CN110371654B - Automatic lamination device of raw rubber piece - Google Patents
Automatic lamination device of raw rubber piece Download PDFInfo
- Publication number
- CN110371654B CN110371654B CN201910772868.6A CN201910772868A CN110371654B CN 110371654 B CN110371654 B CN 110371654B CN 201910772868 A CN201910772868 A CN 201910772868A CN 110371654 B CN110371654 B CN 110371654B
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- lifting cylinder
- cylinder
- lamination
- assembly
- workbench
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- 238000003475 lamination Methods 0.000 title claims abstract description 155
- 238000005096 rolling process Methods 0.000 claims abstract description 61
- 239000000463 material Substances 0.000 claims abstract description 9
- 230000006835 compression Effects 0.000 claims description 67
- 238000007906 compression Methods 0.000 claims description 67
- 239000003292 glue Substances 0.000 claims description 20
- 238000003825 pressing Methods 0.000 claims description 15
- 238000005056 compaction Methods 0.000 claims description 14
- 241000252254 Catostomidae Species 0.000 claims description 9
- 238000010030 laminating Methods 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 239000012528 membrane Substances 0.000 description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 6
- 229910052782 aluminium Inorganic materials 0.000 description 6
- 239000000047 product Substances 0.000 description 6
- 239000000853 adhesive Substances 0.000 description 4
- 230000001070 adhesive effect Effects 0.000 description 4
- 239000002390 adhesive tape Substances 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
Classifications
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- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The invention discloses an automatic lamination device for raw rubber sheets, which comprises a support frame, a lamination workbench, a conductive black rubber sheet conveying belt and an insulating white rubber sheet conveying belt, and also comprises a pick-up assembly, a transfer assembly and a rolling assembly which are arranged in the support frame. The picking component works to finish two actions of picking and putting down the raw rubber piece; the transfer assembly is used for transferring the picked film stock to the lamination workbench and putting down; the rolling assembly works to press the stock. The automatic lamination device has compact structure and reasonable layout, can realize continuous work of picking up, transferring and lamination of the film stock, and improves the working efficiency. The device is not only suitable for automatic lamination of film stock with the thickness of less than 1 millimeter, but also suitable for automatic lamination of film stock with the thickness of more than 1 millimeter, can replace manual labor, realizes automatic lamination work, improves lamination efficiency, reduces material loss, promotes product precision, and makes it more accord with the requirement of modern production enterprise development.
Description
Technical Field
The invention relates to special equipment for producing rubber products, in particular to an automatic lamination device for raw rubber sheets.
Background
The conductive adhesive manufacturing industry is a basic industry of electronic products, and has a very profound influence due to various products and wide application range. All products using liquid crystal display use a base part of conductive adhesive. Today, where digital displays are very popular, its existence is seen everywhere.
The conductive adhesive manufacturing industry in China has been over twenty years, and although the development is very long, no big and weak odd ring is left. Because of the backward production equipment of the conductive adhesive, the produced final product has a great gap in precision, mass production consistency and the like compared with world first-class enterprises. Because of the specificity of the industry, no ready-made equipment can be directly introduced in the market for production, and the enterprise only relies on the own strength to develop.
The lamination process is an important process for producing the conductive adhesive tape. Unvulcanized rubber films (commonly known as green sheets) are classified into conductive black films and insulating white films. At present, raw rubber sheet lamination work is mainly finished by relying on manual work, and manual lamination mainly has the problems that:
(1) When the manual lamination is carried out, two persons are required to alternately stack the conductive black glue sheets and the insulating white glue sheets, and finally compaction is carried out. The manual lamination is low in efficiency and easy to make mistakes;
(2) When the film is manually laminated, the lifting height of the film is not constant enough, and the phenomena of bubbles, looseness and the like are easy to occur;
(3) When the manual lamination is carried out, uneven rolling force causes different widths of films, and the precision can not meet the requirements.
CN108189090a is a device and method for automatically detecting and laminating rubber diaphragm. After the device adopts the suckers to pick up the rubber diaphragm, the two suckers need to move reversely to tension the rubber diaphragm; the film is then transferred to a film pressing table and then put down, and then compacted. Because unvulcanized rubber diaphragms (commonly known as green sheets) are very poor in elasticity and toughness, even small tensile forces can pull them apart; when the area of the membrane is large, the whole membrane falls on the membrane pressing table, and the phenomenon that the periphery of the membrane is tightly attached and bubbles appear in the middle easily occurs. The compaction of the membranes causes bubbles to remain between the membranes and even after compression, the pressure increases causing the membranes to collapse. In addition, this device does not allow automatic lamination of film stock with a thickness of 1 mm or less.
Disclosure of Invention
In order to improve the efficiency of the film stock lamination process and reduce the loss of materials, the invention provides an automatic film stock lamination device which can realize the continuous work of picking, transferring and lamination of film stocks and improve the working efficiency.
The technical scheme for realizing the aim of the invention is as follows:
the utility model provides an automatic lamination device of raw rubber piece, includes support frame, lamination workstation, electrically conductive black rubber piece conveyer belt and insulating white rubber piece conveyer belt, and unlike prior art, still include and establish picking up subassembly, transfer unit and the roll-in subassembly in the support frame;
the picking assembly consists of a sponge sucker and a sponge sucker mounting frame, and the work of the picking assembly is to finish two actions of picking and putting down raw rubber sheets;
the transfer assembly comprises a lifting cylinder, a lifting cylinder mounting frame, a transverse driving cylinder, a first linear guide rail module and a transfer assembly mounting frame, and works to transfer the picked film stock to a lamination workbench and put down;
the rolling assembly comprises a press roller, a guide rod, a lifting cylinder mounting plate, a pressing cylinder mounting plate, a longitudinal driving cylinder supporting seat, a second linear guide rail module and a rolling assembly mounting frame, and works to press raw films;
the support frame is a cuboid frame formed by connecting sectional materials, the lamination workbench is arranged in the middle of the cuboid frame, the conductive black rubber sheet conveying belt and the insulating white rubber sheet conveying belt are respectively arranged on the mounting frames, and the mounting frames are symmetrically distributed on two sides of the rolling assembly mounting frame;
the compaction air cylinders of the rolling assembly are arranged at the front end and the rear end of the lamination workbench; the sponge sucking disc mounting bracket is connected with the lifting cylinder of the transfer assembly through the connecting seat, the transfer assembly is arranged above the lamination workbench and the rolling assembly, and the transfer assembly mounting bracket is fixedly connected with the supporting frame.
