CN110027899B - Production line, feeding device and connection mechanism - Google Patents

Production line, feeding device and connection mechanism Download PDF

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Publication number
CN110027899B
CN110027899B CN201910332595.3A CN201910332595A CN110027899B CN 110027899 B CN110027899 B CN 110027899B CN 201910332595 A CN201910332595 A CN 201910332595A CN 110027899 B CN110027899 B CN 110027899B
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CN
China
Prior art keywords
conveying
rollers
product
tray
assembly
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Active
Application number
CN201910332595.3A
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Chinese (zh)
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CN110027899A (en
Inventor
张安平
吕云同
江猛
廖一恒
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Guangdong Topstar Technology Co Ltd
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Guangdong Topstar Technology Co Ltd
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Priority to CN201910332595.3A priority Critical patent/CN110027899B/en
Publication of CN110027899A publication Critical patent/CN110027899A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The invention relates to a production line, a feeding device and a connection mechanism. The production line comprises processing equipment, two feeders and a connection mechanism. The product is placed on a feeder at the input end of the processing apparatus, which effectively places the product on the processing apparatus. The connection mechanism is arranged at the outlet end, one end of a moving part of the transplanting assembly of the connection mechanism is positioned on the processing equipment, and the other end of the moving part is positioned on the conveying part. The grabbing unit of each transplanting assembly moves to one end of the moving member and grabs the product at the outlet end, and the grabbing unit moves to the other end of the moving member and places the product on the conveying member. Because the one end of carrying the piece is to the manipulator mechanism that is located the feeder, and the product on each carrying the piece can independently transport the manipulator mechanism that is located the exit end, the manipulator mechanism snatchs the product and realizes the unloading of product. The feeder is effectively adapted to different positions of products corresponding to different processing equipment at the outlet end through the connection mechanism.

Description

Production line, feeding device and connection mechanism
Technical Field
The invention relates to the technical field of production line equipment, in particular to a production line, a feeding device and a connection mechanism.
Background
When the product is processed by the production equipment, the product is generally taken down from the production equipment directly by manpower or taken down from the processing equipment directly by a mechanical arm mechanism. The process of manually taking the product is low in efficiency, and the product is easy to damage by manpower; the product is directly taken down through the manipulator mechanism, and the manipulator mechanism cannot effectively align and grasp the product due to different product positions possibly corresponding to different processing equipment in the processing process.
Disclosure of Invention
Based on the above, it is necessary to provide a production line, a feeding device and a connection mechanism which facilitate the grabbing of products by a manipulator mechanism.
A docking mechanism, comprising:
the connecting assembly comprises at least two conveying pieces, and one end of each conveying piece is used for being positioned on the manipulator mechanism; and
At least two transplant the subassembly, every transplant the subassembly correspond set up in one the top of carrying the piece, it includes moving part and snatchs the unit to transplant the subassembly, snatch the unit set up in on the moving part, the one end of moving part is used for being located processing equipment, and the other end is right in carry the piece, snatch the unit and can be in one end and the other end of moving the piece are removed.
When the connecting assembly is used, one end of the moving part of the transplanting assembly is positioned on the processing equipment, and the other end of the moving part is positioned on the conveying part. Therefore, when the product is processed by the processing equipment, the grabbing unit of each transplanting assembly moves to one end of the moving member and grabs the product, the grabbing unit further moves to the other end of the moving member, and the product is placed on the conveying member. Because the one end of carrying the piece is located mechanical arm mechanism, and the product on each carrying the piece can independently transport mechanical arm mechanism, and then make the product on the carrying the piece remove the one end to carrying the piece to be located mechanical arm mechanism, make things convenient for mechanical arm mechanism's snatch, effectively avoided because the product position that different processing equipment corresponds is different, the product on the processing equipment can't be counterpointed to mechanical arm mechanism. The adaptability of the feeding device can be effectively improved through the connection mechanism, and different processing equipment of products can be conveniently connected.
In one embodiment, the conveying member comprises a power source, a transmission member and a plurality of rollers arranged at intervals, one end of each roller is arranged on the transmission member, and the power source is used for driving the transmission member to drive the rollers to rotate.
In one embodiment, rollers are sleeved on a single roller, the rollers on different rollers are arranged in parallel along the conveying direction of the conveying piece, and at least two spacing tables arranged at intervals are formed on the rollers; or alternatively
At least two rollers which are arranged in parallel are sleeved on a single roller, limiting tables are formed on the rollers, the limiting tables on the two rollers which are arranged in parallel are arranged at intervals, and the rollers which are positioned on different rollers are arranged in parallel along the conveying direction of the conveying piece.
In one embodiment, the rollers of at least two conveying members are staggered with each other, and the driving members of at least two conveying members are arranged in parallel at intervals.
In one embodiment, the rollers of different conveying members are arranged offset in the conveying direction.
In one embodiment, the transmission member includes a rotation shaft and a plurality of first bevel gears, the plurality of first bevel gears are arranged on the rotation shaft at intervals, each roller corresponds to one first bevel gear, one end of each roller is provided with a second bevel gear, and the second bevel gears are meshed with the first bevel gears; or alternatively
The transmission piece comprises a worm, one end of the rolling shaft is provided with a turbine, and the turbine is meshed with the worm.
In one embodiment, the number of the connection assemblies is at least two, and at least two connection assemblies are arranged in parallel.
In one embodiment, the device further comprises a blocking piece, wherein the blocking piece is arranged on one side of the conveying piece, which faces the manipulator mechanism.
A feeding device, comprising:
the feeder comprises a manipulator mechanism; and
The above connection mechanism, wherein one end of at least two conveying members are opposite to the manipulator mechanism.
