CN108748106B - Multi-manipulator collaborative mobile phone assembling system - Google Patents
Multi-manipulator collaborative mobile phone assembling system Download PDFInfo
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- CN108748106B CN108748106B CN201810676580.4A CN201810676580A CN108748106B CN 108748106 B CN108748106 B CN 108748106B CN 201810676580 A CN201810676580 A CN 201810676580A CN 108748106 B CN108748106 B CN 108748106B
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- 230000001681 protective effect Effects 0.000 claims abstract description 151
- 230000007246 mechanism Effects 0.000 claims abstract description 117
- 230000001174 ascending effect Effects 0.000 claims description 10
- 239000003292 glue Substances 0.000 claims description 8
- 238000003825 pressing Methods 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 6
- 210000000078 claw Anatomy 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 239000012528 membrane Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 241000252254 Catostomidae Species 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000287828 Gallus gallus Species 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000003678 scratch resistant effect Effects 0.000 description 1
- 238000005496 tempering Methods 0.000 description 1
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Classifications
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- 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
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- 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
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- 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
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- 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 equipment, and more particularly, to an automated assembly apparatus for manufacturing a mobile phone. A multi-manipulator collaborative mobile phone assembling system comprises: the device comprises a workbench, a clamp for fixing a screen, a large rotary table for automatically conveying the clamp, a screen feeding mechanism for placing the screen on the clamp, a protective film dispensing mechanism for dispensing a protective film, and a film pasting mechanical arm mechanism for pasting the protective film on the surface of the screen, wherein the large rotary table is movably connected to the workbench through a divider, the clamp is fixedly connected to the periphery of the large rotary table, and the screen feeding mechanism, the protective film dispensing mechanism and the film pasting mechanical arm mechanism are fixedly connected to the workbench; the protective film dispensing mechanism is used for providing the protective film which is subjected to dispensing operation, and the film sticking mechanical arm mechanism is used for sticking the protective film on the screen. The multi-manipulator cooperation mobile phone assembly system automatically assembles the protective film to be attached to the surface of the mobile phone screen, and ensures the smoothness and controllability of the assembly process.
Description
Technical Field
The present invention relates to industrial automation equipment, and more particularly, to an automated assembly apparatus for manufacturing a mobile phone.
Background
The mobile phone film is also called as mobile phone beauty film and mobile phone protective film, is a cold mounting film which can be used for mounting the surface of the body of a mobile phone, a screen and other tangible objects, has various types, and can be divided into the following films according to the purposes: a mobile phone screen protective film and a mobile phone body protective film; the functional protective film series with functions from the original simple scratch-resistant protective film to idskin and chicken can be divided into: peep-proof membrane, mirror membrane, AR membrane, frosting membrane, high-clarity membrane, scratch-proof protection film, 3D membrane, cell-phone fuselage scratch-proof protection film, diamond membrane, tempering membrane etc..
At present, the mobile phone film is almost the standard configuration of the mobile phone screen, so that the mobile phone film is directly attached to the mobile phone surface in the production process of the mobile phone, and the mobile phone screen is well protected.
Disclosure of Invention
The invention aims to provide a multi-manipulator-cooperated mobile phone assembling system which is applied to the assembling production process of a mobile phone and automatically assembles a protective film on the surface of a mobile phone screen, thereby ensuring the smoothness and controllability of the assembling process.