The picking assembly is provided with 4 groups, and each group consists of 3 sponge suction cups and a sponge suction cup mounting frame fixed on the non-working surface of the sponge suction cup. The sponge sucker mounting rack is formed by connecting aluminum profiles.
The lifting cylinder mounting frame of the transfer assembly is H-shaped, and lifting cylinder mounting plates are respectively arranged at the front end and the rear end of the H-shaped lifting cylinder mounting frame; the sliding block of the transverse driving cylinder is arranged on the bottom surface of the transverse connecting rod in the middle of the H-shaped lifting cylinder mounting frame;
the number of the lifting cylinders is 4, and the lifting cylinders are symmetrically and respectively fixedly connected with lifting cylinder mounting plates arranged at the front end and the rear end of the H-shaped lifting cylinder mounting frame and are positioned at the outer sides of the left side and the right side of the H-shaped lifting cylinder mounting frame;
the 4 lifting cylinders are respectively a first lifting cylinder, a second lifting cylinder, a third lifting cylinder and a fourth lifting cylinder, and the bottoms of the 4 lifting cylinders are respectively provided with a picking assembly connecting piece which is connected with the sponge sucker mounting frame so as to realize lifting action of the picking assembly;
the first linear guide rail module comprises a sliding block and a guide rail, the sliding block is fixed on the other side of the mounting plate, the guide rail is assembled with the sliding block and fixed on a transfer assembly mounting frame, and the transfer assembly mounting frame is connected with a support frame of the automatic lamination device.
The first linear guide rail module is used for realizing the guiding function of the transfer assembly, and the sliding block of the first linear guide rail module bears the load of the pick-up assembly in the gravity direction, so that the axial load of the transverse driving cylinder is reduced.
The longitudinal driving cylinder supporting seat of the rolling assembly is concave, and the longitudinal driving cylinder is arranged in the concave part of the longitudinal driving cylinder supporting seat and drives the compression roller to longitudinally move;
the lifting cylinder mounting plate is arranged above the longitudinal driving cylinder and is connected with the longitudinal driving cylinder;
guide rods are respectively arranged at two ends of the upper surface of the lifting cylinder mounting plate, the two guide rods are respectively connected with the lifting cylinder through a connecting piece, the compression roller is arranged between the two guide rods, and the lifting cylinder drives the guide rods to realize lifting and pressing actions of the compression roller;
the second linear guide rail module comprises a sliding block and a guide rail, the sliding block is fixed at two ends of the lower surface of the lifting cylinder mounting plate, the guide rail is assembled with the sliding block and is fixed on the rolling assembly mounting frame, and the second linear guide rail module is positioned at the outer side of the concave longitudinal driving cylinder supporting seat and is used for bearing the load in the gravity direction and guiding the rolling assembly;
the number of the compaction cylinders of the rolling assembly is 4, the compaction cylinders are symmetrically arranged at the front end and the rear end of the lamination workbench respectively, and the compaction cylinders are connected with the workbench mounting frame through mounting plates connected with the compaction cylinders;
the 4 compacting cylinders are a first compacting cylinder, a second compacting cylinder, a third compacting cylinder and a fourth compacting cylinder respectively, the first compacting cylinder and the second compacting cylinder are arranged at the front end of the lamination workbench, the third compacting cylinder and the fourth compacting cylinder are arranged at the rear end of the lamination workbench, and after the conductive black films and the insulating white films are placed on the lamination workbench, the front end and the rear end of the lamination workbench are compacted by the compacting cylinders respectively;
the rolling assembly mounting frame is connected with a supporting frame of the automatic lamination device.
The support frame of the automatic lamination device is a cuboid frame formed by connecting sectional materials, and 6 surfaces of the support frame are all formed by connecting rods;
the transfer assembly mounting rack comprises an H-shaped rack body formed by connecting sectional materials and 2 independent connecting rods;
the two guide rails of the first linear guide rail module are respectively fixed on the 2 independent connecting rods; the transferring assembly mounting frame is positioned on the top surface of the supporting frame;
two pairs of connecting rods are symmetrically and vertically arranged on the bottom surfaces of the H-shaped frame body and the two parallel sides of the transfer assembly mounting frame, and the two pairs of connecting rods are respectively connected with the longitudinal connecting rods on the bottom surface of the support frame of the automatic lamination device;
the H-shaped lifting cylinder is arranged above the transfer assembly mounting frame in a mounting way, and the H-shaped lifting cylinder and the transfer assembly mounting frame are relatively arranged in parallel;
the transverse driving cylinder is arranged between the lifting cylinder mounting frame and the transverse connecting rod of the H-shaped frame body of the transfer assembly mounting frame and is used for realizing transverse transfer of the pickup assembly;
the workbench mounting frame is II-shaped, and the lamination workbench is arranged above the workbench mounting frame;
the rolling assembly mounting frame consists of two pairs of H-shaped frame bodies which are vertically arranged and connecting rods which are arranged between the two pairs of H-shaped frame bodies, the two pairs of H-shaped frame bodies which are vertically arranged are respectively connected with two pairs of transverse connecting rods in front of and behind the support frame, and a guide rail of the second linear guide rail module is fixed on the longitudinal connecting rods of the rolling assembly mounting frame;
the workbench mounting frame is connected with the rolling component mounting frame and is arranged on the middle of the H-shaped frame body of the rolling component mounting frame.
The length of lamination workstation is less than the length of film stock, and lamination workstation is used for accepting when film stock roll-in.
