranged at institute It states on the first batten 161, enables to the overall structure of the adsorbent equipment 11 more compact.
The automatic glue seal device 100 for having full-automatic linear manipulator further includes angle adjustment device 60, the angle It spends regulating device 60 to be set on the manipulator 10, the adsorbent equipment 11 is fixedly connected on the angle adjustment device 60.? In the present embodiment, the angle of regulation range of the angle adjustment device 60 is 0 °~360 °, utilizes the angle adjustment device 60 Relative angle of the adsorbent equipment 11 relative to the manipulator 10 is adjusted, so that 11 energy of the adsorbent equipment It is enough that angular adjustment is carried out according to the machine component of different placed angles, so that the adsorbent equipment 11 can be realized smoothly crawl processing Element.Preferably, when the machine component is when plane where molding machine described in sealing face does not have face, tune can be passed through at this time Save the rotational angle of the angle adjustment device 60, such as 45 °, 90 °, 180 ° or 360 ° etc. so that the machine component to Plane where molding machine described in the final face in sealing face, consequently facilitating carrying out sealing.
Further, the angle adjustment device 60 includes the driving element 61 on the manipulator 10 and is connected to The gear 62 of the driving element 61, the driving element 61 drives the gear 62 to rotate, to drive the adsorbent equipment 11 Rotation.Specifically, the driving element 61 is motor on first batten 161, and the driving in order to prevent Element 61 shakes and the driving element 61 is caused to separate with first batten 161, in first batten 161 towards described Stiffening plate 161a is additionally provided on the direction of installation space, that is, the stiffening plate 161a is the batten extended along the vertical direction, institute Driving element 61 is stated to be installed on the stiffening plate 161a.The driving element 61 includes drive shaft, and the drive shaft Axle center and the upper surface of first batten 161 be arranged in parallel, the gear 62 is connect with the drive shaft, to pass through Stating drive shaft rotation drives the gear 62 to rotate.
Further, it is connect for the ease of the gear 62 with the adsorbent equipment 11, to drive the adsorbent equipment 11 Rotation, the gear 62 include first gear 621 and second gear 622, the first gear 621 and the driving element 61 Drive shaft connection, the second gear 622 is vertically arranged with the first gear 621, and the second gear 622 with it is described First gear 621 engages, and the adsorbent equipment 11 is fixedly connected on the second gear 622.Using the second gear 622 with The first gear 621 engages, thus when the first gear 621 rotates under the drive of the drive shaft, described the One gear 621 can drive to the second gear 622, so that the second gear 622 rotates, to drive the adsorbent equipment 11 rotations.
Further, it is installed on due to the driving element 61 in the installation space of the fixed frame 16, it is described Gear 62 is preferably helical gear, to reduce space hold, while avoiding causing to do to the sucker 112 in the vertical direction It relates to.That is, the first gear 621 and second gear 622 are helical gear, and the first gear 621 and second gear 622 The number of teeth and the shape of the gear teeth can be consistent or inconsistent, are arranged according to the actual situation.
When specific operation, when the manipulator 10 moves at machine component position, at this point, if the surface of machine component with The absorption face of sucker 112 is not in same parallel plane, then at this point, can open the driving element 61 drives the first gear 621 rotations, then drive to the second gear 622, drive described 112 turns of sucker by the rotation of the second gear 622 It is dynamic, until the absorption face of the sucker 112 is parallel with the surface of the machine component, consequently facilitating the sucker 112 crawl processing Element.
In addition, when the manipulator 10 moves at machine component position, and the sucker 112 is made to grab the processing Element to the position of the detent jig 31, at this point, if the machine component to where sealing position and the molding machine Direction is not in the same direction, then can be rotated by controlling the gear 62, to drive the sucker 112 to rotate, until the machine component It is in the same direction to sealing position and molding machine direction, in order to molding machine treat sealing position carry out sealing operation.
It is understood that in the present embodiment, the rotational angle of the gear 62 can be according to the sucker 112 and processing The position of element, which is adjusted, to be arranged, while can also be adjusted and be arranged according to the position of machine component and detent jig 31, is added depending on practical Station, which is set, to be adjusted.
