CN108748106A - Multi-robot cooperates with mobile phone assembly system - Google Patents
Multi-robot cooperates with mobile phone assembly system Download PDFInfo
- Publication number
- CN108748106A CN108748106A CN201810676580.4A CN201810676580A CN108748106A CN 108748106 A CN108748106 A CN 108748106A CN 201810676580 A CN201810676580 A CN 201810676580A CN 108748106 A CN108748106 A CN 108748106A
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- China
- Prior art keywords
- screen
- protective film
- fixed
- slide unit
- pad pasting
- 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.)
- Granted
Links
- 230000001681 protective effect Effects 0.000 claims abstract description 130
- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 239000003292 glue Substances 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 230000000630 rising effect Effects 0.000 claims description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 238000003825 pressing Methods 0.000 claims description 7
- 238000010030 laminating Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000004026 adhesive bonding Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
- 239000007787 solid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 230000003678 scratch resistant effect Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002537 cosmetic Substances 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005496 tempering Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
Abstract
The present invention relates to industrial automation equipments, more specifically to a kind of automated assembling equipment for manufacturing mobile phone.A kind of multi-robot collaboration mobile phone assembly system, including：Workbench, for the fixture of fixed mask, the traffic cycle for conveying the fixture automatically, the screen feed mechanism for screen to be placed on the fixture, the protective film glue applying mechanism for realizing dispensing operation to protective film, surface for the protective film to be affixed on to the screen pad pasting manipulator mechanism; the traffic cycle is movably connected on the workbench by dispenser; the fixture is fixed on the periphery of the traffic cycle, and the screen feed mechanism, protective film glue applying mechanism, pad pasting manipulator mechanism are fixed on the workbench；The protective film glue applying mechanism is used to the protective film being affixed on the screen for providing the protective film that dispensing operation is completed, the pad pasting manipulator mechanism.Multi-robot of the present invention cooperates with mobile phone assembly system, and protective film is automatically assembled to and is affixed on mobile phone screen surface, ensure that the smooth, controllable of assembling process.
Description
Technical field
The present invention relates to industrial automation equipments, more specifically to a kind of Automated assembly for manufacturing mobile phone
Equipment.
Background technology
Mobile phone film is also known as mobile phone cosmetic membrane, safeguard film for cellular phone, be can be used for mounting handset surface, screen and other have
A kind of cold lamination film of shape object, type is various, can be divided into according to its purposes：Protecting film of mobile phone screen, handset protective film；Work(
Functional form protective film series, which can be released, by initial simple scratch resistant protective film to idskin, chinee to be divided into：Peep-proof film, mirror
Film, AR films, frosted film, high definition film, scratch resistant protective film, 3D films, handset anti-scratch protective film, diamond film, tempering film etc..
At this stage, Mobile phone film is almost the standard configuration of mobile phone screen, therefore, in mobile phone production process, directly by mobile phone
Film is affixed on mobile phone and shows to realize the good protection to mobile phone screen.
Invention content
The object of the present invention is to provide a kind of multi-robots to cooperate with mobile phone assembly system, applies the assembly life in mobile phone
During production, multi-robot of the present invention cooperates with mobile phone assembly system, and protective film is automatically assembled to and is affixed on Mobile phone screen scene plot
Face ensure that the smooth, controllable of assembling process.