The automatic lamination device for the raw rubber sheets adopts the PLC to precisely control the motion of the longitudinal and transverse driving cylinders, adopts a cuboid frame formed by connecting sectional materials to support, and ensures the position accuracy of each assembly arranged on the cuboid frame. The existing linear guide rail module is adopted, and the sliding blocks in the module are matched with the guide rails, so that the assembly can move more stably and accurately in the longitudinal and transverse directions. These measures can ensure that the precision of the film stock on the lamination workbench can meet the requirement during automatic lamination.
In the automatic lamination device for raw rubber sheets, the structures of the component mounting frames and the supporting frames can be adjusted according to the actual conditions of production sites, and the automatic lamination device is not limited to the structures or the shapes disclosed in the specification. The innovation of the present application is the combination and co-operation of the pick-up assembly, transfer assembly and roll-in assembly.
The method for laminating the raw rubber sheets by adopting the automatic raw rubber sheet laminating device comprises the steps of raw rubber sheet picking, transferring and laminating, and specifically comprises the following steps:
(1) Starting a conveyor belt driving motor to drive the conveyor belt to run, and controlling the raw film to move intermittently and equidistantly;
(2) Placing the insulating white glue film on an insulating white glue film conveyor belt, and simultaneously placing the conductive black glue film on the conductive black glue film conveyor belt;
(3) The automatic film stock lamination device is in an initial working state, wherein a first lifting cylinder and a second lifting cylinder are positioned above a conductive black film conveying belt, and a third lifting cylinder and a fourth lifting cylinder are positioned above a lamination workbench; the compression roller is positioned at the outer sides of the front end of the workbench, the first compression cylinder and the second compression cylinder;
(4) Film stock pick-up, transfer and lamination: when the conductive black films are conveyed below the first lifting cylinder and the second lifting cylinder by the conveying belt, the lifting cylinder drives the pickup assembly to pick up the conductive black films;
the piston rod is pushed by the lifting cylinder to enable the pickup assemblies connected with the lifting cylinder to descend, and 6 sponge suckers on the two pickup assemblies absorb the conductive black films;
the lifting cylinder withdraws the piston rod to enable the pickup assembly to rise to the initial height, and then the transverse driving cylinder pushes the lifting cylinder mounting frame leftwards, and 4 lifting cylinders simultaneously move leftwards;
when the first lifting cylinder and the second lifting cylinder reach the upper part of the lamination workbench, the transverse driving cylinder stops working, and at the moment, the third lifting cylinder and the fourth lifting cylinder reach the upper part of the insulating white film conveying belt to drive a pickup assembly connected with the third lifting cylinder and the fourth lifting cylinder to pick up the insulating white film, and the picking action of the insulating white film is the same as that of the conductive black film;
simultaneously, the conductive black films start to be laminated above the lamination workbench, firstly, the first lifting air cylinder and the second lifting air cylinder push the piston rod to enable the pickup assembly to descend, when the bottom of the pickup assembly connected with the first lifting air cylinder reaches the height of 85mm above the lamination workbench, the second lifting air cylinder continues to descend until the conductive black films contact the lamination workbench;
at the moment, a pickup assembly connected with a second lifting cylinder loosens the conductive black film and falls on the lamination workbench, and then the second lifting cylinder lifts the pickup assembly to 85mm above the workbench, so that a safe space is reserved for the working of the film stock by the pressing roller;
because the length of the raw film is longer than that of the lamination workbench, when the conductive black film at the front end is loosened, the front end face of the lamination workbench and the front part of the upper surface of the lamination workbench are wrapped, and the conductive black film is tightly pressed on the front end face of the lamination workbench by the extension of the first compression cylinder and the second compression cylinder;
the piston rod of the compression roller lifting cylinder stretches out to drive the compression roller to lift to 55 mm above the lamination workbench, and then the second lifting cylinder lifts the pick-up assembly to 85mm above the workbench, so that a safe space is reserved for the compression roller to roll the raw film during working;
the longitudinal driving cylinder pushes the cylinder sliding block to drive the compression roller lifting cylinder and the compression roller to approach the lamination workbench, when the compression roller reaches the front end face of the lamination workbench, the piston rod of the compression roller lifting cylinder retracts, the compression roller descends to enable the compression roller to be just pressed on the conductive black film, and the rolling work of the conductive black film is carried out;
when the press roller rolls to the middle part of the conductive black film, three sponge suckers on the pick-up assembly driven by the first lifting cylinder are loosened from front to back in sequence, so that the conductive black film falls on the lamination workbench, meanwhile, the press roller continues to advance to roll, the press roller reaches the rear end of the lamination workbench to finish the rolling of the conductive black film, the piston rod of the press roller lifting cylinder extends out, and the press roller returns to the initial height;
the piston rods of the first compression cylinder and the second compression cylinder retract to prepare for compressing the next conductive black film; the sliding block of the longitudinal driving cylinder stops advancing when reaching the rear end of the lamination workbench, and the insulating white glue sheet is rolled when waiting for return stroke;
firstly, a third lifting cylinder and a fourth lifting cylinder push a piston rod to enable a pickup assembly to descend, when the bottom of the pickup assembly connected with the fourth lifting cylinder reaches the height of 85mm above a lamination workbench, the third lifting cylinder continues to descend until an insulating white glue sheet contacts the lamination workbench; at the moment, a pickup assembly connected with the third lifting cylinder loosens the conductive black films, so that the conductive black films fall on the lamination workbench;
the piston rods of the third compression cylinder and the fourth compression cylinder extend out to compress the insulating white glue sheet on the rear end face of the lamination workbench; the compression roller is driven by the longitudinal driving cylinder to do return motion to roll the insulating white film, and the working steps are consistent with those of the conductive black film during rolling;
when the rolling operation of the insulating white glue sheet is finished, all the components return to the initial positions, and one working cycle is finished;
(5) And (4) repeating the step (4), and performing subsequent film lamination work according to the working cycle until the preset lamination thickness is reached, and completing lamination work.
The automatic laminating device for the raw rubber sheets, provided by the invention, is used for completing the picking-up work of the insulating white rubber sheets while rolling the conductive black rubber sheets during working; and (5) rolling the insulating white glue piece and simultaneously completing the pick-up work of the conductive black glue piece. The above operations are alternated until a predetermined thickness is reached and the lamination operation is completed. The alternating work can save time and improve the working efficiency.