A multi-manipulator collaborative mobile phone assembling system comprises: the device comprises a workbench, a clamp for fixing a screen, a large rotary table for automatically conveying the clamp, a screen feeding mechanism for placing the screen on the clamp, a protective film dispensing mechanism for dispensing a protective film, and a film pasting mechanical arm mechanism for pasting the protective film on the surface of the screen, wherein the large rotary table is movably connected to the workbench through a divider, the clamp is fixedly connected to the periphery of the large rotary table, and the screen feeding mechanism, the protective film dispensing mechanism and the film pasting mechanical arm mechanism are fixedly connected to the workbench; the protective film dispensing mechanism is used for providing the protective film which is subjected to dispensing operation, and the film sticking manipulator mechanism is used for sticking the protective film on the screen;
the screen feeding mechanism comprises a screen manipulator mechanism and a screen lifting mechanism, the screen is stacked on the screen lifting mechanism, and the screen manipulator mechanism grabs the screen from the screen lifting mechanism and then places the screen in the clamp;
the film sticking mechanical arm mechanism comprises: the film pasting machine comprises a film pasting sliding table, a film pasting sliding table cylinder, a film pasting base sliding block, a sliding table connecting plate, a film pasting linkage cylinder, a linkage transition plate, a longitudinal moving plate, a horizontal moving plate, a first rack, a first gear, a second gear, a gear shaft, a second rack, a horizontal guide rail, a vertical guide rail, a rotary cylinder, a rotary connecting plate and a film pasting mechanical arm; the film pasting sliding table is movably connected to the workbench through the film pasting base sliding block, a cylinder body of the film pasting sliding table cylinder is fixedly connected to the workbench, and the tail end of a piston rod of the film pasting sliding table cylinder is fixedly connected to the film pasting sliding table; the film sticking linkage cylinder is characterized in that the sliding table connecting plate is fixedly connected to the film sticking sliding table, and a cylinder body of the film sticking linkage cylinder is fixedly connected to the sliding table connecting plate; the linkage transition plate is fixedly connected to the tail end of a piston rod of the film sticking linkage cylinder and the horizontal movement plate; the horizontal moving plate is movably connected to the sliding table connecting plate through the horizontal guide rail, and the longitudinal moving plate passes through the vertical guide rail; the gear shaft is movably connected to the horizontal moving plate, and the first gear and the second gear are arranged at two ends of the gear shaft; the first rack is fixedly connected with the sliding table connecting plate, and the first gear is matched with the first rack; a second rack is arranged on the longitudinal moving plate and matched with the second gear; the longitudinal motion plate is fixedly connected with the rotary cylinder, the rotary connecting plate is fixedly connected to an output flange of the rotary cylinder, and the film sticking manipulator is fixedly connected to the rotary connecting plate;
the screen lifting mechanism includes: the lifting mechanism comprises a lifting bottom plate, a lifting table top, a lifting guide pillar, a lifting sliding table, a motor mounting plate, a motor, a ball nut, a ball screw and a bearing seat, wherein the lifting bottom plate is fixedly connected to the workbench, the lifting guide pillar is fixedly connected to the lower part of the lifting bottom plate, the lifting sliding table is movably connected to the lifting guide pillar, the motor mounting plate is fixedly connected to the tail end of the lifting guide pillar, the bearing seat is fixedly connected to the motor mounting plate, the ball screw is movably connected to the bearing seat, and an output shaft of the motor is fixedly connected to one end of the ball screw through a coupling; the ball nut is fixedly connected with the lifting sliding table, the ball nut is movably connected with the ball screw, and the lifting table top is movably connected with one end of the ball screw.
Preferably, the screen lifting mechanism further comprises: the guide plate is fixedly connected with the ascending bottom plate, and the guide sliding table is movably connected with the ascending bottom plate through the guide sliding block; the motion guide plate is fixedly connected with the guide sliding table, and the guide cylinder is used for driving the guide sliding table to move; the guide plate and the movement guide plate are used for guiding the ascending table top to move up and down and keeping the screen to be neatly stacked on the ascending table top.
Preferably, screen manipulator mechanism includes screen material loading manipulator support, screen horizontal sliding table, the vertical slip table of screen, screen sucking disc, screen material loading manipulator support link firmly in the workstation, screen horizontal sliding table link firmly in the lower part of screen material loading manipulator support, the vertical slip table of screen link firmly in on the slip table of screen horizontal sliding table, the screen sucking disc link firmly in on the slip table of the vertical slip table of screen.
Preferably, a press roller support is fixedly connected to the film sticking sliding table, a press roller is movably connected to the press roller support, and the press roller is located on the upper surface of the clamp; the surface of the compression roller is covered with a flexible material.
Preferably, the second rack and the vertical guide rail are parallel to each other.
Preferably, the first rack is horizontal, and the first rack, the piston rod of the film sticking linkage cylinder and the horizontal guide rail are parallel to each other.
Preferably, the large turntable is provided with a hollow structure for reducing the moment of inertia.
Preferably, the clamps are arranged in parallel at each station of the large turntable.
Preferably, the carousel is provided with four stations.
Preferably, the number of the film sticking mechanical arms is six.
Preferably, the protective film dispensing mechanism includes: the device comprises a protective film carrier, a protective film carrier sliding table, a carrier rodless cylinder, a film feeding portal frame, a glue dispenser, a film feeding horizontal sliding table, a film feeding connecting plate, a film feeding longitudinal sliding table and a film feeding sucker; the protective film sliding table is movably connected to the workbench, the protective film carrier is fixedly connected to the protective film sliding table, and the carrier rodless cylinder is used for driving the protective film sliding table to linearly slide; the glue dispenser is fixedly connected to the film feeding portal frame and is positioned at the upper part of the protective film carrier; the cylinder body of the upper film horizontal sliding table is fixedly connected with the upper film portal frame, the upper film connecting plate is fixedly connected onto the sliding table of the upper film horizontal sliding table, two ends of the upper film connecting plate are respectively provided with one upper film longitudinal sliding table, and the upper film longitudinal sliding table is provided with an upper film sucker.