A kind of multi-robot collaboration mobile phone assembly system, including：Workbench, for the fixture of fixed mask, for automatic
It conveys the traffic cycle of the fixture, the screen feed mechanism for being placed into screen on the fixture, be used for protective film reality
The protective film glue applying mechanism of existing dispensing operation, the surface for the protective film to be affixed on to the screen pad pasting machinery mobile phone
Structure, the traffic cycle are movably connected on the workbench by dispenser, and the fixture is fixed on the periphery of the traffic cycle, institute
Screen feed mechanism, protective film glue applying mechanism, pad pasting manipulator mechanism is stated to be fixed on the workbench；The protective film dispensing
Mechanism is for providing the protective film that dispensing operation is completed, and the pad pasting manipulator mechanism is for the protective film to be affixed on
On the screen；
The screen feed mechanism includes screen manipulator mechanism and screen lifting mechanism, and the screen is stacked on the screen
It rises in mechanism, after the screen manipulator mechanism grabs the screen from the screen lifting mechanism, the screen is put
It is placed in the fixture；
The pad pasting manipulator mechanism includes：Pad pasting slide unit, pad pasting slider cylinder, pad pasting pedestal sliding block, slide unit connecting plate, pad pasting
Linkage air cylinder, linkage rebound, longitudinal movement plate, horizontal movement plate, No.1 rack, No.1 gear, No. two gears, gear shaft,
No. two racks, horizontal guide rail, upright guide rail, rotary cylinder, revolution connecting plate, pad pasting manipulator；The pad pasting slide unit passes through institute
It states pad pasting pedestal sliding block and is movably connected on the workbench, the cylinder block of the pad pasting slider cylinder is fixed on the workbench,
The end of the piston rod of the pad pasting slider cylinder is fixed on the pad pasting slide unit；The slide unit connecting plate is fixed on the pad pasting
The cylinder block of slide unit, the pad pasting linkage air cylinder is fixed on the slide unit connecting plate；The linkage rebound is fixed on the patch
The end of the piston rod of film linkage air cylinder and horizontal movement plate；The horizontal movement plate is movably connected on by the horizontal guide rail
The slide unit connecting plate, the longitudinal movement plate pass through the upright guide rail；The gear shaft is movably connected on the horizontal fortune
Movable plate is provided at both ends with the No.1 gear and No. two gears in the gear shaft；The No.1 rack is fixed on the cunning
Platform connecting plate, the No.1 gear and the No.1 rack match；No. two racks, institute are provided on the longitudinal movement plate
It states No. two racks and No. two gears matches；The rotary cylinder, the revolution connection are fixed on the longitudinal movement plate
Plate is fixed on the output flange of the rotary cylinder, and the pad pasting manipulator is fixed on the revolution connecting plate；
The screen lifting mechanism includes：Rise bottom plate, rise table top, lifting guide pillar, lifting sliding table, motor mounting plate, motor,
Ball nut, ball screw, bearing block, the rising bottom plate are fixed on the workbench, and the lifting guide pillar is fixed on described
The lower part of bottom plate is lifted, the lifting sliding table is movably connected on the lifting guide pillar, and the motor mounting plate is fixed on the liter
The end of guide post drops, and the bearing block is fixed on the motor mounting plate, and the ball screw is movably connected on the bearing block,
The output shaft of the motor is fixed on one end of the ball screw by shaft coupling；The ball nut is fixed on the lifting
Slide unit, the ball nut are movably connected on the ball screw, and the rising table top is movably connected on the ball screw
One end.
Preferably, the screen lifting mechanism further includes：Guide plate, is oriented to slide unit, motion guide plate, leads guide runner
To cylinder, the guide plate is fixed on the rising bottom plate, and the guiding slide unit is movably connected on institute by the guide runner
State rising bottom plate；The motion guide plate is fixed on the guiding slide unit, and the guide cylinder is for driving the guiding slide unit
Movement；The guide plate and motion guide plate keep the screen neat for guiding the rising table top elevating movement
Ground is stacked on the rising table top.
Preferably, the screen manipulator mechanism includes that screen feeding manipulator holder, screen level slide unit, screen are vertical
Slide unit, screen sucker, the screen feeding manipulator holder are fixed on the workbench, and the screen level slide unit is fixed on institute
The lower part of screen feeding manipulator holder is stated, the vertical slide unit of screen is fixed on the slide unit of the screen level slide unit, institute
Screen sucker is stated to be fixed on the slide unit of the vertical slide unit of the screen.
Preferably, it is fixed with pressing roller holder on the pad pasting slide unit, pressure roller is connected on the pressing roller holder,
The pressure roller is located at the upper surface of the fixture；The surface of the pressure roller is covered with flexible material.
Preferably, No. two racks and upright guide rail are mutually parallel.
Preferably, the No.1 rack at level will not, the No.1 rack, the pad pasting linkage air cylinder piston rod,
Horizontal guide rail is mutually parallel.
Preferably, the engraved structure for reducing rotary inertia is provided on the traffic cycle.
Preferably, it is set up in parallel the fixture on each station of the traffic cycle.
Preferably, there are four stations for the traffic cycle setting.
Preferably, the quantity of the pad pasting manipulator is six.
Preferably, the protective film glue applying mechanism includes：Protective film carrier, protective film carrier slide unit, carrier rodless cylinder,
Upper film portal frame, dispenser, upper film water somoothing board, upper film connecting plate, upper film longitudinal slide unit, upper film sucker；The protective film is slided
Platform is movably connected on the workbench, and the protective film carrier is fixed on the protective film slide unit, and the carrier rodless cylinder is used
Linear slide is done in driving the protective film slide unit；The dispenser is fixed on the upper film portal frame, the dispensing seat in the plane
In the top of the protective film carrier；The cylinder block of the upper film water somoothing board is fixed on the upper film portal frame, the upper film
Connecting plate is fixed on the slide unit of the upper film water somoothing board, the both ends of the upper film connecting plate be each provided with one it is described on
Film longitudinal slide unit is provided with upper film sucker in the upper film longitudinal slide unit.