When the feeding device is used, one end of the moving part of the transplanting assembly is positioned on the processing equipment, and the other end of the moving part is positioned on the conveying part. Therefore, when the product is processed by the processing apparatus, since the gripping unit of each transplanting assembly moves to one end of the moving member and grips the product, the gripping unit further moves to the other end of the moving member and places the product on the conveying member. Because the one end of carrying the piece is located mechanical arm mechanism, and the product on each carrying the piece can independently transport mechanical arm mechanism, and then make the product on the carrying the piece remove the one end to carrying the piece to be located mechanical arm mechanism, make things convenient for mechanical arm mechanism's snatch, effectively avoided because the product position that different processing equipment corresponds is different, the product on the processing equipment can't be counterpointed to mechanical arm mechanism. The adaptability of the feeding device can be effectively improved through the connection mechanism, and different processing equipment of products can be conveniently connected.
A production line, comprising:
the processing equipment is provided with an input end and an output end;
the two feeders comprise a manipulator mechanism, the two feeders are respectively positioned at the putting end and the outlet end, the two feeders positioned at the putting end put products into the putting end through the manipulator mechanism, and the feeder positioned at the outlet end takes out products from the outlet end through the manipulator mechanism; and
The connecting mechanism is arranged between the outlet end and the feeder aligned with the outlet end, one end pair of the moving parts is positioned at the outlet end of the processing equipment, and one end pair of at least two conveying parts is positioned at the manipulator mechanism.
When the production line is used, the product is placed on the feeder at the placing end of the processing equipment, and the product is effectively placed on the processing equipment through the feeder, so that the product can be processed conveniently through the processing equipment. And after the product is processed by the processing equipment, the product enters the outlet end of the processing equipment. Because the connection mechanism is arranged between the outlet end and the feeder positioned at the outlet end, one end of the moving part of the transplanting assembly of the connection mechanism is positioned at the processing equipment, and the other end is positioned at the conveying part. The grabbing unit of each transplanting assembly moves to one end of the moving member and grabs the product at the outlet end, the grabbing unit further moves to the other end of the moving member, and the product is placed on the conveying member. Because the one end of carrying the piece is to the manipulator mechanism that is located the feeder, and the product on each carrying the piece can independently transport to the manipulator mechanism that is located the exit end to be located manipulator mechanism, manipulator mechanism will snatch the unloading of product realization product. The feeder is effectively adapted to different positions of products corresponding to different processing equipment at the outlet end through the connection mechanism. The complete production line of feeding, processing and discharging of the product is formed through the processing equipment, the two feeders and the connection mechanism, so that the production efficiency is effectively improved, and meanwhile, the product is prevented from being damaged manually.
Drawings
FIG. 1 is a schematic diagram of a feeding device according to an embodiment;
FIG. 2 is a top view of the feed device shown in FIG. 1;
FIG. 3 is a schematic view of the transport mechanism, the tray separating mechanism and the stacking mechanism in FIG. 2;
FIG. 4 is a schematic view of the manipulator mechanism of FIG. 2;
FIG. 5 is a schematic view of the docking mechanism of FIG. 2;
fig. 6 is a schematic view of the transplanting assembly of fig. 5;
fig. 7 is a schematic view of the docking assembly of fig. 5.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
Referring to fig. 1 and 2, the feeding device 10 in an embodiment can conveniently grasp products on processing equipment, and effectively improve adaptability of the feeding device 10. Specifically, the feeding device 10 includes a feeder and a docking mechanism 20.
In one embodiment, the feeder includes a robotic mechanism 300, and the docking mechanism 20 is disposed between the processing tool and the robotic mechanism 300. The product can be effectively and conveniently grasped by the manipulator mechanism 300 through the docking mechanism 20.
Specifically, the feeder further includes a conveyance mechanism 100, a tray separation mechanism 200, and a stacking mechanism 400. The conveying mechanism 100 includes a conveying assembly 110 and a driving source 120, wherein the driving source 120 is used for driving the conveying assembly 110 to move, and the conveying assembly 110 is sequentially divided into a feeding area 111, a discharging area 112 and a stacking area 113 along a conveying direction. The tray dividing mechanism 200 is located in the loading area 111, and the tray dividing mechanism 200 is used for placing the tray on the conveying assembly 110. The manipulator mechanism 300 is located in the blanking area 112, and the manipulator mechanism 300 is used for grabbing products and can move between the blanking area 112 and the processing area. The stacking mechanism 400 is located in the stacking area 113, and the stacking mechanism 400 is used for stacking trays on the carrying assembly 110.
Wherein a processing apparatus or docking mechanism 20 is disposed in the processing zone.
In an embodiment, the feeder is used as a loading machine, when the feeder is used as a loading machine, a product is placed on a tray, the tray is placed on a loading area 111 of the conveying assembly 110 through the tray separating mechanism 200, and the driving source 120 drives the conveying assembly 110 to drive the tray to move to a discharging area 112. The product in the blanking area 112 is grasped by the manipulator mechanism 300 and moved to the processing equipment in the processing area, and then the product is effectively placed in the processing equipment for processing. The empty trays are further transported to the stacking area 113 by the transporting assembly 110, and stacked by the stacking mechanism 400, thereby completing the loading of the products and the recycling of the empty trays.
In another embodiment, the feeder may also be used as a blanking machine. When being used as a blanking machine, the device is different from the device used as a feeding machine in that: empty trays are stacked on the tray separation mechanism 200. When an empty pallet is transported to the blanking area 112, the robot mechanism 300 moves to the processing equipment and grabs the product of the processing area. The robot mechanism 300 moves the product to the blanking area 112 and places the product in an empty tray. The carrying assembly 110 further conveys the trays loaded with the products to the stacking area 113, stacks the trays loaded with the products by the stacking mechanism 400, and completes the palletizing of the products.
Of course, in other embodiments, the feeder may omit the transport mechanism 100 and the tray separating mechanism 200, and the robot mechanism 300 may be movable between the stacking mechanism 400 and the processing area.
In one embodiment, the feeder further includes a frame 500, and the conveying mechanism 100 is disposed on the frame 500. A mounting support space is provided for the transport mechanism 100 by the frame 500.
