CN111716378B - Double-sided film tearing equipment - Google Patents

Double-sided film tearing equipment Download PDF

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Publication number
CN111716378B
CN111716378B CN202010423796.7A CN202010423796A CN111716378B CN 111716378 B CN111716378 B CN 111716378B CN 202010423796 A CN202010423796 A CN 202010423796A CN 111716378 B CN111716378 B CN 111716378B
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China
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speed reducer
manipulator
lead screw
arm
servo motor
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CN202010423796.7A
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CN111716378A (en
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吴海波
王晨
崔禹
魏顺祥
刘亮
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Kunming University of Science and Technology
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Kunming University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B43/00—Operations specially adapted for layered products and not otherwise provided for, e.g. repairing; Apparatus therefor
    • B32B43/006—Delaminating

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses double-sided film tearing equipment which comprises a film tearing manipulator, a grabbing and lifting manipulator I, a grabbing and lifting manipulator II, an aluminum profile support, a coordinate type positioning device III, a coordinate type positioning device I and a coordinate type positioning device II, wherein the film tearing manipulator is arranged on the upper surface of the aluminum profile support; the film tearing manipulator can be matched with a common belt conveyor to receive a film tearing type thin plate conveyed by a conveying belt, after the thin plate reaches a certain position, the grabbing manipulator I sucks the thin plate and conveys the thin plate to a position where the film tearing manipulator is easy to operate, and the film tearing manipulator can tear films of thin plates with different sizes and different materials under the action of the motor and the sucking disc; after the film on one side of the thin plate is torn off, the film can be grabbed and lifted by a grabbing and lifting manipulator II, and the film tearing motion on the other side of the thin plate is completed after the position is changed; the combined use with the common transmission and transportation device improves the universality of the equipment, improves the working efficiency and reduces the use number and the maintenance difficulty of special equipment; adopt electronic original paper as actuating mechanism, reduce the mechanism and pollute, guarantee the cleanliness of product.

Description

Double-sided film tearing equipment
Technical Field
The invention relates to a double-sided film tearing device which can be used in occasions for removing protective films of products such as metal plates, glass plates, light guide plates and the like and is mainly used in production and assembly lines of electronic products; belongs to the field of industrial automation machinery.
Background
With the continuous proposition of development strategies such as rapid development of science and technology, economy, artificial intelligence and the like in China, various large and medium-sized enterprises start to transform, and particularly electronic product manufacturing and production enterprises urgently need a batch of automatic equipment to replace labor, so that the cost is reduced, and the quality and the production efficiency are improved.
At present, relevant automatic film tearing equipment has been researched and developed to a certain extent at home and abroad, but many existing film tearing equipment have the problems of low efficiency, low reliability, poor stability, small application range and the like, and products stuck with protective films are often fragile and easy to damage, which always troubles us.
Disclosure of Invention
The invention provides double-sided film tearing equipment which is used for realizing double-sided film tearing of a film carrying device in a mechanical control mode and further realizing collection and film recycling of the torn film device.
The technical scheme of the invention is as follows: a double-sided film tearing device comprises a film tearing manipulator 1, a grabbing and lifting manipulator I2, a grabbing and lifting manipulator II 3, an aluminum profile support 4, a coordinate type positioning device III 5, a coordinate type positioning device I6 and a coordinate type positioning device II 7; the film tearing manipulator 1 is used for tearing films with the film devices, which are grabbed by the grabbing manipulator I2 and the grabbing manipulator II 3; the grabbing and lifting manipulator I2 is used for driving the grabbing and lifting film carrying device to move and sending the film carrying device to the grabbing and lifting manipulator II 3; the grabbing and lifting manipulator II 3 is used for driving the film carrying device transmitted by the grabbing and lifting manipulator I2 to move and sending out the torn film device; the aluminum profile support 4 is used for installing a coordinate type positioning device III 5, a coordinate type positioning device I6 and a coordinate type positioning device II 7; the coordinate type positioning device III 5 is used for installing the film tearing manipulator 1 and driving the film tearing manipulator 1 to move in the direction X, Y; the coordinate type positioning device I6 is used for installing the grabbing and lifting manipulator I2 and driving the grabbing and lifting manipulator I2 to move in the direction X, Y, Z; and the coordinate type positioning device II 7 is used for installing the grabbing and lifting manipulator II 3 and driving the grabbing and lifting manipulator II 3 to move in the direction X, Y, Z.
The film tearing manipulator 1 comprises a mounting support I1-1, a base I1-2, a manipulator big arm 1-3, a fixing plate 1-4, a manipulator small arm I1-5, a tail end shaft 1-6, a manipulator small arm II 1-7, a speed reducer I1-8, a servo motor I1-9, a speed reducer II 1-10, a servo motor II 1-11, a servo motor III 1-12, a speed reducer III 1-13 and a double-layer vacuum sucker 1-14; the mounting support I1-1 is fixed on the upper surface of the base I1-2, the speed reducer III 1-13 is mounted on the outer side below the base I1-2, the input end of the speed reducer III 1-13 is fixedly connected with the servo motor III 1-12, the output end of the speed reducer III 1-13 penetrates through a through hole on the same side of the base I1-2 from the outer side of the base I1-2 and is fixedly connected to the same side of the head end of the manipulator arm 1-3, the other side of the head end of the manipulator arm 1-3 is connected to the other side of the base I1-2 through a bearing, and the servo motor III 1-12 drives the manipulator arm 1-3 to swing; the input end of the speed reducer II 1-10 is fixedly connected with the servo motor II 1-11, the output end of the speed reducer II 1-10 penetrates through holes at two sides of the tail end of the large arm 1-3 of the manipulator and is fixedly connected with the small arm I1-5 of the manipulator and the small arm II 1-7 of the manipulator through bearings, and the servo motor II 1-11 drives the small arm I1-5 of the manipulator and the small arm II 1-7 of the manipulator to swing; two ends of the fixed plate 1-4 are fixedly connected with the small manipulator arm I1-5 and the middle part of the small manipulator arm II 1-7 respectively, one side of the tail end shaft 1-6 penetrates through a tail end through hole of the small manipulator arm II 1-7 to be fixedly connected with the output end of the speed reducer I1-8, and the other side of the tail end shaft 1-6 is fixedly connected to the tail end of the small manipulator arm I1-5 through a bearing; the input end of the speed reducer I1-8 is fixedly connected with the servo motor I1-9, the servo motor I1-9 drives the tail end shaft 1-6 to rotate, and the double-layer vacuum chuck 1-14 is sleeved on the tail end shaft 1-6.