Preferably, in the protective film glue applying mechanism, the protective film is located on the protective film carrier, the dispensing
Machine completes dispensing operation to the surface of the protective film；Then, the protective film is moved to described by the carrier rodless cylinder
The piston rod of the lower part of upper film water somoothing board, the upper film water somoothing board is retracted, and the protective film is sucked the upper film sucker
And it is promoted；Then, the piston rod of the carrier rodless cylinder stretches out, will be where the protective film to the Film laminating apparatus tool mobile phone structure
Move a distance in direction.
It is compared with traditional technology, multi-robot collaboration mobile phone assembly system of the present invention has following positive effect and beneficial to effect
Fruit：
Multi-robot of the present invention cooperates with mobile phone assembly system, including：Workbench, fixture, traffic cycle, protective film glue applying mechanism, screen
The pad pasting manipulator mechanism on the surface of curtain, the traffic cycle are movably connected on the workbench by dispenser, and the fixture is solid
It is connected in the periphery of the traffic cycle, the protective film glue applying mechanism is for providing the protective film that dispensing operation is completed, institute
Pad pasting manipulator mechanism is stated for the protective film to be affixed on the screen.
The course of work and operation principle of the protective film glue applying mechanism are introduced first：
In the protective film glue applying mechanism, the protective film is located on the protective film carrier, and the dispenser is to the guarantor
Complete dispensing operation in the surface of cuticula；Then, it is smooth to be moved to the upper film water by the carrier rodless cylinder for the protective film
The piston rod of the lower part of platform, the upper film water somoothing board is retracted, and the protective film is sucked and is promoted by the upper film sucker；It connects
It, the piston rod of the carrier rodless cylinder stretches out, and the protective film is moved to the Film laminating apparatus tool mobile phone structure direction
A distance.
The course of work and operation principle of the laminator tool mobile phone structure are introduced first：
In the initial state：The rotary cylinder drives the paw of the pad pasting manipulator towards the protective film glue applying mechanism institute
In direction, the piston rod of the pad pasting linkage air cylinder is in stretching state, and pad pasting machinery one section of height of subordinate drop is simultaneously close
It is in retracted mode in the piston rod of the protective film glue applying mechanism, the pad pasting slider cylinder, the screen is located at the pressure
Between roller and protective film glue applying mechanism；
Then, the protective film glue applying mechanism is defeated by the protective film for providing the protective film that dispensing operation is completed
Go out to pad pasting manipulator paw position；The paw of the pad pasting manipulator clamps the protective film, the upper film
Sucker leaves the protective film；
Then, the rotary cylinder drives the pad pasting machinery handspring to turn 180 degree, and the protective film is made to synchronize overturning one
It 180 degree and is placed on the screen；
Then, the piston rod of the pad pasting linkage air cylinder is retracted, meanwhile, the piston rod of the pad pasting slider cylinder stretches out；It is described
The piston rod of pad pasting linkage air cylinder is retracted, and the pad pasting machinery rises one section of height and is away from the protective film dispenser on hand
Structure；The piston rod of the pad pasting slider cylinder, which is in, to be stretched out, and the pressure roller rolls on the protective film, by the protection membrane pressure
Together in the surface of the screen；
Then, the piston rod of the pad pasting slider cylinder is in retracted mode, and the pressure roller carries out secondary on the protective film
Rolling.
Description of the drawings
Fig. 1 is the structural schematic diagram of multi-robot collaboration mobile phone assembly system of the present invention；
Fig. 2,3,4,5 are the partial structural diagrams of multi-robot collaboration mobile phone assembly system of the present invention；
Fig. 6 is the structural schematic diagram of the screen feed mechanism of multi-robot collaboration mobile phone assembly system of the present invention；
Fig. 7 is the structural schematic diagram of the screen lifting mechanism of multi-robot collaboration mobile phone assembly system of the present invention.