Referring to fig. 3, in an embodiment, the tray separating mechanism 200 includes at least two first tray separating assemblies 210 and a first lifting assembly 220, and the at least two first tray separating assemblies 210 are disposed opposite to each other and are respectively located at two opposite sides of the conveying assembly 110. The two first sub-tray assemblies 210 disposed opposite to each other are capable of moving relative to each other, and the upper surfaces of the first sub-tray assemblies 210 form a first support platform for supporting the tray. The feeding area 111 is formed with a first lifting space 114, and a first lifting assembly 220 is disposed in the first lifting space 114 and located between two oppositely disposed first sub-tray assemblies 210. The first lifting assembly 220 is liftable relative to the first support platform.
In use, the trays are stacked on the first support platform, and the first elevation assembly 220 moves in the direction toward the first support platform in the first elevation space 114 and supports the tray at the lowermost layer. The two first sub-tray assemblies 210 disposed opposite to each other are moved in a direction away from each other, and thus the distance between the two first sub-tray assemblies 210 disposed opposite to each other is increased, so that the first sub-tray assemblies 210 can release the support of the tray, which is stacked on the first elevating assembly 220. The first elevating assembly 220 moves downward a distance of one tray thickness with respect to the first support platform. Further, the two first sub-tray assemblies 210 disposed opposite to each other are moved in a direction approaching each other, so that a distance between the two first sub-tray assemblies 210 disposed opposite to each other is shortened, so that the first sub-tray assemblies 210 are inserted on the upper surface of the bottom tray, and further support the tray above the bottom tray. The first elevation assembly 220 continues to descend, placing the lowermost tray onto the transport assembly 110.
In this embodiment, there are two first sub-disc assemblies 210, and the two first sub-disc assemblies 210 are disposed opposite to each other. By adjusting the distance between the two first sub-tray assemblies 210, the area of the first support platform can be adjusted, and the opposite ends of the tray can be placed on the two first sub-tray assemblies 210.
In another embodiment, the first tray component 210 may be multiple, where two first tray components 210 are disposed opposite to each other, and the first lifting component 220 is located between the two first tray components 210. Specifically, the plurality of first tray assemblies 210 may be disposed in two rows opposite to each other, so as to further improve the stability of the first tray assemblies 210 for supporting the tray.
Specifically, the first sub-tray assembly 210 includes a supporting arm 211 and a pushing member 212, the pushing member 212 is disposed on the rack 500, and the pushing member 212 is used for driving the supporting arm 211 to move toward or away from another first sub-tray assembly 210 disposed opposite to the supporting arm. The upper surface of the support arm 211 forms a first support platform for supporting the tray. The pushing member 212 facilitates the movement between the two oppositely disposed first sub-tray assemblies 210, and simultaneously, the supporting arm 211 facilitates the insertion between two adjacent trays.
In an embodiment, the first sub-disc assembly 210 further includes a connecting member 213, and the connecting member 213 is disposed at an end of the supporting arm 211 away from the opposite first sub-disc assembly 210. The pushing member 212 is configured to push the connecting member 213 to move the supporting arm 211 in a direction approaching or moving away from the other first sub-disc assembly 210. The pushing piece 212 can be conveniently arranged through the connecting piece 213, and then the pushing piece 212 can conveniently push the supporting arm 211 to move.
Alternatively, the connection member 213 is a plate-like structure, and the connection member 213 is disposed in the vertical direction. The boards of the connecting pieces 213 of the two opposite first tray dividing assemblies 210 are opposite, so that the occupation of the installation space of the tray dividing mechanism 200 on the rack 500 can be effectively reduced.
Optionally, the connecting piece 213 is provided with an insertion opening 214, and the insertion opening 214 penetrates the first support platform. When placing the tray on the first supporting platform, the hand is prevented from being pressed on the first supporting platform by the tray in the placing process through the inserting opening 214, and the inserting opening 214 is a containing space provided for the hand.
In an embodiment, the connecting member 213 and the supporting arm 211 are integrally formed, and the supporting arm 211 is formed by bending one end of the connecting member 213. The supporting arm 211 is formed by bending one end of the connecting piece 213, so that the processing cost of the first sub-disc assembly 210 is effectively reduced, and the structure of the first sub-disc assembly 210 is simplified.
Of course, in other embodiments, the connecting member 213 and the supporting arm 211 may be connected together by other connecting structures, so long as the pushing member 212 can push the connecting member 213 to move the supporting arm 211.
In one embodiment, each first sub-tray assembly 210 includes at least one pushing member 212, and the pushing member 212 is located on a side of the connecting member 213 facing the opposite other first sub-tray assembly 210. The pushing member 212 is disposed between two oppositely disposed connecting members 213, so that the occupied space of the first sub-disc assembly 210 can be effectively reduced, and the structure of the first sub-disc assembly 210 is more compact.
In the present embodiment, the pushing member 212 is an air cylinder, wherein a piston rod of the air cylinder is fixed to the connecting member 213. In other embodiments, the pushing member 212 may also be a hydraulic cylinder, or other structure capable of moving the connecting member 213.
In one embodiment, the first lifting assembly 220 includes a driving member 221 and an absorbing member 222, the driving member 221 is used for driving the absorbing member 222 to lift relative to the first supporting platform, and the absorbing member 222 is used for absorbing the tray. The adsorption piece 222 adsorbs the tray, so that the stability of the adsorption piece 222 in the process of driving the tray to lift can be effectively improved.
Specifically, the pushing member 212 is located on a side of the suction member 222 facing away from the first support platform. The transport assembly 110 is positioned between the pusher 212 and the first support platform. In the process that the adsorbing member 222 is lifted relative to the first supporting platform, the pushing member 212 can be effectively prevented from interfering with the lifting of the adsorbing member 222, so as to prevent the adsorbing member 222 from interfering with the placement of the tray on the conveying assembly 110.
