CN109944851B - Mover attaching machine - Google Patents

Mover attaching machine Download PDF

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CN109944851B
CN109944851B CN201910254209.3A CN201910254209A CN109944851B CN 109944851 B CN109944851 B CN 109944851B CN 201910254209 A CN201910254209 A CN 201910254209A CN 109944851 B CN109944851 B CN 109944851B
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assembly
subassembly
mover
displacement
upset
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CN109944851A (en
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钱超伟
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Dongguan Cailishang Automation Equipment Technology Co ltd
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Dongguan Cailishang Automation Equipment Technology Co ltd
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Abstract

The invention discloses a rotor attaching machine, which is mainly used for attaching a rotor; it includes control system, material loading subassembly, snatchs subassembly, centre gripping subassembly, carries to shell material subassembly, paster subassembly and unloading subassembly, control system be used for control material loading subassembly, snatch subassembly, centre gripping subassembly, carry and shell material subassembly, paster subassembly and unloading subassembly, the centre gripping subassembly include active cell upset piece and paster locating component, active cell upset piece with paster locating component overturn and fix a position the active cell, the active cell that snatchs the material loading subassembly move to the centre gripping subassembly on, the paster subassembly absorbs the transport shell the paster of peeling off on the material subassembly paste the active cell of centre gripping subassembly centre gripping on, the unloading subassembly carry out the finished product unloading to the active cell of having pasted the paster.

Description

一种动子贴附机A mover attaching machine

技术领域technical field

本发明涉及机械设备领域领域,具体的,是涉及一种动子贴附机。The invention relates to the field of mechanical equipment, in particular to a mover attaching machine.

背景技术Background technique

目前动子贴片一般采用手工操作,工人手工取下贴片,逐个的贴到动子上。这种操作方法导致工人劳动强度大,随着劳动次数的增加,工人越加的疲劳,工作效率下降。此外,贴片粘贴位置和精准度均由操作工人自行把握,粘贴位置常有偏移,会造成产品品质不一和贴片浪费严重,粘贴成功率较低。在粘贴完成后,通过人工目测来进行检测,人工肉眼检测不易分辨微小的偏差,同样会导致产品品质不一。At present, the mover patches are generally operated manually, and workers manually remove the patches and attach them to the movers one by one. This method of operation leads to high labor intensity for workers. As the number of labor increases, workers become more and more fatigued and work efficiency decreases. In addition, the sticking position and accuracy of the patch are controlled by the operators themselves, and the sticking position is often offset, which will result in inconsistent product quality and serious patch waste, and the success rate of pasting is low. After the pasting is completed, the inspection is carried out by manual visual inspection. It is not easy to distinguish small deviations by manual visual inspection, which will also lead to different product quality.

发明内容SUMMARY OF THE INVENTION

本发明的主要目的在于提供了一种动子贴附机,其可克服上缺陷,可对动子进行自动化的贴片粘贴,降低人力劳动强度,提高粘贴成功率,保证产品的一致性,且结构紧凑。The main purpose of the present invention is to provide a mover attaching machine, which can overcome the above defects, can automatically paste the mover, reduce the labor intensity, improve the success rate of pasting, ensure the consistency of products, and Compact.

为实现上述目的,本发明所采取的技术方案是:一种动子贴附机,包括控制系统、上料组件、抓取组件、夹持组件、输送剥料组件、贴片组件和下料组件,所述的控制系统用于控制所述的上料组件、抓取组件、夹持组件、输送剥料组件、贴片组件和下料组件,所述的夹持组件包括翻转组件和贴片定位组件,所述的翻转组件和所述的贴片定位组件对动子进行翻转和定位,所述的抓取组件抓取上料组件的动子运动到所述的夹持组件上,贴片组件吸取所述的输送剥料组件上的剥落的贴片贴到夹持组件夹持的动子上,所述的下料组件对已贴好贴片的动子进行成品下料。In order to achieve the above purpose, the technical scheme adopted by the present invention is: a mover attaching machine, including a control system, a feeding assembly, a grabbing assembly, a clamping assembly, a conveying and stripping assembly, a patch assembly and a blanking assembly , the control system is used to control the feeding assembly, grabbing assembly, clamping assembly, conveying and stripping assembly, patch assembly and unloading assembly, and the clamping assembly includes a flipping assembly and a patch positioning assembly, the flipping assembly and the patch positioning assembly overturn and position the mover, the grabbing assembly grabs the mover of the feeding assembly and moves it to the clamping assembly, the patch assembly The peeled patch on the conveying and peeling assembly is sucked and attached to the mover clamped by the clamping assembly, and the blanking assembly performs finished blanking on the mover that has been pasted with the patch.