1 workbench, 2 traffic cycles, 3 protective films, 4 screens, 21 fixtures, 22 dispensers, 30 protective film dispensers
Structure, 31 protective film carriers, 32 protective film carrier slide units, 33 carrier rodless cylinders, film portal frame, 35 dispensers, 36 on 34
Upper film water somoothing board, film connecting plate on 37, film longitudinal slide unit on 38, film sucker, 40 pad pasting manipulator mechanisms, 41 on 39
Pad pasting slide unit, 42 pad pasting slider cylinders, 43 pad pasting pedestal sliding blocks, 44 slide unit connecting plates, 45 pad pasting linkage air cylinders, 46
Dynamic rebound, 47 longitudinal movement plates, 48 horizontal movement plates, 49 No.1 racks, 50 No.1 gears, 51 No. two gears, 52
Gear shaft, 53 No. two racks, 54 horizontal guide rails, 55 upright guide rails, 56 rotary cylinders, 57 revolution connecting plates, 58 pad pastings
Manipulator, 59 pressing roller holders, 60 pressure rollers, 70 screen feed mechanisms, 71 screen manipulator mechanisms, 72 screen lifting mechanisms,
73 screen feeding manipulator holders, 74 screen level slide units, the vertical slide unit of 75 screens, 76 screen suckers, 77 rise bottom
Plate, 78 rise table top, 79 lifting guide pillars, 80 lifting sliding tables, 81 motor mounting plates, 82 motors, 83 ball nuts, 84
Ball screw, 85 bearing blocks, 86 guide plates, 87 guide runners, 88 are oriented to slide unit, 89 motion guide plates, 90 guiding gas
Cylinder.
Specific implementation mode
The present invention is described in further detail below in conjunction with attached drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in attached drawing.As described above, the present invention provides a kind of multi-robots to cooperate with mobile phone
Assembly system is realized to the Automatic Conveying of mobile phone screen using traffic cycle during the Assembling Production of mobile phone, utilizes screen
Screen is positioned on the fixture of traffic cycle by feed mechanism, and the dispensing operation to protective film is realized using protective film glue applying mechanism,
Protective film is affixed on screen using pad pasting manipulator mechanism；Multi-robot of the present invention cooperates with mobile phone assembly system, by protective film
It is automatically assembled to and is affixed on mobile phone screen surface, ensure that the smooth, controllable of assembling process.
Fig. 1 is the structural schematic diagram of multi-robot collaboration mobile phone assembly system of the present invention, and Fig. 2,3,4,5 are that the present invention is more
It is multi-robot collaboration mobile phone assembly system of the present invention that manipulator, which cooperates with the partial structural diagram of mobile phone assembly system, Fig. 6,
The structural schematic diagram of screen feed mechanism, Fig. 7 are the screen lifting mechanisms of multi-robot collaboration mobile phone assembly system of the present invention
Structural schematic diagram.
A kind of multi-robot collaboration mobile phone assembly system, including：Workbench 1, for fixed mask 4 fixture 21, be used for
Automatically it conveys the traffic cycle 2 of the fixture 21, the screen feed mechanism 70 for being placed into screen 4 on the fixture 21, use
In the protective film glue applying mechanism 30 to the realization dispensing operation of protective film 3, the table for the protective film 3 to be affixed on to the screen 4
The pad pasting manipulator mechanism 40 in face, the traffic cycle 2 are movably connected on the workbench 1, the fixture 21 by dispenser 22
It is fixed on the periphery of the traffic cycle 2, the screen feed mechanism 70, protective film glue applying mechanism 30, pad pasting manipulator mechanism 40
It is fixed on the workbench 1；The protective film glue applying mechanism 30 is used to provide the protective film 3 that dispensing operation is completed,
The pad pasting manipulator mechanism 40 is used to the protective film 3 being affixed on the screen 4；
The screen feed mechanism 70 includes screen manipulator mechanism 71 and screen lifting mechanism 72, and the screen 4 is stacked in institute
It states on screen lifting mechanism 72, the screen manipulator mechanism 71 grabs the screen 4 from the screen lifting mechanism 72
Afterwards, the screen 4 is positioned in the fixture 21；
The pad pasting manipulator mechanism 40 includes：Pad pasting slide unit 41, pad pasting slider cylinder 42, pad pasting pedestal sliding block 43, slide unit connect
Fishplate bar 44, pad pasting linkage air cylinder 45, linkage rebound 46, longitudinal movement plate 47, horizontal movement plate 48, No.1 rack 49, No.1
50, No. two gears 51 of gear, 52, No. two racks 53 of gear shaft, horizontal guide rail 54, upright guide rail 55, rotary cylinder 56, revolution connect