The automatic lamination device for the raw film has compact structure and reasonable layout, and can realize continuous work of picking, transferring and lamination of the raw film. The device is not only suitable for automatic lamination of film stock with the thickness of less than 1 millimeter, but also suitable for automatic lamination of film stock with the thickness of more than 1 millimeter, can replace manual labor, realizes automatic lamination work, improves lamination efficiency, reduces material loss, promotes product precision, and makes it more accord with the requirement of modern production enterprise development.
Drawings
FIG. 1 is a schematic view of the overall structure of an automatic lamination device for raw rubber sheets according to an embodiment;
FIG. 2 is an isometric view of the main components of an embodiment automatic film laminating apparatus;
FIG. 3 is a right side view of FIG. 2;
fig. 4 is a front view of fig. 2;
FIG. 5 is an isometric view of the single pick-up assembly of FIG. 2;
FIG. 6 is an isometric view of the transfer assembly mount of FIG. 2;
FIG. 7 is a right side view of the transfer unit mount of FIG. 6;
FIG. 8 is an isometric view of the roller assembly of FIG. 2;
FIG. 9 is a top view of the roll assembly;
FIG. 10 is a schematic view of the motion of the compaction cylinder of the roll assembly;
FIG. 11 is a schematic view of an overall support frame of an automatic lamination device for raw film according to an embodiment;
FIG. 12 is a schematic view of a transfer unit mount attached to a device support frame;
FIG. 13 is a schematic view of a table mount;
FIG. 14 is a schematic view of a roll assembly mount;
FIG. 15 is an assembled schematic view of the table mount and the roll assembly mount;
FIG. 16 is a schematic view showing the installation of an integral support frame and an aluminum profile corner joint of the automatic lamination device for raw rubber sheets according to the embodiment;
fig. 17 is a schematic view showing an operation state of the automatic lamination device for raw rubber sheets according to the embodiment.
In the figure, a 1 pickup assembly 1-1 sponge sucker 1-2 sponge sucker mounting frame;
2 transfer unit 2-1 first lifting cylinder 2-2 second lifting cylinder 2-3 third lifting cylinder 2-4 fourth lifting cylinder 2-5 lifting cylinder mounting frame 2-6 transverse driving cylinder 2-7 first linear guide rail module 2-7-1 slider 2-7-2 guide rail 2-8 lifting cylinder mounting plate 2-9 transfer unit mounting frame 2-10 pick-up unit connector;
the rolling assembly mounting frame comprises a rolling assembly 3-1, a first compression cylinder 3-2, a second compression cylinder 3-3, a third compression cylinder 3-4, a fourth compression cylinder 3-5, a compression roller 3-6, a guide rod 3-7, a lifting cylinder 3-8, a lifting cylinder mounting plate 3-9, a longitudinal driving cylinder 3-10, a longitudinal driving cylinder support seat 3-11, a compression cylinder mounting plate 3-12, a second linear guide rail module 3-13 and a rolling assembly mounting frame;
4 conductive black films are conveyed by 4-1 conductive black film conveying belts;
5 an insulating white film conveyer belt 5-1 insulating white films;
6 lamination workbench 6-1 workbench mounting frames;
and 7, supporting a frame.
Detailed Description
The present invention will be further described with reference to examples and drawings, but the present invention is not limited thereto.
Examples
Referring to fig. 1 to 4, an automatic lamination device for raw film comprises a supporting frame 7, a lamination workbench 6, a workbench mounting frame 6-1, a conductive black film conveying belt 4 and an insulating white film conveying belt 5, and further comprises a pickup assembly 1, a transfer assembly 2 and a rolling assembly 3 which are arranged in the supporting frame 7; the insulating white film conveying belt 5 and the conductive black film conveying belt 4 are symmetrically arranged at the left side and the right side of the lamination workbench 6 and respectively convey the insulating white film 5-1 and the conductive black film 4-1. In this embodiment, the insulating white film 5-1 and the conductive black film 4-1 have dimensions of 1500mm long, 400mm wide and 0.2mm thick.
Referring to fig. 5, the pick-up assembly 1 is composed of 4 groups of independently operated pick-up assemblies 1; each independently working pick-up assembly 1 consists of 3 sponge suction cups 1-1 and a sponge suction cup mounting frame 1-2 fixed on the non-working surface of the sponge suction cup 1-1.
The sponge sucker mounting frame 1-2 is formed by combining 2 8 series 40X 40 aluminum profiles with the length of 630mm and 4 lines with the length of 200mm, and the aluminum profiles are mounted by adopting 40X 40 aluminum profile corner connectors. The sponge sucker 1-1 has small quality of the film stock to be picked up, so only the width of the film stock is 400mm, and the ZWSA20.130 multiplied by 415.AW.L2 sponge sucker is selected.
Referring to fig. 6-7, the transfer unit 2 includes a first lifting cylinder 2-1, a second lifting cylinder 2-2, a third lifting cylinder 2-3 and a fourth lifting cylinder 2-4, a lifting cylinder mounting frame 2-5, a transverse driving cylinder 2-6, a first linear guide rail module 2-7 and a transfer unit mounting frame 2-9, and the transfer unit 2 operates to transfer the picked-up raw film to the lamination table 6 and put down;
the lifting cylinder mounting frame 2-5 is H-shaped, and lifting cylinder mounting plates 2-8 are respectively arranged at the front end and the rear end of the H-shaped lifting cylinder mounting frame 2-5; the sliding block of the transverse driving cylinder 2-6 is arranged on the bottom surface of the transverse connecting rod in the middle of the H-shaped lifting cylinder mounting frame 2-5;
the first lifting cylinder 2-1 and the second lifting cylinder 2-2 are respectively fixedly connected with lifting cylinder mounting plates 2-8 arranged at the front end and the rear end of the H-shaped lifting cylinder mounting frame 2-5 and are positioned at the outer side of the right side of the H-shaped lifting cylinder mounting frame 2-5;
the third lifting cylinder 2-3 and the fourth lifting cylinder 2-4 are respectively fixedly connected with lifting cylinder mounting plates 2-8 arranged at the front end and the rear end of the H-shaped lifting cylinder mounting frame 2-5 and are positioned at the outer side of the left side of the H-shaped lifting cylinder mounting frame 2-5;
the bottoms of the 4 lifting cylinders are respectively provided with a pickup assembly connecting piece 2-10 which is connected with the sponge sucker mounting frame 1-2 to realize the lifting action of the pickup assembly;
the first linear guide rail module 2-7 comprises a sliding block 2-7-1 and a guide rail 2-7-2, wherein the sliding block 2-7-1 is fixed on the other side of the lifting cylinder mounting plate 2-8, the guide rail 2-7-2 is assembled with the sliding block 2-7-1 and is fixed on a transfer assembly mounting frame 2-9, and the transfer assembly mounting frame 2-9 is connected with a support frame 7 of the automatic lamination device.