在上述技术方案中,所述的上料组件包括上层位移组件和下层位移组件,所述的上层移动组件和所述的下层位移组件交替进行动子供料。In the above technical solution, the feeding component includes an upper displacement component and a lower displacement component, and the upper moving component and the lower displacement component alternately supply the mover.

在上述技术方案中,所述的抓取组件包括X轴位移组件、Y轴位移组件和Z轴位移吸取组件,所述的X轴位移组件、所述的Y轴位移组件和所述的Z轴位移吸取组件相互连动吸取所述的上料组件上的动子。In the above technical solution, the grasping assembly includes an X-axis displacement assembly, a Y-axis displacement assembly and a Z-axis displacement suction assembly, the X-axis displacement assembly, the Y-axis displacement assembly and the Z-axis displacement assembly The displacement and suction components are linked with each other to absorb the movers on the feeding component.

在上述技术方案中,所述的翻转组件包括翻转固定件、动子翻转件、翻转缓冲组件和定位卡紧件,所述的动子翻转件翻转设置在所述的翻转固定件上,所述的翻转缓冲组件安装在所述的动子翻转件的侧边,用于缓冲所述的动子翻转件翻转,所述的定位卡紧件安装在所述的翻转固定件上且用于卡紧和松开所述的动子翻转件。In the above technical solution, the flipping assembly includes a flipping fixing member, a mover flipping member, a flipping buffer assembly and a positioning clamping member, the mover flipping member is flipped and arranged on the flipping fixed member, and the The overturning buffer assembly is installed on the side of the mover overturning piece for buffering the overturning of the mover overturning piece, and the positioning clamping piece is installed on the overturning fixing piece and is used for clamping and release the said mover turning piece.

在上述技术方案中,所述的贴片定位组件包括CCD贴料定位仪和贴料定位链接座,所述的CCD贴料定位仪连接在所述的贴料定位链接座上,CCD贴料定位仪检测所述的翻转组件上的动子。In the above technical solution, the patch positioning assembly includes a CCD patch positioning instrument and a patch positioning link seat, the CCD patch positioning instrument is connected to the patch positioning link seat, and the CCD patch positioning The instrument detects the mover on the flipping assembly.

在上述技术方案中,还包括旋转定位组件,所述的旋转定位组件包括多工位旋转盘、旋转定位电机和平放推杆气缸,所述的多工位旋转盘旋转安装在所述的旋转定位电机上,所述的平放推杆气缸安装在所述的多工位旋转盘上。In the above technical solution, it also includes a rotation positioning assembly, and the rotation positioning assembly includes a multi-position rotary disk, a rotary positioning motor, and a flat push rod cylinder, and the multi-position rotary disk is rotatably installed on the rotary positioning On the motor, the flat push rod cylinder is installed on the multi-station rotary disk.

在上述技术方案中,所述的输送剥料组件包括输送组件、压紧组件和剥料组件,所述的压紧组件对所述的输送组件进行压紧,所述的剥料组件对所述的输送组件上的料带上的贴片进行剥料,所述的输送组件包括料盘组件和收料组件,所述的料盘组件联动所述的收料组件进行料带的运送和收料。In the above technical solution, the conveying and stripping component includes a conveying component, a pressing component and a stripping component, the pressing component compresses the conveying component, and the stripping component compresses the The stickers on the material belt on the conveying assembly are peeled off. The conveying assembly includes a material tray assembly and a receiving assembly, and the material tray assembly is linked with the receiving assembly to carry out the conveying and receiving of the material belt. .

在上述技术方案中,所述的压紧组件包括导流组件、预紧组件和夹紧组件,所述的导流组件对所述的料带进行导向运输,所述的预紧组件和所述的夹紧组件分别安装在所述的导流组件上,所述的预紧组件和所述的夹紧组件对所述的导流组件上的料带进行压紧。In the above technical solution, the pressing assembly includes a flow guide assembly, a preload assembly and a clamping assembly, the flow guide assembly guides and transports the material strip, and the preload assembly and the The clamping assemblies are respectively installed on the air guide assembly, and the preload assembly and the clamping assembly compress the material tape on the air guide assembly.