Fishplate bar 57, pad pasting manipulator 58；The pad pasting slide unit 41 is movably connected on the workbench by the pad pasting pedestal sliding block 43
1, the cylinder block of the pad pasting slider cylinder 42 is fixed on the workbench 1, the end of the piston rod of the pad pasting slider cylinder 42
End is fixed on the pad pasting slide unit 41；The slide unit connecting plate 44 is fixed on the pad pasting slide unit 41, the pad pasting linkage air cylinder
45 cylinder block is fixed on the slide unit connecting plate 44；The linkage rebound 46 is fixed on the work of the pad pasting linkage air cylinder 45
The end of stopper rod and horizontal movement plate 48；The horizontal movement plate 48 is movably connected on the slide unit by the horizontal guide rail 54
Connecting plate 44, the longitudinal movement plate 47 pass through the upright guide rail 55；The gear shaft 52 is movably connected on the horizontal fortune
Movable plate 48 is provided at both ends with the No.1 gear 50 and No. two gears 51 in the gear shaft 52；The No.1 rack 49 is solid
It is connected in the slide unit connecting plate 44, the No.1 gear 50 and the No.1 rack 49 match；In the longitudinal movement plate 47
On be provided with No. two racks 53, No. two racks 53 and No. two gears 51 match；It is connected on the longitudinal movement plate 47
There are the rotary cylinder 56, the revolution connecting plate 57 to be fixed on the output flange of the rotary cylinder 56, the pad pasting
Manipulator 58 is fixed on the revolution connecting plate 57；
The screen lifting mechanism 72 includes：Rise bottom plate 77, rise table top 78, lifting guide pillar 79, lifting sliding table 80, motor peace
Loading board 81, motor 82, ball nut 83, ball screw 84, bearing block 85, the rising bottom plate 77 are fixed on the workbench 1,
The lifting guide pillar 79 is fixed on the lower part of the lifting bottom plate 77, and the lifting sliding table 80 is movably connected on the lifting guide pillar
79, the motor mounting plate 81 is fixed on the end of the lifting guide pillar 79, and the bearing block 85 is fixed on the motor installation
Plate 81, the ball screw 84 are movably connected on the bearing block 85, and the output shaft of the motor 82 is fixed on by shaft coupling
One end of the ball screw 84；The ball nut 83 is fixed on the lifting sliding table 80, and 83 activity of the ball nut is even
It is connected to the ball screw 84, described one end for rising table top 78 and being movably connected on the ball screw 84.
Preferably, the screen lifting mechanism 72 further includes：Guide plate 86, guide runner 87 are oriented to slide unit 88, move and lead
To plate 89, guide cylinder 90, the guide plate 86 is fixed on the rising bottom plate 77, and the guiding slide unit 88 passes through the guiding
Sliding block 87 is movably connected on the rising bottom plate 77；The motion guide plate 89 is fixed on the guiding slide unit 88, the guiding
Cylinder 90 is for driving the guiding slide unit 88 to move；The guide plate 86 and motion guide plate 89 are for guiding the upgrade platform
78 elevating movement of face, and the screen 4 is kept fitly to be stacked on the rising table top 78.
Preferably, the screen manipulator mechanism 71 includes screen feeding manipulator holder 73, screen level slide unit 74, screen
Curtain vertical slide unit 75, screen sucker 76, the screen feeding manipulator holder 73 are fixed on the workbench 1, the screen water
Somoothing board 74 is fixed on the lower part of the screen feeding manipulator holder 73, and the vertical slide unit of the screen 75 is fixed on the screen
On the slide unit of horizontal sliding table 74, the screen sucker 76 is fixed on the slide unit of the vertical slide unit of the screen 75.
Preferably, it is fixed with pressing roller holder 59 on the pad pasting slide unit 41, is flexibly connected on the pressing roller holder 59
There are pressure roller 60, the pressure roller 60 to be located at the upper surface of the fixture 21；The surface of the pressure roller 60 is covered with flexible material.
Preferably, No. two racks 53 and upright guide rail 55 are mutually parallel.
Preferably, the No.1 rack 49 at level will not, the work of the No.1 rack 49, the pad pasting linkage air cylinder 45
Stopper rod, horizontal guide rail 54 are mutually parallel.
Preferably, the engraved structure for reducing rotary inertia is provided on the traffic cycle 2.
Preferably, it is set up in parallel the fixture 21 on each station of the traffic cycle 2.
Preferably, there are four stations for the setting of the traffic cycle 2.
Preferably, the quantity of the pad pasting manipulator 58 is six.