In one embodiment, the tray separating mechanism 200 further includes a sensing element 260, where the sensing element 260 is disposed on the frame 500, and the sensing element 260 is used for sensing a position of the suction element 222, so that an upper surface of the suction element 222 is lower than an upper surface of the conveying assembly 110 or is flush with the upper surface of the conveying assembly 110. The sensing element 260 can effectively sense the position of the adsorbing element 222, and further can effectively sense the position of the tray on the adsorbing element 222, so that the tray is effectively placed on the conveying assembly 110.
Specifically, the sensing element 260 is disposed in the first lifting space 114, and the sensing position of the sensing element 260 is flush with or lower than the upper surface of the conveying assembly 110. When the adsorbing member 222 drives the tray to descend in the first lifting space 114, the sensing member 260 senses the tray or the adsorbing member 222 when the adsorbing member 222 drives the tray to approach the upper surface of the transporting assembly 110 or the tray is placed on the upper surface of the transporting assembly 110, and the adsorbing member 222 is controlled to release the adsorption of the tray, so that the tray is stably placed on the transporting assembly 110.
In one embodiment, the suction member 222 includes a first suction cup 223 and a fixing member 224, the fixing member 224 is located between two opposite first sub-disc assemblies 210, the first suction cup 223 is disposed on a surface of the fixing member 224 facing the first supporting platform, and the driving member 221 is disposed on a surface of the fixing member 224 facing away from the first supporting platform. The tray can be effectively sucked by the first suction cup 223.
In other embodiments, the adsorbing member 222 may have other structures with adsorbing capability, so long as the tray can be adsorbed.
In this embodiment, the driving member 221 is an air cylinder, and a piston rod of the air cylinder is disposed on the fixing member 224, so as to realize lifting of the fixing member 224. In other embodiments, the driving member 221 may be a hydraulic cylinder or other mechanism capable of achieving a lifting effect.
In one embodiment, the tray separating mechanism 200 further includes at least two guiding members 250, where the at least two guiding members 250 are disposed on the frame 500 at intervals, and the guiding members 250 are enclosed at the edge of the first supporting platform. Wherein the tray can be disposed between the guides 250, the tray can be effectively restrained on the first support platform by the guides 250.
Specifically, the guide 250 has a first guide portion located on a side of the first sub-tray assembly 210 opposite to the other first sub-tray assembly 210. The tray can be effectively prevented from moving to the two sides of the first supporting platform through the first guide part.
Further, the guide member 250 further has a second guide portion, and the second guide portion is located at a side of the feeding area 111 of the conveying assembly 110 facing away from the discharging area 112, so as to prevent the tray from moving from the side of the feeding area 111 facing away from the discharging area 112.
In an embodiment, the stacking mechanism 400 includes at least two second sub-tray assemblies 410 and a second lifting assembly 420, the at least two second sub-tray assemblies 410 are disposed opposite to each other and are respectively located at two opposite sides of the transporting assembly 110, and the two second sub-tray assemblies 410 disposed opposite to each other can move relatively. The upper surface of the second sub-tray assembly 410 forms a second support platform for supporting the tray. The stacking area 113 is formed with a second lifting space 115, and a second lifting assembly 420 is disposed in the second lifting space 115 and between two opposite second sub-tray assemblies 410, where the second lifting assembly 420 is liftable relative to the second support platform.
In use, the second lifting assembly 420 can support a pallet located on the transport assembly 110 and rise until the pallet abuts the pallet located on the second support platform. The two second sub-tray assemblies 410 disposed opposite to each other are moved in a direction away from each other, thereby enabling the second sub-tray assemblies 410 to release the support of the tray, which is stacked on the second elevating assembly 420. After the second lifting assembly 420 rises by a distance equal to the thickness of one tray relative to the second supporting platform, the two second sub-tray assemblies 410 arranged oppositely move towards each other, so that the second sub-tray assemblies 410 can support the bottom of the bottom-most tray, and stacking of the trays is realized. The second elevation assembly 420 descends into the second elevation space 115 to facilitate stacking of the next tray.
In this embodiment, the second sub-tray assembly 410 is the same as the first sub-tray assembly 210 in any of the above embodiments, and further simplifies the structure of the feeder. Of course, the second tray assembly 410 may also differ from the first tray assembly 210 in shape or size, so long as stacking of trays is enabled.
In the present embodiment, the second lifting assembly 420 is different from the first lifting assembly 220 in that: the absorbing member 222 may include only a fixing member 224, and the driving member 221 is disposed on a surface of the fixing member 224 facing away from the second supporting platform and is capable of driving the fixing member 224 to lift. Because stacking mechanism 400 stacks the tray, directly place the tray on mounting 224, can improve the stability of tray at the in-process of stacking, avoid setting up first sucking disc 223, because the unstable tray that leads to of first sucking disc 223 adsorption strength is crooked, influence the stability of stacking.
Of course, in other embodiments, the second lifting assembly 420 and the first lifting assembly 220 may also be configured identically.
In one embodiment, the conveying assembly 110 includes two conveying members 116 disposed at intervals, and the driving source 120 is used to drive the conveying members 116 to move, where a space between one ends of the two conveying members 116 forms the first lifting space 114. The interval between the other ends of the two conveying members 116 forms a second elevation space 115. The tray can be more stably conveyed by the two conveying members 116 arranged at intervals, and the first lifting space 114 and the second lifting space 115 are conveniently formed.
In one embodiment, the conveying member 116 includes a driving belt, a driving wheel and a driven wheel, the driving belt spans the driving wheel and the driven wheel, and the driving source 120 is used for driving the driving wheel to rotate. Specifically, the two driving wheels are connected together through the rotation shaft, the driving source 120 drives the rotation shaft to rotate, so that the two driving wheels can be simultaneously driven to rotate, synchronous movement of the two driving belts is realized, and the stability of the conveying piece 116 for conveying the tray is further improved.