在上述技术方案中,所述的下料组件包括上层成品位移组件和下层成品位移组件,所述的上层成品位移组件和所述的下层成品位移组件交替进行成品动子下料。In the above technical solution, the blanking component includes an upper-layer finished product displacement component and a lower-layer finished product displacement component, and the upper-layer finished product displacement component and the lower-layer finished product displacement component alternately blank the finished product mover.

在上述技术方案中,还包括不良品回收组件,所述的不良品回收组件包括不良品回收马达和不良品输送线体,所述的不良品回收马达驱动所述的不良品输送线体进行不良品回收。In the above technical solution, a defective product recovery component is also included, and the defective product recovery component includes a defective product recovery motor and a defective product conveying line body, and the defective product recovery motor drives the defective product conveying line body to carry out a continuous process. Good product recycling.

采用上述技术方案后,装配后,可对动子进行自动化的贴片粘贴,降低人力劳动强度,提高粘贴成功率,保证产品的一致性,动子贴附机结构紧凑,减少占用面积。After the above technical solution is adopted, the mover can be automatically patched after assembly, which reduces the labor intensity, improves the success rate of pasting, and ensures the consistency of the product. The mover attaching machine has a compact structure and reduces the occupied area.

附图说明Description of drawings

图1是本发明的立体示意图;Fig. 1 is the three-dimensional schematic diagram of the present invention;

图2是本发明的部分零件示意图一;Fig. 2 is the schematic diagram one of some parts of the present invention;

图3是本发明的部分零件示意图二;Fig. 3 is the schematic diagram two of some parts of the present invention;

图4是本发明的部分零件示意图三;4 is a schematic diagram of some parts of the present invention three;

图5是本发明的部分零件示意图四;5 is a schematic diagram of part of the present invention four;

图6是本发明的部分零件示意图五;Fig. 6 is the schematic diagram five of some parts of the present invention;

图7是本发明的部分零件示意图六;7 is a schematic diagram of part of the present invention six;

图8是本发明的部分零件示意图七;Fig. 8 is the schematic diagram seven of some parts of the present invention;

图9是本发明的部分零件示意图八;9 is a schematic diagram of part of the present invention eight;

图10是本发明的部分零件示意图九;Figure 10 is a schematic diagram of some parts of the present invention nine;

图11是本发明的部分零件示意图十。Fig. 11 is a schematic diagram of some parts of the present invention.

具体实施方式Detailed ways

下面结合附图对本发明作进一步详细的说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.

参考图1所示,本发明公开了一种动子贴附机,对动子进行贴片,包括控制系统1、上料组件2、抓取组件3、夹持组件4、输送剥料组件5、贴片组件6、下料组件7、机座8和回收组件9,其中:Referring to FIG. 1 , the present invention discloses a mover attaching machine for patching the mover, including a control system 1 , a feeding assembly 2 , a grabbing assembly 3 , a clamping assembly 4 , and a conveying and stripping assembly 5 , SMD assembly 6, blanking assembly 7, machine base 8 and recovery assembly 9, wherein:

参考图1、2、3所示,控制系统1、上料组件2、抓取组件3、夹持组件4、输送剥料组件5、贴片组件6、下料组件7和回收组件9均设在机座8上,控制系统1与上料组件2、抓取组件3、夹持组件4、输送剥料组件5、贴片组件6、下料组件7和回收组件9电性连接,且控制系统1控制上述部件运作。Referring to Figures 1, 2, and 3, the control system 1, the feeding assembly 2, the grabbing assembly 3, the clamping assembly 4, the conveying and stripping assembly 5, the patch assembly 6, the unloading assembly 7 and the recycling assembly 9 are equipped with On the machine base 8, the control system 1 is electrically connected with the feeding component 2, the grabbing component 3, the clamping component 4, the conveying and stripping component 5, the patch component 6, the unloading component 7 and the recycling component 9, and controls System 1 controls the operation of the above components.