The grabbing and lifting manipulator I2 and the grabbing and lifting manipulator II 3 are identical in structure and respectively comprise a mechanical arm shoulder part, a mechanical arm large arm part, a mechanical arm small arm part and a mechanical arm tail end execution part; the shoulder part of the mechanical arm and the large arm part of the mechanical arm are connected through a joint component 2-5, and the large arm part of the mechanical arm is driven to rotate through a servo motor IV 2-1; the large arm part of the mechanical arm and the small arm part of the mechanical arm are connected through flanges 2-10 by screws, and the small arm part of the mechanical arm is driven to swing through a servo motor V2-7; the small arm part of the mechanical arm is connected with the tail end execution part of the mechanical arm through a tail end flange 2-16, and the tail end array suction cups 2-18 are driven to rotate by driving a servo motor VI 2-13 to rotate.
The shoulder part of the mechanical arm comprises a servo motor IV 2-1, a base II 2-2, a speed reducer IV 2-3 and a speed reducer bracket 2-4; the speed reducer support 2-4 is fixed on the base II 2-2, the input end of the speed reducer IV 2-3 is fixedly connected with the servo motor IV 2-1, and the output end of the speed reducer IV 2-3 penetrates through the speed reducer support 2-4 and the base II 2-2 and then is connected with the joint component 2-5 through a flat key; two ends of the joint component 2-5 are respectively fixed on the base II 2-2 and the rotating arm 2-6; the large arm part of the mechanical arm comprises a rotating arm 2-6, a servo motor V2-7, a speed reducer V2-8 and a speed reducer fixing plate 2-9; wherein, a speed reducer fixing plate 2-9 is fixed at the tail end of a rotating arm 2-6, the lower surface of a speed reducer V2-8 is fixedly connected on the speed reducer fixing plate 2-9, the input end of the speed reducer V2-8 is fixedly connected with a servo motor V2-7, and two output shafts of the speed reducer V2-8 pass through holes of the rotating arm 2-6 and a swinging arm 2-11 and are fixedly connected with each other through a flange 2-10; the small arm part of the mechanical arm comprises a swing arm 2-11, a swing arm frame 2-12, a servo motor VI 2-13, a speed reducer VI 2-14 and a mounting bracket II 2-15; the swing arm 2-11 is fixedly connected with the head end of the swing arm frame 2-12, the mounting bracket II 2-15 is fixed at the tail end of the swing arm frame 2-12, the input end of the speed reducer VI 2-14 is fixedly connected with the servo motor VI 2-13, and the output end of the speed reducer VI 2-14 penetrates through a through hole of the mounting bracket II 2-15 and is connected with the tail end execution plate 2-17 through a flange; the mechanical arm end execution part comprises end execution plates 2-17 and array suckers 2-18; wherein, the end flange 2-16 is fixedly connected with the head end of the end execution plate 2-17, and the array suction cup 2-18 is arranged at the tail end of the end execution plate 2-17.
The joint component 2-5 comprises a joint connecting shaft 2-5-1, a thrust bearing 2-5-2, a bearing end cover 2-5-3, a joint rotating end cover 2-5-4 and a hexagonal thin nut 2-5-5; wherein the joint rotating end cover 2-5-4 is arranged on the joint connecting shaft 2-5-1 through two thrust bearings 2-5-2; the bearing end cover 2-5-3 at one side is sleeved on the joint rotating shaft 2-5-1 and is arranged at the inner side of one thrust bearing 2-5-2 for positioning the thrust bearing 2-5-2; the bearing end cover 2-5-3 at the symmetrical side of the bearing is sleeved on the joint rotating shaft 2-5-1 and arranged at the outer side of the other thrust bearing 2-5-2 for positioning the thrust bearing 2-5-2, and a hexagonal thin nut 2-5-5 is arranged for preventing looseness.
The coordinate type positioning device III 5 comprises a servo motor VII 5-1, a speed reducer VII 5-2, a mounting plate 5-3, an X lead screw I5-4, an X lead screw sliding block I5-5, a sliding plate I5-6, a Y mounting bracket 5-7, a guide rail I5-8 and a bearing seat I5-9; the mounting plate 5-3 is fixed on the aluminum profile support 4, the output shaft of the speed reducer VII 5-2 penetrates through a through hole of the mounting plate 5-3 and is fixed with the same, the servo motor VII 5-1 is fixedly connected with the input end of the speed reducer VII 5-2, the output shaft of the speed reducer VII 5-2 is fixedly connected with one end of an X lead screw I5-4, the other end of the X lead screw I5-4 penetrates through an X lead screw sliding block I5-5 and is connected with a bearing block I5-9, the bearing block I5-9 is fixed on the aluminum profile support 4, the X lead screw sliding block I5-5 is fixed on a sliding plate I5-6, two ends of the sliding plate I5-6 are matched with guide rails I5-8, guide rails I5-8 on two sides are fixedly connected on the aluminum profile support 4, and the Y mounting support 5-7 is fixed on the sliding plate I5-6.
The Y mounting bracket 5-7 comprises a servo motor VIII 5-7-1, a speed reducer VIII 5-7-2, a mounting bracket plate 5-7-3, a Y lead screw I5-7-4, a Y lead screw sliding block I5-7-5, a Y guide rod I5-7-6 and a bracket plate 5-7-7; an output shaft of the speed reducer VIII 5-7-2 penetrates through a through hole of the mounting support plate 5-7-3 and is fixed with the through hole, the servo motor VIII 5-7-1 is fixedly connected with an input end of the speed reducer VIII 5-7-2, one end of a Y lead screw I5-7-4 is fixedly connected with the output shaft of the speed reducer VIII 5-7-2, the other end of the Y lead screw I5-7-4 penetrates through a Y lead screw sliding block I5-7-5 and is fixed with the support plate 5-7-7, the support plate 5-7-7 is fixedly connected with a sliding plate I5-6, one end of a Y guide rod I5-7-6 is fixed with the mounting support plate 5-7-3, and one end of a Y guide rod I5-7-6 penetrates through the Y lead screw sliding block I5-7-5 and is fixed with the support plate 5-7-7.