Preferably, in the protective film dispensing mechanism, the protective film is located on the protective film carrier, and the dispenser performs dispensing operation on the surface of the protective film; then, the carrier rodless cylinder moves the protective film to the lower part of the upper film horizontal sliding table, a piston rod of the upper film horizontal sliding table retracts, and the upper film sucker sucks and lifts the protective film; and then, extending out a piston rod of the rodless cylinder of the carrier, and moving the protective film for a certain distance towards the direction of the film feeding mechanical arm mechanism.
Compared with the prior art, the multi-manipulator collaborative mobile phone assembling system has the following positive effects and beneficial effects:
the invention relates to a multi-manipulator collaborative mobile phone assembling system, which comprises: the device comprises a workbench, a clamp, a large turntable, a protective film dispensing mechanism and a film pasting mechanical arm mechanism on the surface of a screen, wherein the large turntable is movably connected to the workbench through a divider, the clamp is fixedly connected to the periphery of the large turntable, the protective film dispensing mechanism is used for providing a protective film which is subjected to dispensing operation, and the film pasting mechanical arm mechanism is used for pasting the protective film on the screen.
Firstly, the working process and the working principle of the protective film glue dispensing mechanism are introduced:
in the protective film dispensing mechanism, the protective film is positioned on the protective film carrier, and the dispensing machine finishes dispensing operation on the surface of the protective film; then, the carrier rodless cylinder moves the protective film to the lower part of the upper film horizontal sliding table, a piston rod of the upper film horizontal sliding table retracts, and the upper film sucker sucks and lifts the protective film; and then, extending out a piston rod of the rodless cylinder of the carrier, and moving the protective film for a certain distance towards the direction of the film feeding mechanical arm mechanism.
Firstly, the working process and the working principle of the film sticking mechanical arm mechanism are introduced:
in an initial state: the rotary cylinder drives a paw of the film pasting manipulator to face the direction of the protective film dispensing mechanism, a piston rod of the film pasting linkage cylinder is in an extending state, the film pasting manipulator descends by a section of height and is close to the protective film dispensing mechanism, a piston rod of the film pasting sliding table cylinder is in a retracting state, and the screen is located between the press roller and the protective film dispensing mechanism;
then, the protective film dispensing mechanism is used for providing the protective film which is subjected to dispensing operation, and outputting the protective film to the position where the film sticking mechanical hand claw is located; the claw of the film pasting manipulator clamps the protective film, and the upper film sucker leaves the protective film;
then, the rotary cylinder drives the film sticking mechanical arm to turn over by one hundred eighty degrees, so that the protective film synchronously turns over by one hundred eighty degrees and covers the screen;
then, the piston rod of the film sticking linkage cylinder retracts, and meanwhile, the piston rod of the film sticking sliding table cylinder extends out; a piston rod of the film sticking linkage cylinder retracts, and the film sticking mechanical arm rises for a section of height and is far away from the protective film dispensing mechanism; a piston rod of the film sticking sliding table cylinder extends out, the press roller rolls on the protective film, and the protective film is pressed on the surface of the screen;
and then, a piston rod of the film sticking sliding table cylinder is in a retraction state, and the press roller performs secondary rolling on the protective film.
Drawings
FIG. 1 is a schematic structural diagram of a multi-manipulator cooperative mobile phone assembling system according to the present invention;
fig. 2, 3, 4 and 5 are schematic partial structural diagrams of the multi-manipulator cooperative mobile phone assembling system of the invention;
FIG. 6 is a schematic structural diagram of a screen loading mechanism of a multi-manipulator-cooperated mobile phone assembling system according to the present invention;
fig. 7 is a schematic structural view of a screen lifting mechanism of a multi-manipulator-cooperating mobile phone assembling system according to the present invention.