In an embodiment, the conveying mechanism 100 further includes two guides 130, where the two guides 130 are respectively disposed on two sides of the conveying direction of the conveying assembly 110, and a distance between the two guides 130 matches a width dimension or a length dimension of the tray. The guide 130 can effectively avoid the tray from being separated from the conveying assembly 110 in the conveying process of the conveying assembly 110, so that the stability of the tray on the conveying assembly 110 is improved.
Specifically, the guide 130 includes a first vertical plate 131, a side plate 132, and a second vertical plate 133, where the first vertical plate 131 is disposed at the joint of the feeding region 111 and the discharging region 112, so that the tray can be stably moved from the feeding region 111 to the discharging region 112. The side plate 132 is disposed in the blanking area 112, so as to effectively prevent the tray from separating from the conveying assembly 110 during the movement of the blanking area 112. The second vertical plate 133 is disposed at the joint of the blanking area 112 and the stacking area 113, so that the tray can be stably moved from the blanking area 112 to the stacking area 113, and the stability of the conveying assembly 110 for conveying the tray is effectively improved.
In one embodiment, the conveying mechanism 100 further includes a blocking assembly 140, where the blocking assembly 140 is disposed on the rack 500 and located between the blanking area 112 and the stacking area 113 of the conveying assembly 110. The blocking assembly 140 can effectively block the tray in the blanking area 112, thereby facilitating the grabbing or placing of the product by the robot mechanism 300.
Referring to fig. 4, in an embodiment, the manipulator mechanism 300 includes a first moving module 310 and a grabbing component 320, where one end of the first moving module 310 is located at the processing equipment or docking mechanism 20 in the processing area, and the other end is located at the blanking area 112. Wherein the docking mechanism 20 or the processing equipment is disposed in the processing zone. The grabbing component 320 is disposed on the first moving module 310, and the grabbing component 320 is used for grabbing a product located in the blanking area 112 or the processing area and capable of moving from one end of the first moving module 310 to the other end. The first moving module 310 can effectively move the products on the tray to the processing area for processing, or move the products in the processing area to the tray in the discharging area 112, so that the feeding or discharging efficiency of the feeder can be effectively improved.
In this embodiment, the number of grabbing components 320 is plural, and the grabbing components 320 are disposed in parallel on the first moving module 310. Multiple products can be simultaneously grabbed through the multiple grabbing components 320, and therefore grabbing efficiency of the products is effectively improved.
Of course, in other embodiments, the gripping assembly 320 may be one, so long as effective gripping and placement of the product is achieved.
Specifically, the grabbing component 320 includes a first grabbing piece 321 and a first telescopic piece 322, where the first telescopic piece 322 is disposed on the first moving module 310, and the first telescopic piece 322 is used for driving the first grabbing piece 321 to stretch towards the blanking area 112 or the processing area. The first grabbing piece 321 is driven to stretch and retract through the first stretching piece 322, so that products in the tray can be conveniently grabbed or placed in the tray.
Further, each first grabbing member 321 is correspondingly provided with a first telescopic member 322. The first grabbing members 321 are driven to move towards or away from the conveying assembly 110 through the first telescopic members 322, so that grabbing precision of each first grabbing member 321 can be effectively improved. Of course, in other embodiments, the number of the first telescopic members 322 may be only one, and the number of the first grabbing members 321 may be plural, so that the plural first grabbing members 321 are driven to move simultaneously by one first telescopic member 322.
In this embodiment, the first telescopic member 322 is an air cylinder, and the air cylinder pushes the first grabbing member 321 to move towards the conveying assembly 110. In other embodiments, the first telescopic member 322 may be a hydraulic cylinder or other mechanism capable of achieving telescopic motion
Optionally, the first grabbing member 321 includes a second sucker 323, and grabbing and placing of the product are achieved by the product being sucked by the second sucker 323. In this embodiment, each first grabbing member 321 may include one second sucker 323, and of course, in other embodiments, each first grabbing member 321 may include two or other numbers of second suckers 323 according to the size or structure of the product to be grabbed.
In one embodiment, the manipulator mechanism 300 further includes a second moving module disposed on the first moving module 310 and capable of moving on the first moving module 310. The grabbing component 320 is disposed on the second moving module and can move on the second moving module. The second moving module and the first moving module 310 can move the grabbing component 320 in two directions, so that the stability of grabbing products by the grabbing component 320 is improved.
Specifically, the second moving module intersects with the moving direction of the first moving module 310, so that effective control of the position of the first grabbing piece 321 in a plane can be achieved, and grabbing precision of the first grabbing piece 321 is improved. Of course, in the present embodiment, the second moving module of the manipulator mechanism 300 may be omitted.
Referring to fig. 2 and 5, in one embodiment, the docking mechanism 20 includes a docking assembly 600 and at least two transplanting assemblies 700, the docking assembly 600 includes at least two conveying members 610, and one end pair of the conveying members 610 is located on the manipulator mechanism 300. Each transplanting assembly 700 is correspondingly arranged above one conveying member 610. The transplanting assembly 700 includes a moving member 710 and a gripping unit 720, the gripping unit 720 is disposed on the moving member 710, one end pair of the moving member 710 is located on the processing device, the other end pair is located on the conveying member 610, and the gripping unit 720 can move between one end and the other end of the moving member 710.
In this embodiment, the pair of ends of the conveying member 610 is located on the manipulator mechanism 300, that is, the pair of ends of the conveying member 610 and the manipulator mechanism 300 can be disposed opposite to each other vertically. Of course, the end of the conveying member 610 and the manipulator mechanism 300 may be slightly offset, so long as the manipulator mechanism 300 can conveniently grasp the product at the end of the conveying member 610.