The coordinate type positioning device I6 and the coordinate type positioning device II 7 are identical in structure and respectively comprise a servo motor IX 6-1, a speed reducer IX 6-2, a right-angle plate 6-3, an X lead screw II 6-4, an X lead screw sliding block II 6-5, a sliding plate II 6-6, a support 6-7, a guide rail II 6-8 and a bearing seat II 6-9; the right-angle plate 6-3 is fixed on an aluminum profile support 4, an output shaft of a speed reducer IX 6-2 penetrates through the right-angle plate 6-3 and is fixed with the right-angle plate, a servo motor IX 6-1 is fixedly connected with an input end of the speed reducer IX 6-2, one end of an X lead screw II 6-4 is connected with an output shaft of the speed reducer IX 6-2, the other end of the X lead screw II 6-4 penetrates through an X lead screw sliding block II 6-5 and is connected with a bearing block II 6-9, the bearing block II 6-9 is fixedly arranged on the aluminum profile support 4, the X lead screw sliding block II 6-5 is fixed on a sliding plate II 6-6, two ends of the sliding plate II 6-6 are matched with guide rails II 6-8, guide rails II 6-8 on two sides are fixed on the aluminum profile support 4, and supports 6-7 are fixed on the sliding plate II 6-6.
The support 6-7 comprises a U-shaped support 6-7-1, a Y lead screw slide block II 6-7-2, a servo motor X6-7-3, a U-shaped mounting plate 6-7-4, a speed reducer X6-7-5, a Z lead screw slide block 6-7-6, a Z lead screw 6-7-7, a Z guide rod 6-7-8, a servo motor XI 6-7-9, a speed reducer mounting plate 6-7-10, a speed reducer XI 6-7-11, a Y lead screw II 6-7-12, a Y guide rod II 6-7-13 and a support plate 6-7-14; wherein the output shaft of the speed reducer XI 6-7-11 passes through and is fixed with the through hole of the speed reducer mounting plate 6-7-10, the servo motor XI 6-7-9 is fixedly connected with the input end of the speed reducer XI 6-7-11, one end of the Y lead screw II 6-7-12 is connected with the output shaft of the speed reducer XI 6-7-11, the other end of the Y lead screw II 6-7-12 passes through the Y lead screw slide block II 6-7-2 and is connected with the support plate 6-7-14, one end of the Y guide rod II 6-7-13 is fixed with the speed reducer mounting plate 6-7-10, the other end of the Y guide rod II 6-7-13 passes through the Y lead screw slide block II 6-7-2 and the support plate 6-7-14 and is fixed, the speed reducer mounting plate 6-7-10 and the support plate 6-7-14 are both fixed on the slide plate 6-6, the U-shaped mounting plate 6-7-4 is fixed on the inner side of the U-shaped support 6-7-1, an output shaft of a speed reducer X6-7-5 penetrates through a through hole of the U-shaped mounting plate 6-7-4 and is fixed with the through hole, a servo motor X6-7-3 is fixedly connected with an input end of the speed reducer X6-7-5, one end of a Z lead screw 6-7-7 is connected with an output shaft of the speed reducer X6-7-5, the other end of the Z lead screw 6-7-7 penetrates through a Z lead screw sliding block 6-7-6 and is connected with the U-shaped support 6-7-1, one end of a Z guide rod 6-7-8 is connected with the U-shaped mounting plate 6-7-4, and the other end of the Z lead screw sliding block 6-7-6 penetrates through the Z lead screw sliding block 6-7-6 and is connected with the U-7-1.
The invention has the beneficial effects that: the film tearing manipulator can be matched with a common belt conveyor to receive a film tearing type thin plate conveyed by a conveying belt, after the thin plate reaches a certain position, the grabbing manipulator I sucks the thin plate and conveys the thin plate to a position where the film tearing manipulator is easy to operate, and the film tearing manipulator can tear films of thin plates with different sizes and different materials under the action of the motor and the sucking disc; after the film on one side of the thin plate is torn off, the film can be grabbed and lifted by a grabbing and lifting manipulator II, and the film tearing motion on the other side of the thin plate is completed after the position is changed; the combined use with the common transmission and transportation device improves the universality of the equipment, improves the working efficiency and reduces the use number and the maintenance difficulty of special equipment; adopt electronic original paper as actuating mechanism, reduce the mechanism and pollute, guarantee the cleanliness of product.
Drawings
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a schematic structural view of a film tearing manipulator;
FIG. 3 is a schematic structural view of a large arm of a film tearing manipulator;
FIG. 4 is a schematic structural view of a small arm of a film tearing manipulator;
FIG. 5 is a schematic structural diagram of the components of a grabbing manipulator I and a grabbing manipulator II;
FIG. 6 is a view of the joint assembly of the grasping robot;
FIG. 7 is a sectional structure view of a joint assembly of the grabbing and lifting manipulator;
FIG. 8 is a schematic structural diagram of a coordinate positioning apparatus III;
FIG. 9 is a schematic view of a mounting bracket of the CMD positioning apparatus III;
FIG. 10 is a schematic structural diagram of a coordinate type positioning device I and a coordinate type positioning device II;
FIG. 11 is a schematic structural diagram of a bracket of a coordinate type positioning device I and a coordinate type positioning device II;
fig. 12 is a structural schematic view of a tail end shaft of a film tearing manipulator;
the reference numbers in the figures are: the film tearing manipulator 1, the grabbing manipulator I2, the grabbing manipulator II 3, the aluminum profile support 4, the coordinate type positioning device III 5, the coordinate type positioning device I6 and the coordinate type positioning device II 7 are respectively arranged;
1-1 is a mounting bracket I, 1-2 is a base, 1-3 is a manipulator big arm, 1-4 is a fixing plate, 1-5 is a manipulator small arm I, 1-6 is a tail end shaft, 1-7 is a manipulator small arm II, 1-8 is a speed reducer I, 1-9 is a servo motor I, 1-10 is a speed reducer II, 1-11 is a servo motor II, 1-12 is a servo motor III, 1-13 is a speed reducer III, and 1-14 is a double-layer vacuum chuck;
2-1 is a servo motor IV, 2-2 is a base, 2-3 is a speed reducer IV, 2-4 is a speed reducer support, 2-5 is a joint component, 2-6 is a rotating arm, 2-7 is a servo motor V, 2-8 is a speed reducer V, 2-9 is a speed reducer fixing plate, 2-10 is a flange, 2-11 is a swing arm, 2-12 is a swing arm support, 2-13 is a servo motor VI, 2-14 is a speed reducer VI, 2-15 is a mounting support II, 2-16 is a terminal flange, 2-17 is a terminal execution plate, and 2-18 is an array sucker;
2-5-1 is a joint connecting shaft, 2-5-2 is a thrust bearing, 2-5-3 is a bearing end cover, 2-5-4 is a joint rotating end cover, and 2-5-5 is a hexagonal thin nut;
5-1 is a servo motor VII, 5-2 is a speed reducer VII, 5-3 is a mounting plate, 5-4 is an X lead screw I, 5-5 is an X lead screw slide block I, 5-6 is a sliding plate I, 5-7 is a Y mounting bracket, 5-8 is a guide rail I, and 5-9 is a bearing seat I;
5-7-1 is a servo motor VIII, 5-7-2 is a speed reducer VIII, 5-7-3 is a mounting support plate, 5-7-4 is a Y lead screw I, 5-7-5 is a Y lead screw sliding block I, 5-7-6 is a Y guide rod I and 5-7-7 support plates;
6-1 is a servo motor IX, 6-2 is a speed reducer IX, 6-3 is a right-angle plate, 6-4 is an X lead screw II, 6-5 is an X lead screw sliding block II, 6-6 is a sliding plate II, 6-7 is a bracket, 6-8 is a guide rail II, and 6-9 is a bearing seat II;
6-7-1 is a U-shaped support, 6-7-2 is a Y lead screw slide block II, 6-7-3 is a servo motor X, 6-7-4 is a U-shaped mounting plate, 6-7-5 is a speed reducer X, 6-7-6 is a Z lead screw slide block, 6-7-7 is a Z lead screw, 6-7-8 is a Z guide rod, 6-7-9 is a servo motor XI, 6-7-10 is a speed reducer mounting plate, 6-7-11 is a speed reducer XI, 6-7-12 is a Y lead screw II, 6-7-13 is a Y guide rod II, and 6-7-14 is a support plate.