1 workbench, 2 large turntables, 3 protective films, 4 screens, 21 clamps, 22 dividers, 30 protective film dispensing mechanisms, 31 protective film carriers, 32 protective film carrier sliding tables, 33 carrier rodless cylinders, 34 film-feeding portal frames, 35 dispensing machines, 36 film-feeding horizontal sliding tables, 37 film-feeding connecting plates, 38 film-feeding longitudinal sliding tables, 39 film-feeding suckers, 40 film-sticking mechanical arm mechanisms, 41 film-sticking sliding tables, 42 film-sticking sliding table cylinders, 43 film-sticking base sliding blocks, 44 sliding table connecting plates, 45 film-sticking linkage cylinders, 46 linkage transition plates, 47 longitudinal moving plates, 48 horizontal moving plates, 49 first racks, 50 first gears, 51 second gears, 52 gear shafts, 53 second racks, 54 horizontal guide rails, 55 vertical guide rails, 56 rotary cylinders, 57 rotary connecting plates, 58 film-sticking mechanical arms, 59 supports of press rollers, 60 press rollers, 70 screen feeding mechanisms, 71 screen mechanical arm mechanisms, 72 screen lifting mechanisms, 73 screen feeding manipulator supports, 74 screen horizontal sliding tables, 75 screen vertical sliding tables, 76 screen suckers, 77 lifting bottom plates, 78 lifting table surfaces, 79 lifting guide columns, 80 lifting sliding tables, 81 motor mounting plates, 82 motors, 83 ball nuts, 84 ball screws, 85 bearing seats, 86 guide plates, 87 guide sliding blocks, 88 guide sliding tables, 89 motion guide plates and 90 guide cylinders.
Detailed Description
The present invention will be described in further detail below, but without limiting the invention in any way, with reference to the following figures, wherein like reference numerals represent like elements. As described above, the invention provides a multi-manipulator collaborative mobile phone assembly system, in the assembly production process of a mobile phone, the automatic conveying of a mobile phone screen is realized by using a large turntable, the screen is placed on a clamp of the large turntable by using a screen feeding mechanism, the dispensing operation of a protective film is realized by using a protective film dispensing mechanism, and the protective film is pasted on the screen by using a film pasting manipulator mechanism; the multi-manipulator cooperation mobile phone assembly system automatically assembles the protective film to be attached to the surface of the mobile phone screen, and ensures the smoothness and controllability of the assembly process.
Fig. 1 is a schematic structural diagram of a multi-manipulator-cooperated mobile phone assembling system of the present invention, fig. 2, 3, 4, and 5 are schematic partial structural diagrams of the multi-manipulator-cooperated mobile phone assembling system of the present invention, fig. 6 is a schematic structural diagram of a screen feeding mechanism of the multi-manipulator-cooperated mobile phone assembling system of the present invention, and fig. 7 is a schematic structural diagram of a screen lifting mechanism of the multi-manipulator-cooperated mobile phone assembling system of the present invention.
A multi-manipulator collaborative mobile phone assembling system comprises: the device comprises a workbench 1, a clamp 21 for fixing a screen 4, a large rotary table 2 for automatically conveying the clamp 21, a screen feeding mechanism 70 for placing the screen 4 on the clamp 21, a protective film dispensing mechanism 30 for dispensing a protective film 3, and a film pasting manipulator mechanism 40 for pasting the protective film 3 on the surface of the screen 4, wherein the large rotary table 2 is movably connected to the workbench 1 through a divider 22, the clamp 21 is fixedly connected to the periphery of the large rotary table 2, and the screen feeding mechanism 70, the protective film dispensing mechanism 30 and the film pasting manipulator mechanism 40 are fixedly connected to the workbench 1; the protective film dispensing mechanism 30 is used for providing the protective film 3 which has finished dispensing operation, and the film pasting mechanical arm mechanism 40 is used for pasting the protective film 3 on the screen 4;
the screen feeding mechanism 70 comprises a screen manipulator mechanism 71 and a screen lifting mechanism 72, the screen 4 is stacked on the screen lifting mechanism 72, and the screen manipulator mechanism 71 picks up the screen 4 from the screen lifting mechanism 72 and then places the screen 4 in the clamp 21;