Referring to fig. 8 to 10, a rolling assembly 3 including a first pressing cylinder 3-1, a second pressing cylinder 3-2, a third pressing cylinder 3-3 and a fourth pressing cylinder 3-4, a pressing roller 3-5, a guide rod 3-6, a lifting cylinder 3-7, a lifting cylinder mounting plate 3-8, a longitudinal driving cylinder 3-9, a longitudinal driving cylinder support seat 3-10, a pressing cylinder mounting plate 3-11, a second linear guide rail module 3-12 and a rolling assembly mounting frame 3-13, the rolling assembly 3 works to press a raw film;
the first compression cylinder 3-1 and the second compression cylinder 3-2 are arranged at the front end of the lamination workbench 6, the third compression cylinder 3-3 and the fourth compression cylinder 3-4 are arranged at the rear end of the lamination workbench 6, and after the conductive black films 4-1 and the insulating white films 5-1 are placed on the lamination workbench 6, the compression cylinders respectively compress the front end and the rear end of the lamination workbench, and the compression cylinders are connected with the workbench mounting frame 6-1 through the mounting plates 3-11 connected with the compression cylinders;
the longitudinal driving cylinder support seat 3-10 is concave, the longitudinal driving cylinder 3-9 is arranged in the concave part of the longitudinal driving cylinder support seat 3-10, and the compression roller 3-5 is driven to longitudinally move;
the lifting cylinder mounting plate 3-8 is arranged above the longitudinal driving cylinder 3-9 and is connected with the longitudinal driving cylinder 3-9;
guide rods 3-6 are respectively arranged at two ends of the upper surface of the lifting cylinder mounting plate 3-8, the two guide rods 3-6 are respectively connected with the lifting cylinder 3-7 through connecting pieces, the compression roller 3-5 is arranged between the two guide rods 3-6, and the lifting cylinder 3-7 drives the guide rods 3-6 to realize lifting and pressing actions of the compression roller 3-5;
the second linear guide rail module 3-12 adopts a product, has the same structure as the first linear guide rail module 2-7, and comprises a sliding block and guide rails, wherein the sliding block is fixed at two ends of the lower surface of the lifting cylinder mounting plate 3-8, the guide rails and the sliding block are assembled and fixed on the rolling assembly mounting frame 3-13, and the second linear guide rail module 3-12 is positioned at the outer side of the concave longitudinal driving cylinder supporting seat 3-10 and is used for bearing the load in the gravity direction and guiding the rolling assembly 3;
the roll assembly mounts 3-13 are connected to the support frame 7 of the automatic lamination device.
Referring to fig. 11, the supporting frame 7 is a rectangular parallelepiped frame formed by connecting 12 80×80 aluminum profiles having a length of 2200 mm.
Referring to fig. 11-12, the transfer set mounting frames 2-9 comprise an H-shaped frame body formed by connecting profiles and 2 independent connecting rods; the two guide rails of the first linear guide rail module 2-7 are respectively fixed on the 2 independent connecting rods; the transferring assembly mounting frames 2-9 are positioned on the top surface of the supporting frame 7; two pairs of connecting rods are symmetrically and vertically arranged on the bottom surfaces of the H-shaped frame bodies and the two parallel sides of the transfer assembly mounting frames 2-9, and are connected with the longitudinal connecting rods on the bottom surface of the support frame 7 of the automatic lamination device; the H-shaped lifting cylinder mounting frame 2-5 is arranged above the transfer assembly mounting frame 2-9 and is arranged in parallel relatively;
the transverse driving cylinder 2-6 is arranged between the lifting cylinder mounting frame 2-5 and the transverse connecting rod of the H-shaped frame body of the transferring assembly mounting frame 2-9, and the transverse driving cylinder 2-6 is used for realizing transverse transferring of the picking assembly 1.
Referring to fig. 13, the table mount 6-1 is ii-shaped, and the lamination table 6 is provided above the table mount 6-1.
Referring to fig. 14, the rolling assembly mounting frame 3-13 is composed of two pairs of vertically arranged H-shaped frame bodies and connecting rods arranged between the two pairs of H-shaped frame bodies, the two pairs of vertically arranged H-shaped frame bodies are respectively connected with two pairs of transverse connecting rods in front of and behind the supporting frame, and the guide rails of the second linear guide rail module 3-12 are fixed on the longitudinal connecting rods of the rolling assembly mounting frame 3-13;
referring to fig. 15, the table mount 6-1 is connected to the roll assembly mount 3-13 and is mounted on the middle of the H-shaped frame body of the roll assembly mount 3-13.
Referring to fig. 16, the connection part of each component mounting frame and the supporting frame 7 is provided with an L-shaped grounding corner piece for positioning, and the supporting frame 7 is provided with a shoe for bearing the whole device, so that the device can stably run.
The structure and the size of each component mounting rack and the supporting frame 7 in this embodiment can be adjusted according to the actual situation of the production site, and are not limited to the structure or the shape of this embodiment.