Detailed Description
The invention will be further described with reference to the following figures and examples, without however restricting the scope of the invention thereto.
Example 1: as shown in fig. 1-12, a double-sided film tearing device comprises a film tearing manipulator 1, a grabbing and lifting manipulator i 2, a grabbing and lifting manipulator ii 3, an aluminum profile bracket 4, a coordinate type positioning device iii 5, a coordinate type positioning device i 6 and a coordinate type positioning device ii 7; the film tearing manipulator 1 is used for tearing films with the film devices, which are grabbed by the grabbing manipulator I2 and the grabbing manipulator II 3; the grabbing and lifting manipulator I2 is used for driving the grabbing and lifting film carrying device to move and sending the film carrying device to the grabbing and lifting manipulator II 3; the grabbing and lifting manipulator II 3 is used for driving the film carrying device transmitted by the grabbing and lifting manipulator I2 to move and sending out the torn film device; the aluminum profile support 4 is used for installing a coordinate type positioning device III 5, a coordinate type positioning device I6 and a coordinate type positioning device II 7; the coordinate type positioning device III 5 is used for installing the film tearing manipulator 1 and driving the film tearing manipulator 1 to move in the direction X, Y; the coordinate type positioning device I6 is used for installing the grabbing and lifting manipulator I2 and driving the grabbing and lifting manipulator I2 to move in the direction X, Y, Z; and the coordinate type positioning device II 7 is used for installing the grabbing and lifting manipulator II 3 and driving the grabbing and lifting manipulator II 3 to move in the direction X, Y, Z. Through the cooperation of the manipulator and the coordinate type positioning device, the six-degree-of-freedom motion of the material in the space can be realized. A specific lead screw nut in the coordinate type positioning device is matched with a motor for use, so that the material can be translated along three coordinate axes in space according to requirements; the cooperation of two three degree of freedom snatch the manipulator is used, a snatch manipulator 2 holds a glass board B face of treating the dyestripping, tear the back with the film of dyestripping manipulator 1 cooperation with glass board A face, the glass board need not put back the material platform and carries out the turn-ups, but with snatch manipulator 3 cooperation, after A face dyestripping, snatch manipulator 3 in time holds glass board A face simultaneously, snatch manipulator 2 and relieve the glass board B face of treating the dyestripping, snatch manipulator 3 simultaneously with glass board B face orientation dyestripping manipulator 1, realize the dyestripping of B face. Set up two sets of mechanical hands of grabbing and lifting among the entire structure, it is special design, through above tear film manipulator 1 and grab the cooperation work of lifting the mechanical hand, can save and put back the material platform behind the glass board one side tear film and carry out the time of turn-over to this has just realized improving the work efficiency of tear film. In addition, 1 end of dyestripping manipulator adopts the double-deck sucking disc of single small-bore in vacuum, and two array sucking discs of grabbing for the manipulator area great absorb through the absorption in the time of a plurality of sucking discs, can realize the effect of stably grabbing under the great condition of glass sheet quality to this stability of grabbing and lifting has just been realized to the glass sheet.
Further, can set up aluminium alloy support 4 adopts the aluminium alloy structure of middle zone recess, uses with the guide rail cooperation, and its recess can play spacing guide effect. The coordinate type positioning device is used by matching a specific lead screw nut with a motor, materials can be translated along three coordinate axes in space according to needs, the three-degree-of-freedom grabbing manipulator is matched with the three motors for use, and the materials can be overturned in space when being torn, so that the flexibility of the whole machine is improved. The tail end of the film tearing manipulator 1 adopts a single double-layer sucking disc with a small vacuum opening, and the sucking force with the film contact surface is small, so that the film can be smoothly torn down along one corner of the glass plate. Grab and lift manipulator I2, grab and lift manipulator II 3 and adopt the great array sucking disc of area, absorb when through a plurality of sucking discs, can avoid the glass board quality when great, snatch the condition that unstable or glass board dropped.