Preferably, the protective film glue applying mechanism 30 includes：Protective film carrier 31, protective film carrier slide unit 32, carrier without
Bar cylinder 33, upper film portal frame 34, dispenser 35, upper film water somoothing board 36, upper film connecting plate 37, upper film longitudinal slide unit 38, on
Film sucker 39；The protective film slide unit 32 is movably connected on the workbench 1, and the protective film carrier 31 is fixed on the protection
Film slide unit 32, the carrier rodless cylinder 33 is for driving the protective film slide unit 32 to do linear slide；The dispenser 35 is solid
It is connected on the upper film portal frame 34, the dispenser 35 is located at the top of the protective film carrier 31；The upper film water is smooth
The cylinder block of platform 36 is fixed on the upper film portal frame 34, and the upper film connecting plate 37 is fixed on the upper film water somoothing board 36
On slide unit, it is each provided with a upper film longitudinal slide unit 38 at the both ends of the upper film connecting plate 37, it is longitudinal in the upper film
Film sucker 39 is provided on slide unit 38.
Preferably, in the protective film glue applying mechanism 30, the protective film 3 is located on the protective film carrier 31, institute
It states dispenser 35 and dispensing operation is completed to the surface of the protective film 3；Then, the carrier rodless cylinder 33 is by the protective film
3 are moved to the lower part of the upper film water somoothing board 36, and the piston rod of the upper film water somoothing board 36 is retracted, the upper film sucker 39
The protective film 3 is sucked and is promoted；Then, the piston rod of the carrier rodless cylinder 33 stretches out, by the protective film 3 to institute
It states Film laminating apparatus tool mobile phone structure direction and moves a distance.
Below in conjunction with Fig. 1 to 4, the operation principle and work of multi-robot collaboration mobile phone assembly system of the present invention are further described
Make process：
Multi-robot of the present invention cooperates with mobile phone assembly system, including：Workbench 1, fixture 21, traffic cycle 2, protective film glue applying mechanism
30, the pad pasting manipulator mechanism 40 on the surface of screen 4, the traffic cycle 2 are movably connected on the workbench by dispenser 22
1, the fixture 21 is fixed on the periphery of the traffic cycle 2, and dispensing work is completed for providing in the protective film glue applying mechanism 30
The protective film 3 of industry, the pad pasting manipulator mechanism 40 are used to the protective film 3 being affixed on the screen 4.
The course of work and operation principle of the protective film glue applying mechanism 30 are introduced first：
In the protective film glue applying mechanism 30, the protective film 3 is located on the protective film carrier 31, and the dispenser 35 is right
Complete dispensing operation in the surface of the protective film 3；Then, the protective film 3 is moved to described by the carrier rodless cylinder 33
The lower part of upper film water somoothing board 36, the piston rod of the upper film water somoothing board 36 are retracted, and the upper film sucker 39 is by the protection
Film 3 is sucked and is promoted；Then, the piston rod of the carrier rodless cylinder 33 stretches out, by the protective film 3 to the Film laminating apparatus tool
Mobile phone structure direction moves a distance.
The course of work and operation principle of the laminator tool mobile phone structure 40 are introduced first：
In the initial state：The rotary cylinder 56 drives the paw of the pad pasting manipulator 58 towards the protective film dispenser
The piston rod of 30 direction of structure, the pad pasting linkage air cylinder 45 is in stretching state, and the pad pasting manipulator 58 declines one section
Highly and close to the protective film glue applying mechanism 30, the piston rod of the pad pasting slider cylinder 42 is in retracted mode, described
Screen 4 is between the pressure roller 60 and protective film glue applying mechanism 30；
Then, the protective film glue applying mechanism 30 is for providing the protective film 3 that dispensing operation is completed, by the protective film
3 export to 58 paw position of the pad pasting manipulator；The paw of the pad pasting manipulator 58 clamps the protective film 3,
The upper film sucker 39 leaves the protective film 3；
Then, the rotary cylinder 56 drives the pad pasting manipulator 58 to overturn 180 degree, so that the protective film 3 is synchronized and turns over
Turn 180 degree and is placed on the screen 4；
Then, the piston rod of the pad pasting linkage air cylinder 45 is retracted, meanwhile, the piston rod of the pad pasting slider cylinder 42 stretches out；
The piston rod of the pad pasting linkage air cylinder 45 is retracted, and the pad pasting manipulator 58 rises one section of height and is away from the protective film
Glue applying mechanism 30；The piston rod of the pad pasting slider cylinder 42, which is in, to be stretched out, and the pressure roller 60 rolls on the protective film 3,
The protective film 3 is pressed on to the surface of the screen 4；
Then, the piston rod of the pad pasting slider cylinder 42 is in retracted mode, and the pressure roller 60 carries out on the protective film 3
Secondary rolled.