Referring to fig. 17, the 4 lifting cylinders are used for realizing the lifting function of the pickup assembly, and the MGPM50 three-rod type cylinder is selected, wherein the stroke is 150mm. The automatic film stock lamination device is in an initial working state that a first lifting cylinder 2-1 and a second lifting cylinder 2-2 are positioned above a conductive black film conveying belt 4, and a third lifting cylinder 2-3 and a fourth lifting cylinder 2-4 are positioned above a lamination workbench 6.
When the conductive black films 4-1 are conveyed below the first lifting air cylinder 2-1 and the second lifting air cylinder 2-2 by the conveying belt, the lifting air cylinder drives the pickup assembly 1 to pick up the conductive black films 4-1;
the piston rod is pushed by the lifting cylinder to enable the pickup assemblies 1 connected with the lifting cylinder to descend, and 6 sponge suckers on the two pickup assemblies 1 suck the conductive black films 4-1;
the lifting cylinder withdraws the piston rod to enable the pickup assembly 1 to rise to the initial height, and then the transverse driving cylinder 2-6 pushes the transfer assembly lifting cylinder mounting frame 2-5 and 4 lifting cylinders to move leftwards simultaneously;
after the first lifting cylinder 2-1 and the second lifting cylinder 2-2 drive the pickup assembly 1 connected with the first lifting cylinder and the second lifting cylinder to rise to the top, the transverse driving cylinder 2-6 drives the lifting cylinder mounting frame 2-5 to move leftwards by 500mm, at this time, the first lifting cylinder 2-1 and the second lifting cylinder 2-2 reach right above the lamination workbench 6, and the third lifting cylinder 2-3 and the fourth lifting cylinder 2-4 reach right above the insulating white film conveying belt 5; the third lifting cylinder 2-3 and the fourth lifting cylinder 2-4 drive the pickup assembly 1 to pick up the insulating white film 5-1, and the actions of the third lifting cylinder 2-3 and the fourth lifting cylinder 2-4 are consistent with the actions of the first lifting cylinder 2-1 and the second lifting cylinder 2-2 to pick up the conductive black film 4-1.
Referring to fig. 17, after the first lifting cylinder 2-1 and the second lifting cylinder 2-2 reach just above the lamination table 6, the piston rod is pushed to make the pickup assembly 1 descend, the descent is stopped when the bottom of the pickup assembly 1 connected with the first lifting cylinder 2-1 reaches a height of 85mm above the lamination table 6, and the second lifting cylinder 2-2 continues to descend until the conductive black sheet 4-1 contacts the lamination table 6; at this time, the pick-up assembly 1 connected to the second lift cylinder 2-2 releases the conductive black sheet 4-1 and falls on the lamination table 6.
Because the length of the raw film is longer than that of the lamination workbench 6, when the front end conductive black film 4-1 is loosened, the front end surface of the lamination workbench 6 and the front part of the upper surface of the front end conductive black film are wrapped, and then the piston rods of the first compression cylinder 3-1 and the second compression cylinder 3-2 extend out to compress the conductive black film 4-1 on the front end surface of the lamination workbench 6.
The compressing cylinder adopts TN 16X 30S double-guide-rod micro cylinder, and the stroke is 30mm. After compaction, the piston rod of the lifting cylinder 3-7 stretches out to drive the compression roller 3-5 to rise to the 55 mm position above the lamination workbench 6, and the second lifting cylinder 2-2 lifts the pick-up assembly 1 to the main 85mm on the workbench 6, so that a safe space is reserved for the compression roller to roll the raw film during working.
The longitudinal driving cylinder 3-9 pushes the cylinder sliding block to drive the lifting cylinder 3-7 and the compression roller 3-5 to approach the lamination workbench 6. The longitudinal driving 3-9 cylinder is CDY1S40H magnetic couple type rodless cylinder, the stroke is 1600mm, the press roller 3-5 adopts D6DGS50 series unpowered press roller, and the length is 413mm. When the press roller 3-5 reaches the position right above the front end face of the lamination workbench 6, the piston rod of the lifting cylinder 3-7 is retracted, the press roller 3-5 descends to enable the press roller to be just pressed on the conductive black film 4-1, and the rolling work of the conductive black film 4-1 is carried out under the driving of the longitudinal driving cylinder 3-9. When the press roller 3-5 rolls to the middle part of the conductive black film 4-1, the 3 sponge suckers 1-1 on the pick-up assembly 1 driven by the first lifting cylinder 2-1 are loosened from front to back in sequence, so that the conductive black film 4-1 falls on the lamination workbench 6, and meanwhile, the press roller 3-5 continuously advances to perform rolling operation. The press roller 3-5 reaches the rear end of the lamination workbench 6 to finish the rolling work of the conductive black films 4-1. The piston rod of the lifting cylinder 3-7 stretches out, the compression roller 3-5 returns to the initial height, and the sliding block of the longitudinal driving cylinder 3-9 stops working when reaching the rear end of the lamination workbench 6.
After the rolling of the conductive black films 4-1 is completed, the lifting cylinder mounting frame 2-5 integrally moves to the right by 500mm, the first lifting cylinder 2-1 and the second lifting cylinder 2-2 return to the right above the conductive black film conveying belt 4, the third lifting cylinder 2-3 and the fourth lifting cylinder 2-4 reach the right above the lamination workbench 6, the corresponding pick-up assembly 1 is driven to conduct the rolling work of the insulating white films 5-1, and the difference between the rolling work of the insulating white films 4-1 and the rolling work of the conductive black films is that the pick-up assembly 1 on the third lifting cylinder 2-3 firstly places the raw films, and the pick-up assembly 1 on the fourth lifting cylinder 2-4 then places the raw films. When the insulating white film 5-1 is rolled, the first lifting cylinder 2-1 and the second lifting cylinder 2-2 drive the corresponding pick-up assembly 1 to pick up the conductive black film 4-1.
The pick-up work of the insulating white film 5-1 is completed while the conductive black film 4-1 is rolled; the pick-up work of the conductive black sheet 4-1 is completed while the rolling of the insulating white sheet 5-1 is performed. The above operations are alternated until a predetermined thickness is reached and the lamination operation is completed.