Furthermore, the film tearing manipulator 1 can be arranged to comprise a mounting bracket I1-1, a base I1-2, a manipulator big arm 1-3, a fixing plate 1-4, a manipulator small arm I1-5, a tail end shaft 1-6, a manipulator small arm II 1-7, a speed reducer I1-8, a servo motor I1-9, a speed reducer II 1-10, a servo motor II 1-11, a servo motor III 1-12, a speed reducer III 1-13 and a double-layer vacuum sucker 1-14 (such as XPB50-NBR double-layer vacuum sucker); the mounting support I1-1 is fixed on the upper surface of the base I1-2, the speed reducer III 1-13 is mounted on the outer side below the base I1-2, the input end of the speed reducer III 1-13 is connected with the servo motor III 1-12 through a key, the output end of the speed reducer III 1-13 penetrates through a through hole on the same side of the base I1-2 from the outer side of the base I1-2 and is fixedly connected to the same side of the head end of the manipulator arm 1-3 through a mounting flange arranged on the speed reducer through a screw, one side of the manipulator arm 1-3, which is provided with a rotating shaft, is connected to the other side of the base I1-2 through a bearing, and then the servo motor III 1-12 drives the manipulator arm 1-3 to swing; the input end of the speed reducer II 1-10 is connected with the servo motor II 1-11 through a key, the output end of the speed reducer II 1-10 penetrates through holes at two sides of the tail end of the large arm 1-3 of the manipulator and is fixedly connected with the small arm I1-5 of the manipulator and the small arm II 1-7 of the manipulator through bearings, and the servo motor II 1-11 drives the small arm I1-5 of the manipulator and the small arm II 1-7 of the manipulator to swing; two ends of the fixed plate 1-4 are fixedly connected with the small manipulator arm I1-5 and the middle part of the small manipulator arm II 1-7 through screws respectively, one side of the tail end shaft 1-6 penetrates through a tail end through hole of the small manipulator arm II 1-7 to be connected with the output end of the speed reducer I1-8 through a key, and the other side of the tail end shaft 1-6 is fixedly connected to the tail end of the small manipulator arm I1-5 through a bearing and a flange; the input end of the speed reducer I1-8 is fixedly connected with the servo motor I1-9 through a bearing and a flange, the servo motor I1-9 drives the tail end shaft 1-6 to rotate, and the double-layer vacuum chuck 1-14 is sleeved on the tail end shaft 1-6.
Further, the grabbing and lifting manipulator I2 and the grabbing and lifting manipulator II 3 can be set to be identical in structure and respectively comprise a manipulator shoulder part, a manipulator large arm part, a manipulator small arm part and a manipulator tail end execution part; the shoulder part of the mechanical arm and the large arm part of the mechanical arm are connected through a joint component 2-5, and the large arm is driven to rotate through a servo motor IV 2-1; the large arm part of the mechanical arm and the small arm part of the mechanical arm are connected through flanges 2-10 by screws, and the small arm is driven to swing through a servo motor V2-7; the small arm part of the mechanical arm is connected with the tail end execution part of the mechanical arm through tail end flanges 2-16 by screws, and the tail end array suction cups 2-18 (such as ZP2-40HCL high-load suction cups) are driven to rotate by driving a servo motor VI 2-13 to rotate.
Furthermore, the shoulder part of the mechanical arm can be arranged to comprise a servo motor IV 2-1, a base II 2-2, a speed reducer IV 2-3 and a speed reducer bracket 2-4; as shown in fig. 5, in the robot shoulder portion structure: the driving part IV is arranged at the middle position in the base; the reducer support 2-4 is fixed on the base II 2-2, the input end of the reducer IV 2-3 is connected with the servo motor IV 2-1 through a key, and the output end of the reducer IV 2-3 penetrates through the reducer support 2-4 and the base II 2-2 and is connected with the joint component 2-5 through a flat key; two ends of the joint component 2-5 are respectively fixed on the base II 2-2 and the rotating arm 2-6; the large arm part of the mechanical arm comprises a rotating arm 2-6, a servo motor V2-7, a speed reducer V2-8 and a speed reducer fixing plate 2-9; in the arm part structure: the driving part is arranged in the middle of the inner side of the rotating arm; wherein, the speed reducer fixing plate 2-9 is fixed at the tail end of the rotating arm 2-6, the lower surface of the speed reducer V2-8 is fixedly connected on the speed reducer fixing plate 2-9 through screws, the input end of the speed reducer V2-8 is connected with the servo motor V2-7 through a key, and two output shafts of the speed reducer V2-8 pass through holes of the rotating arm 2-6 and the swing arm 2-11 and are fixedly connected with each other through the flanges 2-10 through screws; the small arm part of the mechanical arm comprises a swing arm 2-11, a swing arm frame 2-12, a servo motor VI 2-13, a speed reducer VI 2-14 and a mounting bracket II 2-15; in the structure of the small arm part of the mechanical arm: the driving part VI is arranged in the middle of the inner sides of the swing arm frames 2-12; the swing arm 2-11 is fixedly connected to the head end of the swing arm frame 2-12 through a bolt and a nut, the mounting bracket II 2-15 is fixed to the tail end of the swing arm frame 2-12, the input end of the speed reducer VI 2-14 is connected with the servo motor VI 2-13 through a key, and the output end of the speed reducer VI 2-14 penetrates through a through hole of the mounting bracket II 2-15 and is connected with the tail end execution plate 2-17 through a flange; the mechanical arm end execution part comprises end execution plates 2-17 and array suckers 2-18; wherein, the end flange 2-16 is fixedly connected with the head end of the end execution plate 2-17, and the array suction cup 2-18 is arranged at the tail end of the end execution plate 2-17 through a screw.
Further, the joint component 2-5 can be arranged to comprise a joint connecting shaft 2-5-1, a thrust bearing 2-5-2, a bearing end cover 2-5-3, a joint rotating end cover 2-5-4 and a hexagonal thin nut 2-5-5; wherein the joint rotating end cover 2-5-4 is arranged on the joint connecting shaft 2-5-1 through two thrust bearings 2-5-2; the bearing end cover 2-5-3 at one side is sleeved on the joint rotating shaft 2-5-1 and is arranged at the inner side of one thrust bearing 2-5-2 for positioning the thrust bearing 2-5-2; the bearing end cover 2-5-3 at the symmetrical side of the bearing is sleeved on the joint rotating shaft 2-5-1 and arranged at the outer side of the other thrust bearing 2-5-2 for positioning the thrust bearing 2-5-2, and a hexagonal thin nut 2-5-5 is arranged for preventing looseness.
Furthermore, the coordinate type positioning device III 5 can be arranged to comprise a servo motor VII 5-1, a speed reducer VII 5-2, a mounting plate 5-3, an X lead screw I5-4, an X lead screw sliding block I5-5, a sliding plate I5-6, a Y mounting bracket 5-7, a guide rail I5-8 and a bearing seat I5-9; the mounting plate 5-3 is fixed on the aluminum profile support 4, the output shaft of the speed reducer VII 5-2 penetrates through a through hole of the mounting plate 5-3 and is fixed with the same, the servo motor VII 5-1 is fixedly connected with the input end of the speed reducer VII 5-2, the output shaft of the speed reducer VII 5-2 is fixedly connected with one end of an X lead screw I5-4, the other end of the X lead screw I5-4 penetrates through an X lead screw sliding block I5-5 and is connected with a bearing block I5-9, the bearing block I5-9 is fixed on the aluminum profile support 4, the X lead screw sliding block I5-5 is fixed on a sliding plate I5-6, two ends of the sliding plate I5-6 are matched with guide rails I5-8, guide rails I5-8 on two sides are fixedly connected on the aluminum profile support 4, and the Y mounting support 5-7 is fixed on the sliding plate I5-6.