Finally it is pointed out that above example is only that multi-robot collaboration mobile phone assembly system of the present invention is more representative
Example.Obviously, multi-robot collaboration mobile phone assembly system of the present invention is not limited to the above embodiments, and acceptable there are many deformations.
The technical spirit of the every collaboration of multi-robot according to the present invention mobile phone assembly system is simply repaiied to any made by above example
Change, equivalent variations and modification, is considered as belonging to the protection domain of multi-robot collaboration mobile phone assembly system of the present invention.
Claims (10)
1. a kind of multi-robot cooperates with mobile phone assembly system, which is characterized in that including：Workbench, for fixed mask fixture,
For convey automatically the traffic cycle of the fixture, the screen feed mechanism for being placed into screen on the fixture, for pair
Protective film realize the protective film glue applying mechanism of dispensing operation, surface for the protective film to be affixed on to the screen laminator
Tool mobile phone structure, the traffic cycle are movably connected on the workbench by dispenser, and the fixture is fixed on the traffic cycle
Periphery, the screen feed mechanism, protective film glue applying mechanism, pad pasting manipulator mechanism are fixed on the workbench；The guarantor
Cuticula glue applying mechanism is used for for providing the protective film that dispensing operation is completed, the pad pasting manipulator mechanism by the guarantor
Cuticula is affixed on the screen；
The screen feed mechanism includes screen manipulator mechanism and screen lifting mechanism, and the screen is stacked on the screen
It rises in mechanism, after the screen manipulator mechanism grabs the screen from the screen lifting mechanism, the screen is put
It is placed in the fixture；
The pad pasting manipulator mechanism includes：Pad pasting slide unit, pad pasting slider cylinder, pad pasting pedestal sliding block, slide unit connecting plate, pad pasting
Linkage air cylinder, linkage rebound, longitudinal movement plate, horizontal movement plate, No.1 rack, No.1 gear, No. two gears, gear shaft,
No. two racks, horizontal guide rail, upright guide rail, rotary cylinder, revolution connecting plate, pad pasting manipulator；The pad pasting slide unit passes through institute
It states pad pasting pedestal sliding block and is movably connected on the workbench, the cylinder block of the pad pasting slider cylinder is fixed on the workbench,
The end of the piston rod of the pad pasting slider cylinder is fixed on the pad pasting slide unit；The slide unit connecting plate is fixed on the pad pasting
The cylinder block of slide unit, the pad pasting linkage air cylinder is fixed on the slide unit connecting plate；The linkage rebound is fixed on the patch
The end of the piston rod of film linkage air cylinder and horizontal movement plate；The horizontal movement plate is movably connected on by the horizontal guide rail
The slide unit connecting plate, the longitudinal movement plate pass through the upright guide rail；The gear shaft is movably connected on the horizontal fortune
Movable plate is provided at both ends with the No.1 gear and No. two gears in the gear shaft；The No.1 rack is fixed on the cunning
Platform connecting plate, the No.1 gear and the No.1 rack match；No. two racks, institute are provided on the longitudinal movement plate
It states No. two racks and No. two gears matches；The rotary cylinder, the revolution connection are fixed on the longitudinal movement plate
Plate is fixed on the output flange of the rotary cylinder, and the pad pasting manipulator is fixed on the revolution connecting plate；
The screen lifting mechanism includes：Rise bottom plate, rise table top, lifting guide pillar, lifting sliding table, motor mounting plate, motor,
Ball nut, ball screw, bearing block, the rising bottom plate are fixed on the workbench, and the lifting guide pillar is fixed on described
The lower part of bottom plate is lifted, the lifting sliding table is movably connected on the lifting guide pillar, and the motor mounting plate is fixed on the liter
The end of guide post drops, and the bearing block is fixed on the motor mounting plate, and the ball screw is movably connected on the bearing block,
The output shaft of the motor is fixed on one end of the ball screw by shaft coupling；The ball nut is fixed on the lifting
Slide unit, the ball nut are movably connected on the ball screw, and the rising table top is movably connected on the ball screw
One end.
2. multi-robot according to claim 1 cooperates with mobile phone assembly system, which is characterized in that the screen lifting mechanism
Further include：Guide plate, is oriented to slide unit, motion guide plate, guide cylinder at guide runner, and the guide plate is fixed on the rising
Bottom plate, the guiding slide unit are movably connected on the rising bottom plate by the guide runner；The motion guide plate is fixed on
The guiding slide unit, the guide cylinder is for driving the guiding slide unit to move；The guide plate and motion guide plate are used for
The rising table top elevating movement is guided, and the screen is kept fitly to be stacked on the rising table top.