In use, one end pair of the moving member 710 is positioned at the processing tool and the other end pair is positioned at the conveying member 610. Accordingly, when the product is processed by the processing apparatus, the gripping unit 720 moves to one end of the moving member 710 and grips the product, the gripping unit 720 further moves to the other end of the moving member 710, and the product is placed on the conveying member 610. Because each transplanting assembly 700 corresponds to a conveying member 610, and the end of the conveying member 610 is opposite to the manipulator mechanism 300, products on each conveying member 610 can be independently conveyed to the manipulator mechanism 300. When the product on the conveying member 610 is partially or fully conveyed to the manipulator mechanism 300, the manipulator mechanism 300 is convenient to grasp, and the problem that the manipulator mechanism 300 cannot align the products on the processing equipment due to different product positions corresponding to different processing equipment is effectively avoided. The adaptability of the feeding device 10 can be effectively improved through the connection mechanism 20, and different processing equipment of products can be conveniently connected.
Specifically, one end pair of the first moving module 310 of the manipulator mechanism 300 is located at one end of the conveying member 610, and the other end pair is located at the stacking mechanism 400. The gripping assembly 320 is moved from one end of the first moving module 310 to the other end, so that the products on the conveying member 610 can be effectively placed on the stacking mechanism 400.
Further, the first moving module 310 has one end facing the conveying member 610 and the other end facing the blanking area 112 of the conveying mechanism 100.
In one embodiment, the docking mechanism 20 further includes a fixing frame 510, the fixing frame 510 is disposed on the frame 500, and the transplanting assembly 700 is disposed on the fixing frame 510. The transplanting assembly 700 can be effectively arranged through the fixing frame 510, and an installation platform is provided for the transplanting assembly 700.
Referring to fig. 6, in an embodiment, the grabbing unit 720 includes a second grabbing member 721 and a second telescopic member 722, the second telescopic member 722 is disposed on the moving member 710, and the second telescopic member 722 is used for driving the second grabbing member 721 to retract toward the processing apparatus or the conveying member 610. The second gripper 721 is driven to stretch by the second stretching member 722, so that the product can be conveniently gripped or placed.
In the present embodiment, the second telescopic member 722 is an air cylinder, and the air cylinder pushes the second gripping member 721 to move toward the conveying member 610 or the processing apparatus. In other embodiments, the second telescoping member 722 may also be a hydraulic cylinder or other mechanism capable of telescoping.
In this embodiment, the second gripper 721 is a suction cup, and the product can be effectively sucked by the suction cup. Of course, in other embodiments, the second grabbing member 721 may be designed to be a clamping structure or other structures according to the shape of the product, as long as the product can be effectively grabbed.
In an embodiment, a first detecting member is disposed at one end of the moving member 710, and the first detecting member is electrically connected to the second telescopic member 722, and the first detecting member is used for detecting a product on the processing device. When the first detecting member detects a product on the processing apparatus, the second telescopic member 722 is triggered to drive the second grabbing member 721 to move towards the processing apparatus and grab the product on the processing apparatus.
In other embodiments, the first detecting member may also be provided on the processing apparatus. When the first detecting member detects that the product on the processing device is processed and needs to be taken out, the second telescopic member 722 is triggered to drive the second grabbing member 721 to move towards the processing device and grab the product on the processing device.
In this embodiment, the plurality of moving members 710 have the same length and are arranged in parallel. In other embodiments, one end of the moving member 710 may be set to different lengths according to the positions of the product on the processing apparatus, so as to facilitate the grabbing of the second grabbing member 721.
In this embodiment, the moving member 710 is a rodless cylinder. In other embodiments, the moving member 710 may be other structures capable of moving the grabbing unit 720.
Referring to fig. 7, in an embodiment, the conveying member 610 includes a power source 611, a driving member 612, and a plurality of rollers 613 disposed at intervals, one end of the rollers 613 is disposed on the driving member 612, and the power source 611 is used for driving the driving member 612 to rotate the rollers 613. When the product is placed on the roller 613, the driving member 612 is driven by the power source 611 to drive the roller 613 to rotate, so that the product can effectively move and approach the manipulator mechanism 300, and the grabbing of the manipulator mechanism 300 is facilitated.
Of course, in other embodiments, the conveying member 610 may be a belt drive structure, so long as the product is effectively moved toward the robot mechanism 300.
In this embodiment, the transmission member 612 includes a rotating shaft and a plurality of first bevel gears, the plurality of first bevel gears are disposed on the rotating shaft at intervals, each roller 613 corresponds to a first bevel gear, one end of the roller 613 is provided with a second bevel gear, and the second bevel gear is meshed with the first bevel gear. The power source 611 drives the rotating shaft to rotate, and the first bevel gear and the second bevel gear are meshed with each other to drive the roller 613 to rotate.
In another embodiment, the driving member 612 includes a worm, and a worm wheel is disposed at one end of the roller 613, and the worm wheel is engaged with the worm. The power source 611 drives the worm to rotate, and the rotation of the roller 613 is realized through the cooperation of the worm turbine.
In this embodiment, the power source 611 is a motor, and the motor drives the driving member 612 to rotate through belt transmission, so as to realize rotation control of the roller 613. In other embodiments, the motor may also drive the transmission member 612 directly.
In this embodiment, rollers 614 are sleeved on a single roller 613, the rollers 614 on different rollers 613 are arranged in parallel along the conveying direction, and at least two spacing tables 615 are formed on the rollers 614 at intervals. When the product is placed on the roller 614 of the roller 613, the movement track of the product can be effectively limited by the limiting table 615, so that the dislocation of the product in the movement process is avoided, and the grabbing of the manipulator mechanism 300 is prevented from being affected.
In another embodiment, at least two parallel rollers 614 are sleeved on a single roller 613, limiting tables 615 are formed on the rollers 614, the limiting tables 615 on the two parallel rollers 614 are arranged at intervals, and the rollers 614 on different rollers 613 are arranged in parallel along the conveying direction.