Claims (4)
1. The utility model provides an automatic lamination device of raw rubber piece, includes support frame, lamination workstation, workstation mounting bracket, electrically conductive black rubber piece conveyer belt and insulating white rubber piece conveyer belt, its characterized in that: the device also comprises a pick-up assembly, a transfer assembly and a rolling assembly which are arranged in the supporting frame;
the picking assembly consists of a sponge sucker and a sponge sucker mounting frame, and the work of the picking assembly is to finish two actions of picking and putting down raw rubber sheets;
the transfer assembly comprises a lifting cylinder, a lifting cylinder mounting frame, a transverse driving cylinder, a first linear guide rail module and a transfer assembly mounting frame, and works to transfer the picked film stock to a lamination workbench and put down;
the rolling assembly comprises a press roller, a guide rod, a lifting cylinder mounting plate, a pressing cylinder mounting plate, a longitudinal driving cylinder supporting seat, a second linear guide rail module and a rolling assembly mounting frame, and works to press raw films;
the support frame is a cuboid frame formed by connecting sectional materials, the lamination workbench is arranged in the middle of the cuboid frame, the conductive black rubber sheet conveying belt and the insulating white rubber sheet conveying belt are respectively arranged on the mounting frames, and the mounting frames are symmetrically distributed on two sides of the rolling assembly mounting frame;
the compaction air cylinders of the rolling assembly are arranged at the front end and the rear end of the lamination workbench; the sponge sucker mounting frame is connected with a lifting cylinder of the transfer assembly through a connecting seat, the transfer assembly is arranged above the lamination workbench and the rolling assembly, and the transfer assembly mounting frame is fixedly connected with the supporting frame;
the lifting cylinder mounting frame of the transfer assembly is H-shaped, and lifting cylinder mounting plates are respectively arranged at the front end and the rear end of the H-shaped lifting cylinder mounting frame; the sliding block of the transverse driving cylinder is arranged on the bottom surface of the transverse connecting rod in the middle of the H-shaped lifting cylinder mounting frame;
the number of the lifting cylinders is 4, and the lifting cylinders are symmetrically and respectively fixedly connected with lifting cylinder mounting plates arranged at the front end and the rear end of the H-shaped lifting cylinder mounting frame and are positioned at the outer sides of the left side and the right side of the H-shaped lifting cylinder mounting frame;
the 4 lifting cylinders are respectively a first lifting cylinder, a second lifting cylinder, a third lifting cylinder and a fourth lifting cylinder, and the bottoms of the 4 lifting cylinders are respectively provided with a picking assembly connecting piece which is connected with the sponge sucker mounting frame so as to realize lifting action of the picking assembly;
the first linear guide rail module comprises a sliding block and a guide rail, the sliding block is fixed on the other side of the mounting plate, the guide rail is assembled with the sliding block and is fixed on a transfer assembly mounting frame, and the transfer assembly mounting frame is connected with a support frame of the automatic lamination device;
the longitudinal driving cylinder supporting seat of the rolling assembly is concave, and the longitudinal driving cylinder is arranged in the concave part of the longitudinal driving cylinder supporting seat and drives the compression roller to longitudinally move;
the lifting cylinder mounting plate is arranged above the longitudinal driving cylinder and is connected with the longitudinal driving cylinder;
guide rods are respectively arranged at two ends of the upper surface of the lifting cylinder mounting plate, the two guide rods are respectively connected with the lifting cylinder through a connecting piece, the compression roller is arranged between the two guide rods, and the lifting cylinder drives the guide rods to realize the actions of lifting and pressing down the compression roller;
the second linear guide rail module comprises a sliding block and a guide rail, the sliding block is fixed at two ends of the lower surface of the lifting cylinder mounting plate, the guide rail is assembled with the sliding block and is fixed on the rolling assembly mounting frame, and the second linear guide rail module is positioned at the outer side of the concave longitudinal driving cylinder supporting seat and is used for bearing the load in the gravity direction and guiding the rolling assembly;
the number of the compaction cylinders of the rolling assembly is 4, the compaction cylinders are symmetrically arranged at the front end and the rear end of the lamination workbench respectively, and the compaction cylinders are connected with the workbench mounting frame through mounting plates connected with the compaction cylinders;
the 4 compacting cylinders are a first compacting cylinder, a second compacting cylinder, a third compacting cylinder and a fourth compacting cylinder respectively, the first compacting cylinder and the second compacting cylinder are arranged at the front end of the lamination workbench, the third compacting cylinder and the fourth compacting cylinder are arranged at the rear end of the lamination workbench, and after the conductive black films and the insulating white films are placed on the lamination workbench, the front end and the rear end of the lamination workbench are compacted by the compacting cylinders respectively;
the rolling assembly mounting frame is connected with a supporting frame of the automatic lamination device;
the transfer assembly mounting rack comprises an H-shaped rack body formed by connecting sectional materials and 2 independent connecting rods;
the two guide rails of the first linear guide rail module are respectively fixed on the 2 independent connecting rods; the transferring assembly mounting frame is positioned on the top surface of the supporting frame;
two pairs of connecting rods are symmetrically and vertically arranged on the bottom surfaces of the H-shaped frame body and the two parallel sides of the transfer assembly mounting frame, and the two pairs of connecting rods are respectively connected with the longitudinal connecting rods on the bottom surface of the support frame of the automatic lamination device;
the H-shaped lifting cylinder is arranged above the transfer assembly mounting frame in a mounting way, and the H-shaped lifting cylinder and the transfer assembly mounting frame are relatively arranged in parallel;
the transverse driving cylinder is arranged between the lifting cylinder mounting frame and the transverse connecting rod of the H-shaped frame body of the transfer assembly mounting frame and is used for realizing transverse transfer of the pickup assembly;
the workbench mounting frame is II-shaped, and the lamination workbench is arranged above the workbench mounting frame;
the rolling assembly mounting frame consists of two pairs of H-shaped frame bodies which are vertically arranged and connecting rods which are arranged between the two pairs of H-shaped frame bodies, the two pairs of H-shaped frame bodies which are vertically arranged are respectively connected with two pairs of transverse connecting rods in front of and behind the support frame, and a guide rail of the second linear guide rail module is fixed on the longitudinal connecting rods of the rolling assembly mounting frame;
the workbench mounting frame is connected with the rolling component mounting frame and is arranged on the middle of the H-shaped frame body of the rolling component mounting frame.