Furthermore, the Y mounting bracket 5-7 can be arranged to comprise a servo motor VIII 5-7-1, a speed reducer VIII 5-7-2, a mounting bracket plate 5-7-3, a Y lead screw I5-7-4, a Y lead screw sliding block I5-7-5, a Y guide rod I5-7-6 and a bracket plate 5-7-7; an output shaft of the speed reducer VIII 5-7-2 penetrates through a through hole of the mounting support plate 5-7-3 and is fixed with the through hole, the servo motor VIII 5-7-1 is fixedly connected with an input end of the speed reducer VIII 5-7-2, one end of a Y lead screw I5-7-4 is fixedly connected with the output shaft of the speed reducer VIII 5-7-2, the other end of the Y lead screw I5-7-4 penetrates through a Y lead screw sliding block I5-7-5 and is fixed with the support plate 5-7-7, the support plate 5-7-7 is fixedly connected with a sliding plate I5-6, one end of a Y guide rod I5-7-6 is fixed with the mounting support plate 5-7-3, and one end of a Y guide rod I5-7-6 penetrates through the Y lead screw sliding block I5-7-5 and is fixed with the support plate 5-7-7.
Furthermore, the coordinate type positioning device I6 and the coordinate type positioning device II 7 can be set to be identical in structure and respectively comprise a servo motor IX 6-1, a speed reducer IX 6-2, a right-angle plate 6-3, an X lead screw II 6-4, an X lead screw sliding block II 6-5, a sliding plate II 6-6, a support 6-7, a guide rail II 6-8 and a bearing seat II 6-9; the right-angle plate 6-3 is fixed on an aluminum profile support 4, an output shaft of a speed reducer IX 6-2 penetrates through the right-angle plate 6-3 and is fixed with the right-angle plate, a servo motor IX 6-1 is fixedly connected with an input end of the speed reducer IX 6-2, one end of an X lead screw II 6-4 is connected with an output shaft of the speed reducer IX 6-2, the other end of the X lead screw II 6-4 penetrates through an X lead screw sliding block II 6-5 and is connected with a bearing block II 6-9, the bearing block II 6-9 is fixedly arranged on the aluminum profile support 4, the X lead screw sliding block II 6-5 is fixed on a sliding plate II 6-6, two ends of the sliding plate II 6-6 are matched with guide rails II 6-8, guide rails II 6-8 on two sides are fixed on the aluminum profile support 4, and supports 6-7 are fixed on the sliding plate II 6-6.
Further, the supports 6-7 comprise U-shaped supports 6-7-1, Y lead screw sliders II 6-7-2, servo motors X6-7-3, U-shaped mounting plates 6-7-4, speed reducers X6-7-5, Z lead screw sliders 6-7-6, Z lead screws 6-7-7, Z guide rods 6-7-8, servo motors XI 6-7-9, speed reducer mounting plates 6-7-10, speed reducers XI 6-7-11, Y lead screws II 6-7-12, Y guide rods II 6-7-13 and support plates 6-7-14; wherein the output shaft of the speed reducer XI 6-7-11 passes through and is fixed with the through hole of the speed reducer mounting plate 6-7-10, the servo motor XI 6-7-9 is fixedly connected with the input end of the speed reducer XI 6-7-11, one end of the Y lead screw II 6-7-12 is connected with the output shaft of the speed reducer XI 6-7-11, the other end of the Y lead screw II 6-7-12 passes through the Y lead screw slide block II 6-7-2 and is connected with the support plate 6-7-14, one end of the Y guide rod II 6-7-13 is fixed with the speed reducer mounting plate 6-7-10, the other end of the Y guide rod II 6-7-13 passes through the Y lead screw slide block II 6-7-2 and the support plate 6-7-14 and is fixed, the speed reducer mounting plate 6-7-10 and the support plate 6-7-14 are both fixed on the slide plate 6-6, the U-shaped mounting plate 6-7-4 is fixed on the inner side of the U-shaped support 6-7-1, an output shaft of a speed reducer X6-7-5 penetrates through a through hole of the U-shaped mounting plate 6-7-4 and is fixed with the through hole, a servo motor X6-7-3 is fixedly connected with an input end of the speed reducer X6-7-5, one end of a Z lead screw 6-7-7 is connected with an output shaft of the speed reducer X6-7-5, the other end of the Z lead screw 6-7-7 penetrates through a Z lead screw sliding block 6-7-6 and is connected with the U-shaped support 6-7-1, one end of a Z guide rod 6-7-8 is connected with the U-shaped mounting plate 6-7-4, and the other end of the Z lead screw sliding block 6-7-6 penetrates through the Z lead screw sliding block 6-7-6 and is connected with the U-7-1.
Taking a thin plate with a film as an example, the working process of the invention is as follows:
firstly, a grabbing and lifting mechanical arm I2 accurately positions the position of a thin plate with a film through the movement of a coordinate type positioning device I6, smoothly sucks the thin plate by using an array sucking disc 2-18 at the tail end of the grabbing and lifting mechanical arm I2, and then turns the thin plate with the film to the vertical direction; secondly, the film tearing manipulator 1 is accurately positioned and moved to one corner of the thin plate with the film through a coordinate type positioning device III 5, one corner of the thin film is sucked up through a double-layer vacuum sucker 1-14 at the tail end of the film tearing manipulator 1, the whole thin film is smoothly torn off through the movement of the coordinate type positioning device III 5, and the torn thin film is smoothly placed into a thin film recycling box; then, the grabbing and lifting mechanical arm I2 rotates by a proper angle, the grabbing and lifting mechanical arm II 3 smoothly sucks the surface of the thin plate which is torn by the facial mask through accurate positioning of the coordinate type positioning device II 7, meanwhile, the grabbing and lifting mechanical arm I2 loosens the thin plate after the grabbing and lifting mechanical arm II 3 sucks the thin plate, and then the next thin plate is sucked through positioning of the coordinate type positioning device I6; tear membrane manipulator 1 and remove the another side to the sheet metal, absorb the film one corner, the removal of rethread coordinate formula positioner III 5 tears whole film, puts into the film collection box, and snatch manipulator II 3 and put into the sheet metal collection box with the sheet metal that both sides film had all been torn, rethread positioner resumes the manipulator normal position, carries out the work of tearing the membrane of next round.