In one embodiment, the rollers 613 of at least two conveying members 610 are staggered with each other, and the driving members 612 of at least two conveying members 610 are arranged in parallel at intervals. Wherein, one ends of the rollers 613 of at least two conveying members 610 are staggered with each other. The rollers 613 of the at least two conveying members 610 are staggered with each other, so that occupation of installation space can be effectively reduced, products on the conveying members are located on the same plane, and grabbing of the products by the mechanical arm mechanism 300 is further facilitated. Meanwhile, the transmission members 612 are arranged at intervals in parallel, so that interference among the transmission members 612 of different conveying members 610 can be effectively avoided.
Specifically, the rollers 614 of the different conveying members 610 are disposed offset in the conveying direction. Because the rollers 614 of the different conveying members 610 are arranged in a staggered manner, the mutual interference of the products conveyed by the different conveying members 610 is effectively avoided, and the products on each conveying member 610 can move on the rollers 614 of the conveying members 610.
In this embodiment, each docking assembly 600 includes two conveying members 610, and rollers 613 of the two conveying members 610 are staggered with respect to each other. In other embodiments, each docking assembly 600 may also have three, four, etc. other numbers of rollers 613 of the transport members 610 staggered with respect to each other.
In one embodiment, the number of the docking assemblies 600 is at least two, and the at least two docking assemblies 600 are arranged in parallel. In use, the number of docking assemblies 600 may also be designed according to practical requirements. In this embodiment, the number of the docking assemblies 600 is two, and the two docking assemblies 600 are arranged in parallel.
Specifically, the docking assembly 600 includes a bracket 620, and the other ends of the rollers 613 are disposed on the bracket 620 and rotatable relative to the bracket 620. The roller 613 can be effectively supported by the bracket 620, and the roller 613 can be effectively rotated.
Further, two parallel connection assemblies 600 share a bracket 620, and the other ends of the rollers 613 of the two connection assemblies 600 are both disposed on the bracket 620. Two juxtaposed docking assemblies 600 are operatively connected together by a bracket 620 to form a unitary body.
In one embodiment, the docking assembly 600 further includes a plurality of second detecting members electrically connected to the power source 611, wherein a single second detecting member is disposed on two rollers 613 spaced apart from each other, and the plurality of second detecting members are spaced apart along the conveying direction of the conveying member 610. The second detection piece can effectively detect the products on the roller 613, the second detection pieces can effectively control the distance between the products on the conveying piece 610, and the second detection piece is further suitable for a plurality of grabbing components of the manipulator mechanism 300, so that the grabbing of the grabbing components is facilitated.
In one embodiment, the docking mechanism 20 further includes a blocking member 630, the blocking member 630 is disposed on a side of the conveying member 610 facing the manipulator mechanism 300, and the blocking member 630 is configured to block the product. The blocking member 630 effectively restricts the product to the conveying member 610, thereby preventing the product from sliding off the conveying member 610.
Specifically, a blocking member 630 is disposed on a side of each conveying member 610 facing the manipulator mechanism 300, so that the product on each conveying member 610 can be effectively limited to the conveying member 610.
In one embodiment, the production line includes a processing device, two feeders and a docking mechanism 20, where the processing device has an input end and an output end, the two feeders are respectively located at the input end and the output end, the feeder located at the input end puts the product into the input end through a manipulator mechanism 300, and the feeder located at the output end takes the product out of the output end through the manipulator mechanism 300. The docking mechanism 20 is disposed between the outlet end and the feeder positioned at the outlet end, and one end of the moving member 710 is positioned at the outlet end of the processing apparatus.
Wherein the feeder is the feeder in any of the above embodiments, and the docking mechanism 20 is the docking mechanism 20 in any of the above embodiments. The feeder at the input end is used as a feeding machine, and the feeder at the output end is used as a discharging machine.
In one embodiment, the production facility may be configured according to the processing requirements of the product. In this embodiment, the product is a glass product. The production equipment is a cleaning machine. Of course, in other embodiments, the product may be other products requiring feeding or discharging. The production equipment can also be other processing equipment.
In use, the production line places the product on the tray during the loading process, and stacks the tray with the product placed on the first support platform of the tray separation mechanism 200. The adsorbing member 222 is driven to move towards the direction of the first supporting platform by the driving member 221, so that the adsorbing member 222 can adsorb the tray positioned at the bottommost layer on the first supporting platform. The support arm 211 is further supported by the pusher 212 to support the tray above the lowermost tray. The driving part 221 drives the adsorbing part 222 to place the tray filled with the product in the feeding area 111 of the conveying assembly 110, and the driving source 120 drives the conveying assembly 110 to drive the tray to move to the discharging area 112, and the blocking assembly 140 blocks the tray in the discharging area 112.
The first grabbing piece 321 of the grabbing component 320 corresponds to the product on the tray through the cooperation of the first moving module 310 and the second moving module. The first telescopic member 322 of the grasping assembly 320 drives the first grasping member 321 to move toward the tray and grasp the product. Further, the grabbing component 320 moves from one end of the first moving module 310 to the placing end of the processing device corresponding to the other end, and the first grabbing piece 321 removes grabbing of the product, so that the product is effectively placed at the placing end of the processing device.
The conveying component 110 further conveys the trays to the stacking area 113, and the empty trays are stacked on the second supporting platform of the stacking mechanism 400 through the stacking mechanism 400, so that the feeding of the products and the recovery of the empty trays are completed.
After the product is processed, in the process of blanking, when the first detecting piece detects that the product is at the outlet end of the processing equipment, the second telescopic piece 722 is triggered to drive the second grabbing piece 721 to move towards the processing equipment, and the product is grabbed. The second gripper 721 moves to the other end of the moving member 710 and places the product onto the conveying member 610. Because one end of the conveying member 610 is opposite to the manipulator mechanism 300, products on the conveying members 610 are independently conveyed towards the manipulator mechanism 300, and the products can be orderly arranged through the conveying members 610, so that the grabbing of the manipulator mechanism 300 is facilitated.