2. The automatic lamination device for raw rubber sheets according to claim 1, wherein:
the picking assembly comprises 4 groups, and each group consists of 3 sponge suckers and a mounting frame fixed on the non-working surface of each sponge sucker.
3. The automatic lamination device for raw rubber sheets according to claim 1, wherein: the length of the lamination workbench is smaller than that of the raw rubber sheet.
4. A laminating method of an automatic film laminating apparatus according to any one of claims 1 to 3, comprising the steps of:
(1) Starting a conveyor belt driving motor to drive the conveyor belt to run, and controlling the raw film to move intermittently and equidistantly;
(2) Placing the insulating white glue film on an insulating white glue film conveyor belt, and simultaneously placing the conductive black glue film on the conductive black glue film conveyor belt;
(3) The automatic film stock lamination device is in an initial working state, wherein a first lifting cylinder and a second lifting cylinder are positioned above a conductive black film conveying belt, and a third lifting cylinder and a fourth lifting cylinder are positioned above a lamination workbench; the compression roller is positioned at the outer sides of the front end of the workbench, the first compression cylinder and the second compression cylinder;
(4) Film stock pick-up, transfer and lamination: when the conductive black films are conveyed below the first lifting cylinder and the second lifting cylinder by the conveying belt, the lifting cylinder drives the pickup assembly to pick up the conductive black films;
the piston rod is pushed by the lifting cylinder to enable the pickup assemblies connected with the lifting cylinder to descend, and 6 sponge suckers on the two pickup assemblies absorb the conductive black films;
the lifting cylinder withdraws the piston rod to enable the pickup assembly to rise to the initial height, and then the transverse driving cylinder pushes the lifting cylinder mounting frame leftwards, and 4 lifting cylinders simultaneously move leftwards;
when the first lifting cylinder and the second lifting cylinder reach the upper part of the lamination workbench, the transverse driving cylinder stops working, and at the moment, the third lifting cylinder and the fourth lifting cylinder reach the upper part of the insulating white film conveying belt to drive a pickup assembly connected with the third lifting cylinder and the fourth lifting cylinder to pick up the insulating white film, and the picking action of the insulating white film is the same as that of the conductive black film;
simultaneously, the conductive black films start to be laminated above the lamination workbench, firstly, the first lifting air cylinder and the second lifting air cylinder push the piston rod to enable the pickup assembly to descend, when the bottom of the pickup assembly connected with the first lifting air cylinder reaches the height of 85mm above the lamination workbench, the second lifting air cylinder continues to descend until the conductive black films contact the lamination workbench;
at the moment, a pickup assembly connected with a second lifting cylinder loosens the conductive black film and falls on the lamination workbench, and then the second lifting cylinder lifts the pickup assembly to 85mm above the workbench, so that a safe space is reserved for the working of the film stock by the pressing roller;
because the length of the raw film is longer than that of the lamination workbench, when the conductive black film at the front end is loosened, the front end face of the lamination workbench and the front part of the upper surface of the lamination workbench are wrapped, and the conductive black film is tightly pressed on the front end face of the lamination workbench by the extension of the first compression cylinder and the second compression cylinder;
the piston rod of the compression roller lifting cylinder stretches out to drive the compression roller to lift to 55 mm above the lamination workbench, and then the second lifting cylinder lifts the pick-up assembly to 85mm above the workbench, so that a safe space is reserved for the compression roller to roll the raw film during working;
the longitudinal driving cylinder pushes the cylinder sliding block to drive the compression roller lifting cylinder and the compression roller to approach the lamination workbench, when the compression roller reaches the front end face of the lamination workbench, the piston rod of the compression roller lifting cylinder retracts, the compression roller descends to enable the compression roller to be just pressed on the conductive black film, and the rolling work of the conductive black film is carried out;
when the press roller rolls to the middle part of the conductive black film, three sponge suckers on the pick-up assembly driven by the first lifting cylinder are loosened from front to back in sequence, so that the conductive black film falls on the lamination workbench, meanwhile, the press roller continues to advance to roll, the press roller reaches the rear end of the lamination workbench to finish the rolling of the conductive black film, the piston rod of the press roller lifting cylinder extends out, and the press roller returns to the initial height;
the piston rods of the first compression cylinder and the second compression cylinder retract to prepare for compressing the next conductive black film; the sliding block of the longitudinal driving cylinder stops advancing when reaching the rear end of the lamination workbench, and the insulating white glue sheet is rolled when waiting for return stroke;
firstly, a third lifting cylinder and a fourth lifting cylinder push a piston rod to enable a pickup assembly to descend, when the bottom of the pickup assembly connected with the fourth lifting cylinder reaches the height of 85mm above a lamination workbench, the third lifting cylinder continues to descend until an insulating white glue sheet contacts the lamination workbench; at the moment, a pickup assembly connected with the third lifting cylinder loosens the conductive black films, so that the conductive black films fall on the lamination workbench;
the piston rods of the third compression cylinder and the fourth compression cylinder extend out to compress the insulating white glue sheet on the rear end face of the lamination workbench; the compression roller is driven by the longitudinal driving cylinder to do return motion to roll the insulating white film, and the working steps are consistent with those of the conductive black film during rolling;
when the rolling operation of the insulating white glue sheet is finished, all the components return to the initial positions, and one working cycle is finished;
(5) And (4) repeating the step (4), and performing subsequent film lamination work according to the working cycle until the preset lamination thickness is reached, and completing lamination work.
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| CN111152539B (en) * | 2020-01-02 | 2021-06-22 | 山东澳兴绝缘材料有限公司 | Stacking equipment for steel plates and material sheets |
| CN111216038B (en) * | 2020-01-21 | 2021-05-04 | 蓝思智能机器人(长沙)有限公司 | Stacking control system |
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