The motion process of the film tearing manipulator 1 is as follows: the servo motor VII 5-1 rotates to output rotating speed through the speed reducer VII 5-2 to drive the X lead screw I5-4 to rotate, and further drive the film tearing manipulator 1 to move in the X direction; the servo motor VIII 5-7-1 rotates to output rotating speed through the speed reducer VIII 5-7-2 to drive the Y lead screw I5-7-4 to rotate, and further drive the film tearing manipulator 1 to move in the Y direction; the servo motors III 1-12 output rotating speeds through the speed reducers III 1-13 and drive the large arms 1-3 of the film tearing manipulator to swing through the through holes of the base I1-2; the servo motors II 1-11 output rotating speeds through the speed reducers II 1-10 and drive the small arms I1-5 of the film tearing manipulator and the small arms II 1-7 of the manipulator to swing through holes at the tail ends of the large arms of the manipulator; the servo motors I1-9 output rotating speeds through the speed reducers I1-8, and the mechanical arm I1-5 and the mechanical arm II 1-7 tail end through holes drive the rotation of the tail end shafts 1-6 of the film tearing mechanical arm.
The motion process of the grabbing manipulator I2 is as follows: the servo motor IX 6-1 rotates to output rotating speed through the speed reducer IX 6-2 to drive the X lead screw II 6-4 to rotate, and further drive the grabbing and lifting manipulator I2 to move in the X direction; the servo motor XI 6-7-9 rotates to output the rotating speed through the speed reducer XI 6-7-10 to drive the Y lead screw II 6-7-12 to rotate, and further drive the grabbing manipulator I2 to move in the Y direction; the servo motor X6-7-3 rotates to output rotating speed through the speed reducer X6-7-5 to drive the Z lead screw 6-7-7 to rotate, and further drive the grabbing manipulator I2 to move in the Z direction; the servo motor IV 2-1 outputs rotating speed through the speed reducer IV 2-3 and drives the grabbing manipulator rotating arm 2-6 connected with the joint component 2-5 through a screw to rotate through the through hole of the base II 2-2; the servo motors V2-7 output rotating speeds through the speed reducers V2-8 and drive the swing arms 2-11 of the grabbing and lifting manipulator to swing through holes at the tail ends of the manipulator rotating arms; the servo motors VI 2 to 13 output rotating speeds through the speed reducers VI 2 to 14 and drive the array suckers 2 to 18 at the tail ends of the grabbing and lifting manipulators to rotate through holes at the tail ends of the swing arm frames 2 to 12.
The metal plate or other film-carrying devices adhered with the protective film are used as objects, the vertical rotating angle of the grabbing manipulator and the horizontal and longitudinal moving distance of the coordinate type positioning device are adjusted according to different sizes and material properties of the metal plate or other film-carrying devices, and film tearing and waste film recycling can be achieved.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (8)

1. The utility model provides a two-sided dyestripping equipment which characterized in that: the film tearing machine comprises a film tearing manipulator (1), a grabbing manipulator I (2), a grabbing manipulator II (3), an aluminum profile support (4), a coordinate type positioning device III (5), a coordinate type positioning device I (6) and a coordinate type positioning device II (7);
the film tearing manipulator (1) is used for tearing the film with the film device grabbed by the grabbing manipulator I (2) and the grabbing manipulator II (3);
the grabbing and lifting manipulator I (2) is used for driving the grabbing and lifting film carrying device to move and sending the film carrying device to the grabbing and lifting manipulator II (3);
the grabbing and lifting manipulator II (3) is used for driving the film carrying device transmitted by the grabbing and lifting manipulator I (2) to move and sending out the torn film device;
the aluminum profile support (4) is used for mounting a coordinate type positioning device III (5), a coordinate type positioning device I (6) and a coordinate type positioning device II (7);
the coordinate type positioning device III (5) is used for installing the film tearing manipulator (1) and driving the film tearing manipulator (1) to move in the direction X, Y;
the coordinate type positioning device I (6) is used for installing the grabbing and lifting manipulator I (2) and driving the grabbing and lifting manipulator I (2) to move in the direction X, Y, Z;
the coordinate type positioning device II (7) is used for installing the grabbing and lifting manipulator II (3) and driving the grabbing and lifting manipulator II (3) to move in the direction X, Y, Z;
the film tearing manipulator (1) comprises a mounting support I (1-1), a base I (1-2) 1, a manipulator big arm (1-3), a fixing plate (1-4), a manipulator small arm I (1-5), a tail end shaft (1-6), a manipulator small arm II (1-7), a speed reducer I (1-8), a servo motor I (1-9), a speed reducer II (1-10), a servo motor II (1-11), a servo motor III (1-12), a speed reducer III (1-13) and a double-layer vacuum chuck (1-14); the mounting support I (1-1) is fixed on the upper surface of the base I (1-2), the speed reducer III (1-13) is mounted on the outer side below the base I (1-2), the input end of the speed reducer III (1-13) is fixedly connected with the servo motor III (1-12), the output end of the speed reducer III (1-13) penetrates through a through hole in the same side of the base I (1-2) from the outer side of the base I (1-2) and is fixedly connected to the same side of the head end of the manipulator large arm (1-3), the other side of the head end of the manipulator large arm (1-3) is connected to the other side of the base I (1-2) through a bearing, and the servo motor III (1-12) drives the manipulator large arm (1-3) to swing; the input end of the speed reducer II (1-10) is fixedly connected with the servo motor II (1-11), the output end of the speed reducer II (1-10) penetrates through holes at two sides of the tail end of the large manipulator arm (1-3) and is fixedly connected with the small manipulator arm I (1-5) and the small manipulator arm II (1-7) through bearings respectively, and then the servo motor II (1-11) drives the small manipulator arm I (1-5) and the small manipulator arm II (1-7) to swing; two ends of the fixing plate (1-4) are fixedly connected with the middle parts of the manipulator small arm I (1-5) and the manipulator small arm II (1-7) respectively, one side of the tail end shaft (1-6) penetrates through a tail end through hole of the manipulator small arm II (1-7) to be fixedly connected with the output end of the speed reducer I (1-8), and the other side of the tail end shaft (1-6) is fixedly connected to the tail end of the manipulator small arm I (1-5) through a bearing; the input end of the speed reducer I (1-8) is fixedly connected with the servo motor I (1-9), the servo motor I (1-9) drives the tail end shaft (1-6) to rotate, and the double-layer vacuum chuck (1-14) is sleeved on the tail end shaft (1-6).