Empty trays are stacked on the first support platform of the tray separation mechanism 200 and transported to the blanking area 112. The grabbing component 320 moves to the other end of the first moving module 310 corresponding to the conveying member 610. The plurality of products on the conveying member 610 can be simultaneously grasped by the plurality of first grasping members 321 disposed in parallel. The grabbing component 320 moves from the other end of the first moving module 310 to the blanking area 112 corresponding to the one end of the first moving module 310. The first gripper 321 is driven toward the empty tray by the first telescopic member 322, and the product is placed in the empty tray. The carrying assembly 110 further conveys the trays loaded with the products to the stacking area 113, stacks the trays loaded with the products on a supporting platform of the stacking mechanism 400 through the stacking mechanism 400, and completes the palletizing of the products.
The above-described embodiments represent only a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. A docking mechanism (20), comprising:
a docking assembly (600) comprising at least two transport members (610), one end of the transport members (610) being adapted to be positioned in the manipulator mechanism (300);
the transplanting device comprises at least two transplanting assemblies (700), wherein each transplanting assembly (700) is correspondingly arranged above one conveying member (610), each transplanting assembly (700) comprises a moving member (710) and a grabbing unit (720), each grabbing unit (720) is arranged on each moving member (710), one end of each moving member (710) is used for being opposite to processing equipment, the other end of each moving member is opposite to the conveying member (610), and each grabbing unit (720) can move between one end and the other end of each moving member (710);
the conveying part (610) comprises a power source (611), a transmission part (612) and a plurality of rollers (613) which are arranged at intervals, one end of each roller (613) is arranged on the corresponding transmission part (612), and the power source (611) is used for driving the corresponding transmission part (612) to drive the corresponding roller (613) to rotate;
The rollers (614) are sleeved on the single rollers (613), the rollers (614) positioned on different rollers (613) are arranged in parallel along the conveying direction of the conveying piece (610), and at least two spacing tables (615) arranged at intervals are formed on the rollers (614); or, at least two parallel rollers (614) are sleeved on a single roller (613), limiting tables (615) are formed on the rollers (614), the limiting tables (615) on the two parallel rollers (614) are arranged at intervals, and the rollers (614) on different rollers (613) are arranged in parallel along the conveying direction of the conveying piece (610);
the rollers (613) of at least two conveying members (610) are arranged in a staggered manner, and the transmission members (612) of at least two conveying members (610) are arranged in parallel at intervals;
the rollers (614) of different conveying members (610) are arranged in a staggered manner along the conveying direction;
the transmission member (612) comprises a rotating shaft and a plurality of first bevel gears, the first bevel gears are arranged on the rotating shaft at intervals, each roller (613) corresponds to one first bevel gear, one end of each roller (613) is provided with a second bevel gear, and the second bevel gears are meshed with the first bevel gears; alternatively, the transmission member (612) comprises a worm, and one end of the roller (613) is provided with a turbine, and the turbine is meshed with the worm;
The number of the connecting components (600) is at least two, and the at least two connecting components (600) are arranged in parallel; the method comprises the steps of,
and a blocking piece (630), wherein the blocking piece (630) is arranged on one side of the conveying piece (610) facing the manipulator mechanism (300).
2. The docking mechanism (20) of claim 1, wherein the docking mechanism (20) further comprises a mount (510), the transplanting assembly (700) being disposed on the mount (510).
3. The docking mechanism (20) of claim 1, wherein the grabbing unit (720) comprises a second grabbing member (721) and a second telescopic member (722), the second telescopic member (722) is disposed on the moving member (710), and the second telescopic member (722) is configured to drive the second grabbing member (721) to telescope towards the processing apparatus or the conveying member (610).
4. A docking mechanism (20) according to claim 3, characterized in that the second telescopic member (722) is a cylinder.
5. A docking mechanism (20) according to claim 3, wherein the second gripping member is a suction cup.
6. A docking mechanism (20) according to claim 3, characterized in that one end of the moving member (710) is provided with a first detecting member, which is electrically connected to the second telescopic member (722), for detecting a product on the processing device, and when the first detecting member detects a product on the processing device, the second telescopic member (722) drives the second gripping member (721) to move towards and grip a product on the processing device.
7. The docking mechanism (20) of claim 1, wherein the docking mechanism (20) further comprises a bracket (620), and wherein one end of all of the rollers (613) are disposed on the bracket (620) and are rotatable relative to the bracket (620).
8. The docking mechanism (20) of claim 1, wherein at least two blocking members (630) are provided, and wherein the blocking member (630) is correspondingly provided on a side of each of the conveying members (610) facing the manipulator mechanism (300).
9. A feeding device (10), characterized by comprising:
a feeder comprising a manipulator mechanism (300); and
The docking mechanism (20) of any of claims 1-8, wherein an end pair of at least two of said transport members (610) is located at said robotic mechanism (300).
10. A process line, comprising:
the processing equipment is provided with an input end and an output end;
the two feeders comprise a manipulator mechanism (300), the two feeders are respectively positioned at the putting end and the outlet end, the two feeders are positioned at the putting end and put products into the putting end through the manipulator mechanism (300), and the feeder positioned at the outlet end is used for taking out products from the outlet end through the manipulator mechanism (300); and
The docking mechanism (20) of any of claims 1-8, disposed between said outlet end and said feeder aligned therewith, said moving member (710) having an end pair positioned at an outlet end of said processing apparatus, and at least two of said conveying members (610) having an end pair positioned at said robot mechanism (300).
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CN113484123A (en) * 2021-08-23 2021-10-08 上海麟图智能科技有限公司 Method for butting 4-channel glass cleaning machine and 3-channel glass appearance detection machine
CN113414059B (en) * 2021-08-24 2021-11-16 常州铭赛机器人科技股份有限公司 Vacuum glue pouring production line and continuous feeding method

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