参考图4所示,上料组件2包括上层位移组件21和下层位移组件22,上层位移组件21包括上层上料托盘211和上层上料位移气缸212,上层上料拖盘211连接在上层上料位移气缸212上,上层上料位移气缸212可以带动上层上料拖盘211进行前后位移;下层位移组件22包括下层上料托盘221和下层上料位移气缸222,下层上料拖盘221连接在下层上料位移气缸222上,下层上料位移气缸222可以带动上层上料拖盘221进行前后位移;上层位移组件21位于下层位移组件22上方,上层位移组件21和下层位移组件22交替运作,进行动子供料。Referring to FIG. 4, the loading assembly 2 includes an upper displacement assembly 21 and a lower displacement assembly 22. The upper displacement assembly 21 includes an upper loading tray 211 and an upper loading displacement cylinder 212. The upper loading tray 211 is connected to the upper loading tray. On the displacement cylinder 212, the upper-layer feeding displacement cylinder 212 can drive the upper-layer feeding tray 211 to move forward and backward; the lower-layer displacement assembly 22 includes a lower-layer feeding tray 221 and a lower-layer feeding displacement cylinder 222, and the lower-layer feeding tray 221 is connected to the lower layer On the feeding displacement cylinder 222, the lower feeding displacement cylinder 222 can drive the upper feeding tray 221 to move forward and backward; the upper displacement component 21 is located above the lower displacement component 22, and the upper displacement component 21 and the lower displacement component 22 operate alternately to move Sub feed.

参考图5所示,抓取组件3包括X轴位移模组31、Y轴位移模组32和Z轴位移吸取组件33,Z轴位移吸取组件33包括取料手331和Z轴位移气缸332,取料手331连接在Z轴位移气缸332下,Z轴位移气缸332带动取料手331上下运动进行取料;X轴位移模组31、Y轴位移模组32和Z轴位移吸取组件33相互连动,使得取料手331可以在X轴方向和Y轴方向移动进行吸取上料组件2上的动子。Referring to FIG. 5 , the grabbing assembly 3 includes an X-axis displacement module 31, a Y-axis displacement module 32 and a Z-axis displacement suction assembly 33, and the Z-axis displacement suction assembly 33 includes a reclaimer 331 and a Z-axis displacement cylinder 332, The reclaimer 331 is connected under the Z-axis displacement cylinder 332, and the Z-axis displacement cylinder 332 drives the reclaimer 331 to move up and down to reclaim materials; the X-axis displacement module 31, the Y-axis displacement module 32 and the Z-axis displacement suction assembly 33 are mutually Interlocked, so that the picking hand 331 can move in the X-axis direction and the Y-axis direction to pick up the mover on the feeding assembly 2 .

参考图6、7所示,夹持组件4包括翻转组件41、贴片定位组件42和旋转定位组件43,其中:6 and 7, the clamping assembly 4 includes a flipping assembly 41, a patch positioning assembly 42 and a rotation positioning assembly 43, wherein:

翻转组件41包括翻转固定件411、动子翻转件412、翻转缓冲组件413、定位卡紧件414、工件卡紧组件415和翻转气缸固定座416,动子翻转件412翻转设置在翻转固定件411上,翻转固定件411用于固定动子翻转件412翻转的位置,翻转缓冲组件413安装在所述的动子翻转件412的侧边,翻转缓冲组件413包括翻转臂4131、翻转轮4132、翻转臂顶升座4133和翻转臂顶升气缸4134,翻转臂4131涛摄在动子翻转件412的侧边,翻转轮4132旋转安装在翻转臂4131上,翻转臂顶升座4133安装在翻转顶升气缸4134上,翻转臂顶升座4133位于翻转轮32下方,通过翻转臂顶升气缸4134带动翻转臂顶升座4133上下运动,从而带动翻转轮4132和翻转臂4131,以至于控制动子翻转件412翻转时的速度,不会让动子翻转件412因翻转过快损害动子,定位卡紧件414滑动安装在翻转固定件411上且用于卡紧和松开动子翻转件412,使动子翻转件412处于翻起状态或者平放状态,工件卡紧组件415包括弹簧压块4151、弹性压块顶升座4152和弹性压块顶升气缸4153,弹性压块顶升气缸4153可以带动弹性压块顶升座4152上下运动,从而带动弹性压块4151上下运动,从而实现对动子卡紧或者松开,翻转臂顶升气缸4134和弹性压块顶升气缸4153通过翻转气缸固定座416连接起来。The turning assembly 41 includes a turning fixing member 411 , a mover turning member 412 , a turning buffer assembly 413 , a positioning clamping member 414 , a workpiece clamping member 415 and a turning cylinder fixing seat 416 , and the moving member turning member 412 is turned and arranged on the turning fixing member 411 . On the top, the overturning fixing member 411 is used to fix the position where the mover overturning member 412 is overturned, and the overturning buffer assembly 413 is installed on the side of the mover overturning member 412. The overturning buffer assembly 413 includes a turning arm 4131, a turning wheel 4132, The arm jacking seat 4133 and the flip arm jacking cylinder 4134, the flip arm 4131 is captured on the side of the mover flip 412, the flip wheel 4132 is rotatably installed on the flip arm 4131, and the flip arm jack 4133 is installed on the flip jack On the cylinder 4134, the flip arm jacking seat 4133 is located under the flip wheel 32, and the flip arm jacking cylinder 4134 drives the flip arm jack 4133 to move up and down, thereby driving the flip wheel 4132 and flip arm 4131, so as to control the mover flip part The speed when the 412 is turned over will not cause the mover turning member 412 to damage the mover due to overturning. The positioning and clamping member 414 is slidably installed on the turning fixing member 411 and used to clamp and loosen the mover turning member 412, so that The mover turning member 412 is in a turned up state or a flat state. The workpiece clamping assembly 415 includes a spring pressure block 4151, an elastic pressure block lifting seat 4152 and an elastic pressure block lifting cylinder 4153. The elastic pressure block lifting cylinder 4153 can drive the The elastic pressing block lifting seat 4152 moves up and down, thereby driving the elastic pressing block 4151 to move up and down, thereby realizing the clamping or loosening of the mover. connect them.

贴片定位组件42包括CCD贴料定位仪421和贴料定位链接座422,CCD贴料定位仪421连接在贴料定位链接座422上,CCD贴料定位仪421检测翻转组件41上是否存在动子还有检测动子的位置和检测动子贴片是否贴到对应的位置上,然后反馈信息给控制系统1让抓取组件3进行抓取上料或者让贴片组件6对动子进行贴片或者让贴片组件6抓取不良品进行回收。The patch positioning assembly 42 includes a CCD patch positioning device 421 and a patch positioning link seat 422 , the CCD patch positioning device 421 is connected to the patch positioning link seat 422 , and the CCD patch positioning device 421 detects whether there is any movement on the flip assembly 41 . The sub also detects the position of the mover and detects whether the mover patch is attached to the corresponding position, and then feeds back information to the control system 1 to let the grabbing component 3 grab the material or let the patch component 6 paste the mover. or let the patch assembly 6 grab the defective products for recycling.

所述的旋转定位组件43包括多工位旋转盘431、旋转定位电机432和平放推杆气缸433,多工位旋转盘431旋转安装在旋转定位电机432上,平放推杆气缸433安装在多工位旋转盘431上,多个翻转组件41安装在多工位旋转盘431上,平放推杆气缸433的伸缩杆对准翻转组件41的定位卡紧件414,对其进行施加外力控制翻转件412翻起或者平放。The rotary positioning assembly 43 includes a multi-position rotary disk 431, a rotary positioning motor 432, and a flat push rod cylinder 433. The multi-position rotary disk 431 is rotatably installed on the rotary positioning motor 432, and the flat push rod cylinder 433 is installed in the multi-position push rod cylinder 433. On the station rotary plate 431, a plurality of inversion assemblies 41 are installed on the multi-station rotary plate 431, and the telescopic rod of the horizontal push rod cylinder 433 is aligned with the positioning clamp 414 of the inversion assembly 41, and an external force is applied to it to control the inversion. Pieces 412 are turned up or laid flat.