the film sticking manipulator mechanism 40 includes: a film sticking sliding table 41, a film sticking sliding table cylinder 42, a film sticking base sliding block 43, a sliding table connecting plate 44, a film sticking linkage cylinder 45, a linkage transition plate 46, a longitudinal moving plate 47, a horizontal moving plate 48, a first rack 49, a first gear 50, a second gear 51, a gear shaft 52, a second rack 53, a horizontal guide rail 54, a vertical guide rail 55, a rotary cylinder 56, a rotary connecting plate 57 and a film sticking manipulator 58; the film pasting sliding table 41 is movably connected to the workbench 1 through the film pasting base sliding block 43, a cylinder body of the film pasting sliding table cylinder 42 is fixedly connected to the workbench 1, and the tail end of a piston rod of the film pasting sliding table cylinder 42 is fixedly connected to the film pasting sliding table 41; the sliding table connecting plate 44 is fixedly connected with the film sticking sliding table 41, and a cylinder body of the film sticking linkage cylinder 45 is fixedly connected with the sliding table connecting plate 44; the linkage transition plate 46 is fixedly connected with the tail end of a piston rod of the film sticking linkage cylinder 45 and the horizontal moving plate 48; the horizontal moving plate 48 is movably connected to the slipway connecting plate 44 through the horizontal guide rail 54, and the longitudinal moving plate 47 passes through the vertical guide rail 55; the gear shaft 52 is movably connected to the horizontal moving plate 48, and the first gear 50 and the second gear 51 are arranged at two ends of the gear shaft 52; the first rack 49 is fixedly connected to the sliding table connecting plate 44, and the first gear 50 is matched with the first rack 49; a second rack 53 is arranged on the longitudinal moving plate 47, and the second rack 53 is matched with the second gear 51; the longitudinal motion plate 47 is fixedly connected with the rotary cylinder 56, the rotary connecting plate 57 is fixedly connected with an output flange of the rotary cylinder 56, and the film pasting manipulator 58 is fixedly connected with the rotary connecting plate 57;
the screen lifting mechanism 72 includes: the lifting mechanism comprises a lifting bottom plate 77, a lifting table surface 78, a lifting guide pillar 79, a lifting sliding table 80, a motor mounting plate 81, a motor 82, a ball nut 83, a ball screw 84 and a bearing seat 85, wherein the lifting bottom plate 77 is fixedly connected to the workbench 1, the lifting guide pillar 79 is fixedly connected to the lower part of the lifting bottom plate 77, the lifting sliding table 80 is movably connected to the lifting guide pillar 79, the motor mounting plate 81 is fixedly connected to the tail end of the lifting guide pillar 79, the bearing seat 85 is fixedly connected to the motor mounting plate 81, the ball screw 84 is movably connected to the bearing seat 85, and an output shaft of the motor 82 is fixedly connected to one end of the ball screw 84 through a coupler; the ball nut 83 is fixedly connected to the lifting sliding table 80, the ball nut 83 is movably connected to the ball screw 84, and the lifting table surface 78 is movably connected to one end of the ball screw 84.
Preferably, the screen lifting mechanism 72 further includes: the guide plate 86 is fixedly connected with the ascending bottom plate 77, and the guide sliding table 88 is movably connected with the ascending bottom plate 77 through the guide sliding block 87; the motion guide plate 89 is fixedly connected to the guide sliding table 88, and the guide cylinder 90 is used for driving the guide sliding table 88 to move; the guide plates 86 and the movement guide plates 89 are used for guiding the lifting table 78 to move up and down and keeping the screen 4 stacked on the lifting table 78 in order.
Preferably, the screen manipulator mechanism 71 comprises a screen feeding manipulator support 73, a screen horizontal sliding table 74, a screen vertical sliding table 75 and a screen suction cup 76, wherein the screen feeding manipulator support 73 is fixedly connected to the workbench 1, the screen horizontal sliding table 74 is fixedly connected to the lower part of the screen feeding manipulator support 73, the screen vertical sliding table 75 is fixedly connected to the sliding table of the screen horizontal sliding table 74, and the screen suction cup 76 is fixedly connected to the sliding table of the screen vertical sliding table 75.
Preferably, a pressing roller bracket 59 is fixedly connected to the film pasting sliding table 41, a pressing roller 60 is movably connected to the pressing roller bracket 59, and the pressing roller 60 is located on the upper surface of the clamp 21; the surface of the pressure roller 60 is covered with a flexible material.
Preferably, the second rack 53 and the vertical rail 55 are parallel to each other.
Preferably, the first rack 49 is not horizontal, and the first rack 49, the piston rod of the film sticking linkage cylinder 45 and the horizontal guide rail 54 are parallel to each other.
Preferably, the turntable 2 is provided with a hollow structure for reducing the moment of inertia.
Preferably, the clamps 21 are arranged side by side at each station of the carousel 2.
Preferably, the carousel 2 is provided with four stations.
Preferably, the number of the film attaching robots 58 is six.