3. multi-robot according to claim 1 cooperates with mobile phone assembly system, which is characterized in that the screen machinery mobile phone
Structure includes screen feeding manipulator holder, screen level slide unit, the vertical slide unit of screen, screen sucker, the screen feeding machinery
Hand holder is fixed on the workbench, and the screen level slide unit is fixed on the lower part of the screen feeding manipulator holder, institute
It states the vertical slide unit of screen to be fixed on the slide unit of the screen level slide unit, the screen sucker is fixed on the screen and slides vertically
On the slide unit of platform.
4. multi-robot according to claim 1 cooperates with mobile phone assembly system, which is characterized in that on the pad pasting slide unit
It is fixed with pressing roller holder, pressure roller is connected on the pressing roller holder, the pressure roller is located at the upper surface of the fixture；Institute
The surface for stating pressure roller is covered with flexible material.
5. multi-robot according to claim 1 cooperates with mobile phone assembly system, which is characterized in that the No.1 rack Cheng Shui
It is flat will not, the No.1 rack, the pad pasting linkage air cylinder piston rod, horizontal guide rail be mutually parallel.
6. multi-robot according to claim 1 cooperates with mobile phone assembly system, which is characterized in that in the every of the traffic cycle
The fixture is set up in parallel on a station.
7. multi-robot according to claim 1 cooperates with mobile phone assembly system, which is characterized in that the traffic cycle is provided with
Four stations.
8. multi-robot according to claim 1 cooperates with mobile phone assembly system, which is characterized in that the pad pasting manipulator
Quantity is six.
9. multi-robot according to claim 1 cooperates with mobile phone assembly system, which is characterized in that the protective film dispenser
Structure includes：Protective film carrier, protective film carrier slide unit, carrier rodless cylinder, upper film portal frame, dispenser, upper film water somoothing board,
Upper film connecting plate, upper film longitudinal slide unit, upper film sucker；The protective film slide unit is movably connected on the workbench, the protection
Film carrier is fixed on the protective film slide unit, and the carrier rodless cylinder is for driving the protective film slide unit to do linear slide；
The dispenser is fixed on the upper film portal frame, and the dispenser is located at the top of the protective film carrier；The upper film
The cylinder block of horizontal sliding table is fixed on the upper film portal frame, and the upper film connecting plate is fixed on the cunning of the upper film water somoothing board
On platform, it is each provided with a upper film longitudinal slide unit at the both ends of the upper film connecting plate, in the upper film longitudinal slide unit
It is provided with film sucker.
10. multi-robot according to claim 9 cooperates with mobile phone assembly system, which is characterized in that in the protection film spot
In gluing mechanism, the protective film is located on the protective film carrier, and the dispenser completes dispensing to the surface of the protective film
Operation；Then, the protective film is moved to the lower part of the upper film water somoothing board, the upper film water by the carrier rodless cylinder
The piston rod of somoothing board is retracted, and the protective film is sucked and is promoted by the upper film sucker；Then, the carrier rodless cylinder
Piston rod stretches out, and the protective film is moved a distance to the Film laminating apparatus tool mobile phone structure direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810676580.4A CN108748106B (en) | 2018-06-27 | 2018-06-27 | Multi-manipulator collaborative mobile phone assembling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810676580.4A CN108748106B (en) | 2018-06-27 | 2018-06-27 | Multi-manipulator collaborative mobile phone assembling system |
Publications (2)
| Publication Number | Publication Date |
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| CN108748106A true CN108748106A (en) | 2018-11-06 |
| CN108748106B CN108748106B (en) | 2021-10-29 |
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ID=63977668
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|---|---|---|---|
| CN201810676580.4A Active CN108748106B (en) | 2018-06-27 | 2018-06-27 | Multi-manipulator collaborative mobile phone assembling system |
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Also Published As
| Publication number | Publication date |
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| CN108748106B (en) | 2021-10-29 |
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Effective date of registration: 20240116 Address after: 529000 Floor 5, No. 6, Nanchang Village, Encheng Industrial Fourth Road, Enping City, Jiangmen, Guangdong Province Patentee after: Jiangmen Boyi Intellectual Property Operation Co.,Ltd. Address before: Room 522 and 524, Building C, Science and Technology Business Incubator, Venture Service Center, Wenzhou High-tech Industrial Development Zone, Zhejiang Province, 325000 Patentee before: Yu Xiaofei |