参考图8所示,输送剥料组件5包括输送组件51、压紧组件52、剥料组件53和剥料CCD检测仪54,压紧组件52对输送组件51进行压紧,剥料组件53对输送组件51上的料带上的贴片进行剥料,输送组件51包括料盘组件511和收料组件512,料盘组件511联动收料组件512进行料带的运送和收料,收料组件511组件可以同时联动两个收料组件512进行料带的运送和收料,压紧组件52包括导流组件521、预紧组件522和夹紧组件523,导流组件521对料带进行导向运输,预紧组件522和夹紧组件523分别安装在导流组件521上,预紧组件522和夹紧组件523对导流组件521上的料带进行压紧,剥料CCD检测仪54可以检测导流组件521料带上的贴片位置,从而反馈信息给控制系统1,控制系统1下达命令让贴片组件6吸取通过剥料组件53剥下来的贴片贴到动子上。Referring to FIG. 8 , the conveying and stripping assembly 5 includes a conveying assembly 51, a pressing assembly 52, a stripping assembly 53 and a stripping CCD detector 54. The pressing assembly 52 presses the conveying assembly 51, and the stripping assembly 53 pairs The patch on the material belt on the conveying assembly 51 is peeled off. The conveying assembly 51 includes a material tray assembly 511 and a material receiving assembly 512. The material tray assembly 511 is linked with the material receiving assembly 512 to carry out the conveying and receiving of the material belt, and the material receiving assembly The 511 component can simultaneously link the two receiving components 512 to carry and receive the material belt. The pressing component 52 includes a guide component 521, a preload component 522 and a clamping component 523. The guide component 521 guides and transports the material belt. , the preload assembly 522 and the clamp assembly 523 are respectively installed on the guide assembly 521, the preload assembly 522 and the clamp assembly 523 compress the material tape on the guide assembly 521, and the stripping CCD detector 54 can detect the guide assembly 521. The position of the patch on the tape of the flow component 521 is fed back to the control system 1, and the control system 1 issues an order to let the patch component 6 pick up the patch peeled off by the stripping component 53 and attach it to the mover.

参考图9、10所示,贴片组件6包括机械手61和吸取贴片组件62,吸取贴片组件62连接在机械手61上,机械手61通过控制系统1的指令进行运作;吸取贴片组件62包括位移夹爪621、固定夹爪622、吸取贴片位移气缸623和吸取贴片限位块624,固定夹爪622固定吸取贴片位移气缸623的下方,位移夹爪621连接在吸取贴片位移气缸623的活动杆上,通过吸取贴片位移气缸623带动位移夹爪621运动,从而实现吸取贴片,吸取贴片限位块624可以限制取贴片位移气缸623的最大位于量,避免移动过量损害其他部件。9 and 10, the patch assembly 6 includes a robot arm 61 and a suction patch assembly 62, the suction patch assembly 62 is connected to the robot arm 61, and the robot arm 61 operates through the instructions of the control system 1; the suction patch assembly 62 includes The displacement gripper 621, the fixed gripper 622, the suction patch displacement cylinder 623 and the suction patch limit block 624, the fixed gripper 622 is fixed below the suction patch displacement cylinder 623, and the displacement gripper 621 is connected to the suction patch displacement cylinder On the movable rod of 623, the displacement jaw 621 is moved by the suction patch displacement cylinder 623, so as to realize the suction patch, and the suction patch limit block 624 can limit the maximum position of the patch pickup displacement cylinder 623 to avoid excessive movement damage. other parts.

参考图4所示,下料组件7包括上层成品位移组件71和下层成品位移组件72,上层成品位移组件71包括上层成品托盘711和上层成品位移气缸712,上层成品拖盘711连接在上层成品位移气缸712上,上层成品位移气缸712可以带动上层成品拖盘711进行前后位移;下层成品位移组件72包括下层成品托盘721和下层成品位移气缸722,下层成品拖盘721连接在下层成品位移气缸722上,下层成品位移气缸722可以带动上层成品拖盘721进行前后位移;上层成品位移组件71位于下层成品位移组件72上方,上层成品位移组件71和下层成品位移组件72交替运作,进行成品动子下料。Referring to FIG. 4 , the blanking assembly 7 includes an upper-layer finished product displacement assembly 71 and a lower-layer finished product displacement assembly 72 , the upper-layer finished product displacement assembly 71 includes an upper-layer finished product tray 711 and an upper-layer finished product displacement cylinder 712 , and the upper-layer finished product tray 711 is connected to the upper-layer finished product displacement assembly. On the cylinder 712, the upper finished product displacement cylinder 712 can drive the upper finished finished product pallet 711 to move forward and backward; the lower finished finished product displacement assembly 72 includes a lower finished finished product tray 721 and a lower finished finished product displacement cylinder 722, and the lower finished finished product pallet 721 is connected to the lower finished finished product displacement cylinder 722 The lower finished product displacement cylinder 722 can drive the upper finished finished product tray 721 to move forward and backward; the upper finished finished product displacement assembly 71 is located above the lower finished finished product displacement assembly 72, and the upper finished finished product displacement assembly 71 and the lower finished finished product displacement assembly 72 operate alternately to carry out the finished product mover unloading .