Preferably, the protective film dispensing mechanism 30 includes: the device comprises a protective film carrier 31, a protective film carrier sliding table 32, a carrier rodless cylinder 33, a film feeding portal frame 34, a glue dispenser 35, a film feeding horizontal sliding table 36, a film feeding connecting plate 37, a film feeding longitudinal sliding table 38 and a film feeding sucker 39; the protective film sliding table 32 is movably connected to the workbench 1, the protective film carrier 31 is fixedly connected to the protective film sliding table 32, and the carrier rodless cylinder 33 is used for driving the protective film sliding table 32 to linearly slide; the glue dispenser 35 is fixedly connected to the film feeding gantry 34, and the glue dispenser 35 is positioned at the upper part of the protective film carrier 31; the cylinder body of the upper film horizontal sliding table 36 is fixedly connected with the upper film portal frame 34, the upper film connecting plate 37 is fixedly connected with the sliding table of the upper film horizontal sliding table 36, two ends of the upper film connecting plate 37 are respectively provided with one upper film longitudinal sliding table 38, and the upper film longitudinal sliding table 38 is provided with an upper film sucker 39.
Preferably, in the protective film dispensing mechanism 30, the protective film 3 is located on the protective film carrier 31, and the dispenser 35 performs dispensing operation on the surface of the protective film 3; next, the carrier rodless cylinder 33 moves the protective film 3 to the lower part of the upper film horizontal sliding table 36, the piston rod of the upper film horizontal sliding table 36 retracts, and the upper film suction cup 39 sucks and lifts the protective film 3; then, the piston rod of the carrier rodless cylinder 33 extends out to move the protective film 3 a distance towards the direction of the film feeding manipulator mechanism.
The working principle and the working process of the multi-manipulator cooperative mobile phone assembling system of the invention are further described in the following with reference to fig. 1 to 4:
the invention relates to a multi-manipulator collaborative mobile phone assembling system, which comprises: the device comprises a workbench 1, a clamp 21, a large turntable 2, a protective film dispensing mechanism 30 and a film pasting manipulator mechanism 40 on the surface of a screen 4, wherein the large turntable 2 is movably connected to the workbench 1 through a divider 22, the clamp 21 is fixedly connected to the periphery of the large turntable 2, the protective film dispensing mechanism 30 is used for providing a protective film 3 which is subjected to dispensing operation, and the film pasting manipulator mechanism 40 is used for pasting the protective film 3 on the screen 4.
Firstly, the working process and the working principle of the protective film dispensing mechanism 30 are described:
in the protective film dispensing mechanism 30, the protective film 3 is located on the protective film carrier 31, and the dispensing machine 35 performs dispensing operation on the surface of the protective film 3; next, the carrier rodless cylinder 33 moves the protective film 3 to the lower part of the upper film horizontal sliding table 36, the piston rod of the upper film horizontal sliding table 36 retracts, and the upper film suction cup 39 sucks and lifts the protective film 3; then, the piston rod of the carrier rodless cylinder 33 extends out to move the protective film 3 a distance towards the direction of the film feeding manipulator mechanism.
The operation and working principle of the film sticking mechanical arm mechanism 40 are described first:
in an initial state: the rotary cylinder 56 drives the claw of the film pasting manipulator 58 to face the direction of the protective film dispensing mechanism 30, the piston rod of the film pasting linkage cylinder 45 is in an extending state, the film pasting manipulator 58 descends by a certain height and is close to the protective film dispensing mechanism 30, the piston rod of the film pasting sliding table cylinder 42 is in a retracting state, and the screen 4 is located between the press roller 60 and the protective film dispensing mechanism 30;
then, the protective film dispensing mechanism 30 is configured to provide the protective film 3 that has been subjected to dispensing operation, and output the protective film 3 to a position where the gripper of the film sticking manipulator 58 is located; the protective film 3 is clamped by the claws of the film sticking manipulator 58, and the upper film suction cup 39 is separated from the protective film 3;
then, the rotary cylinder 56 drives the film sticking manipulator 58 to turn over by one hundred eighty degrees, so that the protective film 3 synchronously turns over by one hundred eighty degrees and covers the screen 4;
then, the piston rod of the film sticking linkage cylinder 45 retracts, and simultaneously, the piston rod of the film sticking sliding table cylinder 42 extends out; the piston rod of the film sticking linkage cylinder 45 retracts, and the film sticking manipulator 58 rises by a certain height and is far away from the protective film dispensing mechanism 30; a piston rod of the film sticking sliding table cylinder 42 is extended out, the press roller 60 rolls on the protective film 3, and the protective film 3 is pressed on the surface of the screen 4;
next, the piston rod of the film application sliding table cylinder 42 is in a retracted state, and the press roller 60 performs secondary rolling on the protective film 3.