Further, described that there is full-automatic linear manipulator in order to enable the movement of the manipulator 10 is more controllable Automatic glue seal device 100 further include control device 70, movement of the control device 70 to control the manipulator 10, with The manipulator 10 is set to realize that movement grabs the machine component.Specifically, the control device 70 can be used PLC control or It is to be controlled using C++ module.Preferably, the control device 70 can be placed on the workbench 50, in order to connect The movement of manipulator 10 described in line traffic control may also placed on the ground of the neighbouring workbench 50, as long as can be convenient for described The line of manipulator 10.
In the present embodiment, in order to enable the entirety of the entire automatic glue seal device 100 with full-automatic linear manipulator More compact structure, the material preparing table 20 can be arranged adjacent to the manipulator 10, such as the material preparing table 20 is set to the machinery The side of hand 10.It may be provided with multiple placing grooves 21 on the material preparing table 20, to place machine component.When operator is by case , can be by the movement of control manipulator 10 when machine component in body is carried in 10 place moving region of manipulator, realizing will Machine component in cabinet is corresponding to be placed to each placing groove 21, is then grabbed one by one again to being sealed on detent jig 31 Glue.
In order to improve sealing efficiency, the detent jig 31 includes at least one detent slot (not indicating), the machine Tool hand 10 successively places the machine component in each detent slot to the detent jig 31.Preferably, in this implementation In example, the detent jig 31 includes two detent slots, and the manipulator 10 moves on the material preparing table 20, and grabs a piece of Then machine component starts molding machine and carries out sealing to the machine component, at this point, the manipulator 10 to one of detent slot Continue to move on the material preparing table 20, then another machine component of crawl to another detent slot is completed sealing Machine component is grabbed to blanking bench 40, is circuited sequentially.
It is understood that for the ease of controlling the movement of manipulator 10, when the manipulator 10 grabs a piece of processing member Part can pass through another machine component of crawl to another card to one of detent slot, and when starting molding machine and carrying out sealing Then the machine component crawl that sealing is completed is placed back on material preparing table 20, then grabs adding on material preparing table 20 again by position slot It in work element to detent slot, circuits sequentially, until the machine component on material preparing table 20 is the state that sealing is completed, then again will The machine component that all sealings on material preparing table 20 are completed is grabbed to blanking bench 40.
Further, the installation for the ease of the molding machine is fixed, and the sealing adhesive device 30 includes mounting rack 32, described Mounting rack 32 includes pedestal 321 and two columns 322 for being connected to 321 two sides of pedestal, and the molding machine is mountable to described On two columns 322.In addition, detent jig 31 can be set on the pedestal 321, so that the molding machine is controlled relative to the detent Tool 31 has certain height, in order to which the molding machine seals the machine component being placed on the detent jig 31 Glue.
Further, grab machine component for the ease of manipulator 10 and place to blanking bench 40, the blanking bench 40 with The material preparing table 20 can be symmetrically set in the two sides of the detent jig 31, then manipulator 10 moves to detent jig from material preparing table 20 31 distance moves to being equidistant for blanking bench 40 with from detent jig 31, and simultaneously, the table surface height of the blanking bench 40 It is consistent with the table surface height of the material preparing table 20, consequently facilitating movement position of the operator in input sequence controlled machine hand 10 When calculating, also reduce manipulator 10 travel.Preferably, in order to place more machine component, processing is improved Efficiency, on the blanking bench 40 can also corresponding material preparing table 20 multiple card slots are set, in order to place the processing member of sealing completion Part.