参考图11所示,不良品回收组件9包括不良品回收马达91、不良品输送线体92、回收放置面框93和回收收集盒94,不良品回收马达91驱动不良品输送线体92运作,把不良品回收到回收收集盒94上,回收放置面框93可以让不良品顺着其斜面进行滑落到不良输送线体92上。Referring to FIG. 11, the defective product recovery assembly 9 includes a defective product recovery motor 91, a defective product conveying line body 92, a recovery placing surface frame 93 and a recovery collection box 94. The defective product recovery motor 91 drives the defective product conveying line body 92 to operate, The defective products are recovered on the recycling collection box 94, and the recovery and placing surface frame 93 can allow the defective products to slide down onto the defective conveying line body 92 along the inclined plane.

参考图2所示,装配使用时,多工位旋转盘431上设有多个翻转组件41,可以多个动子进行贴标,提高效率。通过旋转定位电机432分度旋转带动多工位旋转盘431进行旋转可以满足CCD贴料定位仪421有足够的时间进行检查,抓取组件3设有两组,且分别对称设置,一组用于上料,一组用于下料,两组抓取组件3同时工作可以大大提高生产效率,输送剥料组件5设有两组,因此可以实现四个工位进行剥料,CCD贴料定位仪421和机械手61设有四组,四组CCD贴料定位仪421和机械手61同时工作,可以增加生产效率,且有CCD贴料定位仪421进行检测,可以有效精准地进行贴料,保证产品的一致性;上料组件2、抓取组件3、输送剥料组件5、贴片组件6、下料组件7和回收组件9均绕着夹持组件4方形阵列设置,可以减少空间的占用面积。Referring to FIG. 2 , when assembled and used, the multi-station rotary disk 431 is provided with a plurality of turning components 41 , which can be used for labeling with a plurality of movers to improve efficiency. The multi-station rotary disk 431 is driven to rotate by the rotation of the positioning motor 432, which can satisfy the CCD sticker locator 421 to have enough time for inspection. Feeding, one set is used for unloading, and two sets of grasping components 3 work at the same time, which can greatly improve production efficiency. There are two sets of conveying and stripping components 5, so four stations can be used for stripping, CCD sticking locator 421 and the manipulator 61 are equipped with four groups, four groups of CCD sticker locator 421 and manipulator 61 work at the same time, which can increase production efficiency, and there is a CCD sticker locator 421 for detection, which can effectively and accurately carry out sticking to ensure product quality. Consistency; the feeding component 2, the grabbing component 3, the conveying and stripping component 5, the patch component 6, the unloading component 7 and the recycling component 9 are all arranged in a square array around the clamping component 4, which can reduce the space occupied area.

以上的实施例只是在于说明而不是限制本发明,故凡依本发明专利申请范围所述的方法所做的等效变化或修饰,均包括于本发明专利申请范围内。The above embodiments are only intended to illustrate rather than limit the present invention, so all equivalent changes or modifications made according to the methods described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims (9)