Finally, it should be noted that the above embodiments are merely representative examples of the multiple manipulator cooperative handset mounting system of the present invention. Obviously, the multiple manipulator-cooperated mobile phone assembling system of the present invention is not limited to the above-described embodiments, and many variations are possible. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the multi-manipulator-collaborative mobile phone assembling system of the present invention should be considered to fall within the protection scope of the multi-manipulator-collaborative mobile phone assembling system of the present invention.
Claims (1)
1. A multi-manipulator collaborative mobile phone assembling system is characterized by comprising: the device comprises a workbench, a clamp for fixing a screen, a large rotary table for automatically conveying the clamp, a screen feeding mechanism for placing the screen on the clamp, a protective film dispensing mechanism for dispensing a protective film, and a film pasting mechanical arm mechanism for pasting the protective film on the surface of the screen, wherein the large rotary table is movably connected to the workbench through a divider, the clamp is fixedly connected to the periphery of the large rotary table, and the screen feeding mechanism, the protective film dispensing mechanism and the film pasting mechanical arm mechanism are fixedly connected to the workbench; the protective film dispensing mechanism is used for providing the protective film which is subjected to dispensing operation, and the film sticking manipulator mechanism is used for sticking the protective film on the screen;
the screen feeding mechanism comprises a screen manipulator mechanism and a screen lifting mechanism, the screen is stacked on the screen lifting mechanism, and the screen manipulator mechanism grabs the screen from the screen lifting mechanism and then places the screen in the clamp;
the film sticking mechanical arm mechanism comprises: the film pasting machine comprises a film pasting sliding table, a film pasting sliding table cylinder, a film pasting base sliding block, a sliding table connecting plate, a film pasting linkage cylinder, a linkage transition plate, a longitudinal moving plate, a horizontal moving plate, a first rack, a first gear, a second gear, a gear shaft, a second rack, a horizontal guide rail, a vertical guide rail, a rotary cylinder, a rotary connecting plate and a film pasting mechanical arm; the film pasting sliding table is movably connected to the workbench through the film pasting base sliding block, a cylinder body of the film pasting sliding table cylinder is fixedly connected to the workbench, and the tail end of a piston rod of the film pasting sliding table cylinder is fixedly connected to the film pasting sliding table; the film sticking linkage cylinder is characterized in that the sliding table connecting plate is fixedly connected to the film sticking sliding table, and a cylinder body of the film sticking linkage cylinder is fixedly connected to the sliding table connecting plate; the linkage transition plate is fixedly connected to the tail end of a piston rod of the film sticking linkage cylinder and the horizontal movement plate; the horizontal moving plate is movably connected to the sliding table connecting plate through the horizontal guide rail, and the longitudinal moving plate passes through the vertical guide rail; the gear shaft is movably connected to the horizontal moving plate, and the first gear and the second gear are arranged at two ends of the gear shaft; the first rack is fixedly connected with the sliding table connecting plate, and the first gear is matched with the first rack; a second rack is arranged on the longitudinal moving plate and matched with the second gear; the longitudinal motion plate is fixedly connected with the rotary cylinder, the rotary connecting plate is fixedly connected to an output flange of the rotary cylinder, and the film sticking manipulator is fixedly connected to the rotary connecting plate;
the screen lifting mechanism includes: the lifting mechanism comprises a lifting bottom plate, a lifting table top, a lifting guide pillar, a lifting sliding table, a motor mounting plate, a motor, a ball nut, a ball screw and a bearing seat, wherein the lifting bottom plate is fixedly connected to the workbench, the lifting guide pillar is fixedly connected to the lower part of the lifting bottom plate, the lifting sliding table is movably connected to the lifting guide pillar, the motor mounting plate is fixedly connected to the tail end of the lifting guide pillar, the bearing seat is fixedly connected to the motor mounting plate, the ball screw is movably connected to the bearing seat, and an output shaft of the motor is fixedly connected to one end of the ball screw through a coupling; the ball nut is fixedly connected with the lifting sliding table, the ball nut is movably connected with the ball screw, the lifting table surface is movably connected with one end of the ball screw,
the screen lifting mechanism further comprises: the guide plate is fixedly connected with the ascending bottom plate, and the guide sliding table is movably connected with the ascending bottom plate through the guide sliding block; the motion guide plate is fixedly connected with the guide sliding table, and the guide cylinder is used for driving the guide sliding table to move; the guide plate and the movement guide plate are used for guiding the ascending table top to move up and down and keeping the screen to be neatly stacked on the ascending table top,