The good machine component of lamination is placed on material preparing table 20 when specific operation, being operated first personnel, described in starting 10 button of manipulator, the manipulator 10 are positioned in (X-direction, Y-direction and Z-direction) to the material preparing table 20 First machine component, the control device 70 sends a signal on the adsorbent equipment 11 to obtain solenoid valve 115, to control It states the starting of vacuum generator 111 and generates negative pressure of vacuum, at this point, can be according to the absorption face of the sucker 112 on manipulator 10 and processing Whether the finished surface of element is parallel to determine whether needing to rotate angle adjustment device 60, if not needing to adjust angle, machine Tool hand 10 grabs in machine component to the detent slot 311 of detent jig 31, and then manipulator 10 continues positioning to material preparing table 20 Another machine component, while control device 70 sends control signal enabling molding machine and carries out sealing to first machine component, The origin position in setting is automatically stopped after molding machine completion sealing, while manipulator 10 places another machine component to card In another detent slot 311 of position jig 31, the machine component that then sealing is completed in the positioning of manipulator 10 crawl is placed to its original The first position on material preparing table 20, while control device 70 sends signal control molding machine and starts and start another machine component Sealing, such repetitive operation, the last one machine component on material preparing table 20 be placed on detent jig 31 start sealing before, The machine component that the positioning of manipulator 10 is completed to all sealings on material preparing table 20 before, and integrally crawl is moved to blanking bench 40 On, the machine component for finally again completing the last one sealing is circuited sequentially from the directly crawl of detent jig 31 to blanking bench 40, To realize through the movement of 10 complete independently feeding of manipulator, plastic uptake is carried and blanking action, reduces artificial work intensity, improves Automate sealing efficiency.
Further, it is to be appreciated that in operation, the also settable manipulator 10 grabs the machine component to sealing On to the material preparing table 20, then the manipulator 10 is set carry out positioning the processing to sealing grabbed on the material preparing table 20 Element is placed to detent jig 31, and the control device 70 sends molding machine described in control signal enabling to first processing member Part carries out sealing, at this point, the manipulator 10 continues to position to the material preparing table 20, and grabs another described machine component and puts It sets to another detent slot of the detent jig 31, at this point, the molding machine completes first machine component sealing, institute It states the machine component that positioning first sealing of crawl of manipulator 10 is completed and places to the blanking bench, reposition extremely The material preparing table 20 grabs next machine component to sealing, circuits sequentially.
The automatic glue seal device with full-automatic linear manipulator provided by the invention, substitutes people by using manipulator Work carries out feeding, blanking and carries plastic uptake, and therefore, high degree of automation is conducive to improve working efficiency.In addition, using mechanical Hand acts carry plastic uptake, therefore, can be avoided to use and is manually worked for a long time and be likely to result in carrying The product occurred in journey falls situation, is conducive to the quality of production for improving product.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode Within enclosing.

Claims (15)

1. a kind of automatic glue seal device with full-automatic linear manipulator, which is characterized in that including
Manipulator is provided with the adsorbent equipment to grab machine component;
Material preparing table, to place machine component;
Sealing adhesive device, the sealing adhesive device include detent jig and the molding machine positioned at detent jig one end;
And blanking bench, to place the machine component of sealing completion;
The manipulator is able to drive the adsorbent equipment and moves to the material preparing table, adds so that adsorbent equipment crawl is described Work element carries out sealing to the machine component via the molding machine to the detent jig, and via the adsorbent equipment The machine component that crawl sealing is completed is placed to the blanking bench;
The manipulator be equipped with fixed frame, the fixed frame include the first batten being fixedly connected with the manipulator, For being parallel to the second batten of first batten and being vertically connected between first batten and second batten Three battens, first batten, second batten and the third batten connect to form the frame with installation space, institute It states adsorbent equipment and is fixedly connected on first batten and second batten, and part is located at the installation space of the frame It is interior;
The automatic glue seal device further includes angle adjustment device, and the angle adjustment device is set to first batten, and institute It states angle adjustment device to be installed in the installation space, the adsorbent equipment is fixedly connected with the angle adjustment device.
2. the automatic glue seal device with full-automatic linear manipulator as described in claim 1, which is characterized in that the machinery Hand includes first movement mechanism, the second mobile mechanism and third mobile mechanism, and the first movement mechanism is transported along first direction Dynamic, second mobile mechanism is slidably connected to the first movement mechanism in a second direction, and the third mobile mechanism is along the Three directions are slidably connected to second mobile mechanism, the first direction, second direction and third direction is orthogonal sets It sets;The adsorbent equipment is provided in the third mobile mechanism.