1. A mover attaching machine is used for attaching pieces to two sides of a mover; the device is characterized by comprising a control system (1), a feeding assembly (2), a grabbing assembly (3), a clamping assembly (4), a conveying stripping assembly (5), a patch assembly (6) and a discharging assembly (7), wherein the control system (1) is used for controlling the feeding assembly (2), the grabbing assembly (3), the clamping assembly (4), the conveying stripping assembly (5), the patch assembly (6) and the discharging assembly (7), the clamping assembly (4) comprises a turning assembly (41) and a patch positioning assembly (42), the turning assembly (41) and the patch positioning assembly (42) turn and position a rotor, the grabbing assembly (3) grabs the rotor of the feeding assembly (2) to move onto the clamping assembly (4), the patch assembly (6) sucks the peeled patches on the conveying stripping assembly (5) to be attached to the rotor clamped by the clamping assembly (4), the blanking assembly (7) carries out finished product blanking on the rotor with the pasted patch; upset subassembly (41) including upset mounting (411), active cell upset spare (412), upset buffering subassembly (413) and location chucking spare (414), active cell upset spare (412) upset setting be in upset mounting (411) on, upset buffering subassembly (413) install the side of active cell upset spare (412), be used for the buffering active cell upset spare (412) upset, location chucking spare (414) install upset mounting (411) on and be used for the chucking and loosen active cell upset spare (412).
2. The mover attaching machine according to claim 1, characterized in that: the feeding assembly (2) comprises an upper layer displacement assembly (21) and a lower layer displacement assembly (22), and the upper layer displacement assembly (21) and the lower layer displacement assembly (22) alternately supply materials to the rotor.
3. The mover attaching machine as set forth in claim 2, wherein: the grabbing component (3) comprises an X-axis displacement module (31), a Y-axis displacement module (32) and a Z-axis displacement sucking component (33), wherein the X-axis displacement module (31), the Y-axis displacement module (32) and the Z-axis displacement sucking component (33) are mutually linked to suck a rotor on the feeding component (2).
4. The mover attaching machine as set forth in claim 3, wherein: paster locating component (42) including CCD subsides material locator (421) and subsides material location linkage seat (422), CCD subsides material locator (421) connect in subsides material location linkage seat (422) on, CCD subsides material locator (421) detect the runner on upset subassembly (41).
5. The mover attaching machine according to any one of claims 1 and 2, wherein: centre gripping subassembly (4) still include rotational positioning subassembly (43), rotational positioning subassembly (43) include multistation rotary disk (431), rotational positioning motor (432) and put push rod cylinder (433), multistation rotary disk (431) rotatory install rotational positioning motor (432) on, the push rod cylinder (433) of keeping flat install multistation rotary disk (431) on.
6. The mover attaching machine according to any one of claims 1 and 2, wherein: the conveying and stripping assembly (5) comprises a conveying assembly (51), a pressing assembly (52) and a stripping assembly (53), the pressing assembly (52) is right the conveying assembly (51) is pressed, the stripping assembly (53) is right the conveying assembly (51) is provided with a patch on the material belt to strip the material, the conveying assembly (51) comprises a material tray assembly (511) and a material receiving assembly (512), and the material tray assembly (511) is linked with the material receiving assembly (512) to convey and receive the material belt.
7. The mover attaching machine as set forth in claim 6, wherein: the pressing assembly (52) comprises a flow guide assembly (521), a pre-tightening assembly (522) and a clamping assembly (523), the flow guide assembly (521) guides and transports the material belt, the pre-tightening assembly (522) and the clamping assembly (523) are respectively installed on the flow guide assembly (521), and the pre-tightening assembly (522) and the clamping assembly (523) press the material belt on the flow guide assembly (521).
8. The mover attaching machine according to any one of claims 1 and 2, wherein: the blanking assembly (7) comprises an upper-layer finished product displacement assembly (71) and a lower-layer finished product displacement assembly (72), wherein the upper-layer finished product displacement assembly (71) and the lower-layer finished product displacement assembly (72) alternately perform finished product rotor blanking.
9. The mover attaching machine according to any one of claims 1 and 2, wherein: still include defective products recovery unit (9), defective products recovery unit (9) including defective products recovery motor (91) and defective products conveying line body (92), defective products recovery motor (91) drive defective products conveying line body (92) carry out the defective products and retrieve.
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US3536241A (en) * 1969-01-07 1970-10-27 United Carr Inc Fastener attaching machine with swatch feed mechanism
CN203601669U (en) * 2013-10-22 2014-05-21 珠海格力新元电子有限公司 Automatic labeling machine
CN204271204U (en) * 2014-12-03 2015-04-15 惠州金源精密自动化设备有限公司 Cell packaging machine
CN206969585U (en) * 2017-07-20 2018-02-06 东莞东舜自动化有限公司 A double-disc alternate feeder
CN207773604U (en) * 2017-11-15 2018-08-28 安徽中显智能机器人有限公司 A kind of diaphragm picks and places material lamination machinery hand
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CN108995932B (en) * 2018-08-13 2023-08-11 深圳惠科精密工业有限公司 Automatic mobile phone face shell sheet labeling equipment

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