the screen mechanical arm mechanism comprises a screen feeding mechanical arm support, a screen horizontal sliding table, a screen vertical sliding table and a screen sucker, wherein the screen feeding mechanical arm support is fixedly connected with the workbench, the screen horizontal sliding table is fixedly connected with the lower part of the screen feeding mechanical arm support, the screen vertical sliding table is fixedly connected with the sliding table of the screen horizontal sliding table, the screen sucker is fixedly connected with the sliding table of the screen vertical sliding table,
a pressing roller support is fixedly connected to the film sticking sliding table, a pressing roller is movably connected to the pressing roller support, and the pressing roller is located on the upper surface of the clamp; the surface of the press roll is covered with a flexible material,
the first rack is horizontally arranged, the first rack, the piston rod of the film sticking linkage cylinder and the horizontal guide rail are parallel to each other,
the clamps are arranged on each station of the large turntable in parallel,
the large turntable is provided with four stations,
the number of the film sticking mechanical arms is six,
the protective film dispensing mechanism comprises: the device comprises a protective film carrier, a protective film carrier sliding table, a carrier rodless cylinder, a film feeding portal frame, a glue dispenser, a film feeding horizontal sliding table, a film feeding connecting plate, a film feeding longitudinal sliding table and a film feeding sucker; the protective film carrier sliding table is movably connected to the workbench, the protective film carrier is fixedly connected to the protective film carrier sliding table, and the carrier rodless cylinder is used for driving the protective film sliding table to linearly slide; the glue dispenser is fixedly connected to the film feeding portal frame and is positioned at the upper part of the protective film carrier; the cylinder body of the upper film horizontal sliding table is fixedly connected with the upper film portal frame, the upper film connecting plate is fixedly connected with the sliding table of the upper film horizontal sliding table, two ends of the upper film connecting plate are respectively provided with one upper film longitudinal sliding table, the upper film longitudinal sliding table is provided with an upper film sucker,
in the protective film dispensing mechanism, the protective film is positioned on the protective film carrier, and the dispensing machine finishes dispensing operation on the surface of the protective film; then, the carrier rodless cylinder moves the protective film to the lower part of the upper film horizontal sliding table, a piston rod of the upper film horizontal sliding table retracts, and the upper film sucker sucks and lifts the protective film; then, the piston rod of the carrier rodless cylinder extends out to move the protective film to the direction of the film sticking mechanical arm mechanism for a certain distance, and in an initial state: the rotary cylinder drives a paw of the film pasting manipulator to face the direction of the protective film dispensing mechanism, a piston rod of the film pasting linkage cylinder is in an extending state, the film pasting manipulator descends by a section of height and is close to the protective film dispensing mechanism, a piston rod of the film pasting sliding table cylinder is in a retracting state, and the screen is located between the press roller and the protective film dispensing mechanism; then, the protective film dispensing mechanism is used for providing the protective film which is subjected to dispensing operation and outputting the protective film to the position of the paw of the film pasting manipulator; the claw of the film pasting manipulator clamps the protective film, and the upper film sucker leaves the protective film; then, the rotary cylinder drives the film sticking mechanical arm to turn over by one hundred eighty degrees, so that the protective film synchronously turns over by one hundred eighty degrees and covers the screen; then, the piston rod of the film sticking linkage cylinder retracts, and meanwhile, the piston rod of the film sticking sliding table cylinder extends out; a piston rod of the film sticking linkage cylinder retracts, and the film sticking mechanical arm rises for a section of height and is far away from the protective film dispensing mechanism; a piston rod of the film sticking sliding table cylinder is in an extending state, the press roller rolls on the protective film, and the protective film is pressed on the surface of the screen; and then, a piston rod of the film sticking sliding table cylinder is in a retraction state, and the press roller performs secondary rolling on the protective film.
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| CN201810676580.4A CN108748106B (en) | 2018-06-27 | 2018-06-27 | Multi-manipulator collaborative mobile phone assembling system |
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| CN201810676580.4A CN108748106B (en) | 2018-06-27 | 2018-06-27 | Multi-manipulator collaborative mobile phone assembling system |
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| CN108748106B true CN108748106B (en) | 2021-10-29 |
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| CN111168988A (en) * | 2020-01-15 | 2020-05-19 | 苏州德创测控技术咨询有限公司 | Three-in-one guiding, positioning and laminating method for mobile phone battery protective film |
| CN113618723A (en) * | 2021-08-18 | 2021-11-09 | 东华大学 | Ship small-erection auxiliary assembly system based on augmented reality |
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| CN108748106A (en) | 2018-11-06 |
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