3. the automatic glue seal device with full-automatic linear manipulator as claimed in claim 2, which is characterized in that the machinery Hand further includes fixed guide rail, and the first movement mechanism includes first driving device and the first sliding part, the first driving dress Driving first sliding part is set to move along the extending direction of the fixed guide rail.
4. the automatic glue seal device with full-automatic linear manipulator as claimed in claim 3, which is characterized in that described second Mobile mechanism includes the second driving device and the second sliding part, and second driving device drives second sliding part described in The extending direction of first sliding part moves;The third mobile mechanism includes third driving device and third sliding part, and described Three driving devices drive the third sliding part to move along the extending direction of second sliding part, and the adsorbent equipment is set to institute It states on third sliding part, so that the third sliding part drives the adsorbent equipment to transport along the extending direction of second sliding part It is dynamic.
5. the automatic glue seal device with full-automatic linear manipulator as claimed in claim 4, which is characterized in that described first Driving device, the second driving device and third driving device are cylinder or motor.
6. the automatic glue seal device with full-automatic linear manipulator as described in claim 1, which is characterized in that the absorption Device includes vacuum generator and sucker, and the vacuum generator is to generate negative pressure of vacuum, so that sucker crawl processing Element.
7. the automatic glue seal device with full-automatic linear manipulator as claimed in claim 6, which is characterized in that the absorption Device further includes support rod, and the support rod extends along the vertical direction to be set on the manipulator, and the support rod is far from described Be provided with loading plate on one end of manipulator, the sucker be it is multiple, be successively arranged at intervals on the loading plate respectively, and institute The surface in the absorption face and machine component of stating sucker is arranged in parallel.
8. the automatic glue seal device with full-automatic linear manipulator as claimed in claims 6 or 7, which is characterized in that described Adsorbent equipment further includes solenoid valve, and the solenoid valve and the vacuum generator are electrically connected, to send signal to control Vacuum generator is stated to generate negative pressure of vacuum or stop generating negative pressure of vacuum.
9. the automatic glue seal device with full-automatic linear manipulator as described in claim 1, which is characterized in that the angle Regulating device includes the driving element on the manipulator and the gear for being connected to the driving element, the driving element The gear is driven to rotate, to drive the adsorbent equipment to rotate.
10. the automatic glue seal device with full-automatic linear manipulator as claimed in claim 9, which is characterized in that the tooth Wheel includes first gear and second gear, and the first gear connect with the driving element, the second gear and described the One gear is vertically arranged, and the second gear is engaged with the first gear, and the adsorbent equipment is fixedly connected on described Two gears.
11. the automatic glue seal device with full-automatic linear manipulator as described in claim 9 or 10, which is characterized in that institute The angle of regulation range for stating angle adjustment device is 0 ° ~ 360 °.
12. the automatic glue seal device with full-automatic linear manipulator as described in claim 1, which is characterized in that the tool The automatic glue seal device for having full-automatic linear manipulator further includes workbench, the manipulator, material preparing table, sealing adhesive device and institute Blanking bench is stated to be set on the workbench.
13. the automatic glue seal device with full-automatic linear manipulator as described in claim 1, which is characterized in that described standby Material platform and the blanking bench are respectively symmetrically set to the two sides of the detent jig, and the table surface height of the material preparing table and it is described under Expect that the table surface height of platform is consistent.
14. the automatic glue seal device with full-automatic linear manipulator as described in claim 1, which is characterized in that the card Position jig includes at least one detent slot, and the manipulator successively places the machine component every to the detent jig One detent slot.
15. the automatic glue seal device with full-automatic linear manipulator as described in claim 1, which is characterized in that the tool The automatic glue seal device for having full-automatic linear manipulator further includes control device, and the control device is to control the manipulator Movement so that the manipulator realizes that movement grabs the machine component.
CN201610617600.1A 2016-07-29 2016-07-29 A kind of automatic glue seal device with full-automatic linear manipulator Active CN106040534B (en)

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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

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