2. The double-sided tear tape apparatus of claim 1, wherein: the grabbing and lifting manipulator I (2) and the grabbing and lifting manipulator II (3) are identical in structure and respectively comprise a mechanical arm shoulder part, a mechanical arm large arm part, a mechanical arm small arm part and a mechanical arm tail end execution part; the shoulder part of the mechanical arm and the large arm part of the mechanical arm are connected through a joint component (2-5), and the large arm part of the mechanical arm is driven to rotate through a servo motor IV (2-1); the large arm part of the mechanical arm is connected with the small arm part of the mechanical arm through a flange (2-10) by using a screw, and the small arm part of the mechanical arm is driven to swing through a servo motor V (2-7); the small arm part of the mechanical arm is connected with the tail end execution part of the mechanical arm through a tail end flange (2-16), and the tail end array suction cups (2-18) are driven to rotate by driving a servo motor VI (2-13) to rotate.
3. The double-sided tear tape apparatus of claim 2, wherein: the shoulder part of the mechanical arm comprises a servo motor IV (2-1), a base II (2-2), a speed reducer IV (2-3) and a speed reducer support (2-4); the reducer support (2-4) is fixed on the base II (2-2), the input end of the reducer IV (2-3) is fixedly connected with the servo motor IV (2-1), and the output end of the reducer IV (2-3) penetrates through the reducer support (2-4) and the base II (2-2) and then is connected with the joint component (2-5) through a flat key; two ends of the joint component (2-5) are respectively fixed on the base II (2-2) and the rotating arm (2-6); the large arm part of the mechanical arm comprises a rotating arm (2-6), a servo motor V (2-7), a speed reducer V (2-8) and a speed reducer fixing plate (2-9); wherein, a speed reducer fixing plate (2-9) is fixed at the tail end of the rotating arm (2-6), the lower surface of a speed reducer V (2-8) is fixedly connected on the speed reducer fixing plate (2-9), the input end of the speed reducer V (2-8) is fixedly connected with a servo motor V (2-7), and two output shafts of the speed reducer V (2-8) pass through holes of the rotating arm (2-6) and the swinging arm (2-11) and are fixedly connected through flanges (2-10) respectively; the small arm part of the mechanical arm comprises a swing arm (2-11), a swing arm frame (2-12), a servo motor VI (2-13), a speed reducer VI (2-14) and a mounting bracket II (2-15); the swing arm (2-11) is fixedly connected to the head end of the swing arm frame (2-12), the mounting bracket II (2-15) is fixed to the tail end of the swing arm frame (2-12), the input end of the speed reducer VI (2-14) is fixedly connected with the servo motor VI (2-13), and the output end of the speed reducer VI (2-14) penetrates through a through hole of the mounting bracket II (2-15) and is connected with the tail end execution plate (2-17) through a flange; the mechanical arm end execution part comprises an end execution plate (2-17) and an array sucker (2-18); wherein, the end flange (2-16) is fixedly connected with the head end of the end execution plate (2-17), and the array suction cup (2-18) is arranged at the tail end of the end execution plate (2-17).
4. The double-sided tear tape apparatus of claim 2, wherein: the joint component (2-5) comprises a joint connecting shaft (2-5-1), a thrust bearing (2-5-2), a bearing end cover (2-5-3), a joint rotating end cover (2-5-4) and a hexagonal thin nut (2-5-5); wherein the joint rotating end cover (2-5-4) is arranged on the joint connecting shaft (2-5-1) through two thrust bearings (2-5-2); the bearing end cover (2-5-3) at one side is sleeved on the joint rotating shaft (2-5-1) and is arranged at the inner side of one thrust bearing (2-5-2) for positioning the thrust bearing (2-5-2); the bearing end cover (2-5-3) at one symmetrical side of the bearing is sleeved on the joint rotating shaft (2-5-1) and arranged at the outer side of the other thrust bearing (2-5-2) for positioning the thrust bearing (2-5-2), and a hexagonal thin nut (2-5-5) is arranged for preventing looseness.
5. The double-sided tear tape apparatus of claim 1, wherein: the coordinate type positioning device III (5) comprises a servo motor VII (5-1), a speed reducer VII (5-2), a mounting plate (5-3), an X lead screw I (5-4), an X lead screw sliding block I (5-5), a sliding plate I (5-6), a Y mounting bracket (5-7), a guide rail I (5-8) and a bearing seat I (5-9); wherein the mounting plate (5-3) is fixed on the aluminum profile bracket (4), the output shaft of the speed reducer VII (5-2) passes through the through hole of the mounting plate (5-3) and is fixed with the through hole, the servo motor VII (5-1) is fixedly connected with the input end of the speed reducer VII (5-2), the output shaft of the speed reducer VII (5-2) is fixedly connected with one end of an X lead screw I (5-4), the other end of the X lead screw I (5-4) passes through an X lead screw sliding block I (5-5) and is connected with a bearing block I (5-9), the bearing block I (5-9) is fixed on the aluminum profile bracket (4), the X lead screw sliding block I (5-5) is fixed on a sliding plate I (5-6), the two ends of the sliding plate I (5-6) are matched with the guide rail I (5-8), the guide rails I (5-8) at the two sides are fixedly connected on the aluminum profile bracket (4), and the Y mounting bracket (5-7) is fixed on the sliding plate I (5-6).
6. The double-sided tear tape apparatus of claim 5, wherein: the Y-shaped mounting bracket (5-7) comprises a servo motor VIII (5-7-1), a speed reducer VIII (5-7-2), a mounting bracket plate (5-7-3), a Y lead screw I (5-7-4), a Y lead screw sliding block I (5-7-5), a Y guide rod I (5-7-6) and a bracket plate (5-7-7); wherein an output shaft of a speed reducer VIII (5-7-2) penetrates through a through hole of a mounting support plate (5-7-3) and is fixed with the through hole, a servo motor VIII (5-7-1) is fixedly connected with an input end of the speed reducer VIII (5-7-2), one end of a Y lead screw I (5-7-4) is fixedly connected with the output shaft of the speed reducer VIII (5-7-2), the other end of the Y lead screw I (5-7-4) penetrates through a Y lead screw sliding block I (5-7-5) and is fixed with the support plate (5-7-7), the support plate (5-7-7) is fixedly connected with a sliding plate I (5-6), one end of a Y guide rod I (5-7-6) is fixed with the mounting support plate (5-7-3), and one end of the Y guide rod I (5-7-6) penetrates through the Y lead screw sliding block I (5-7-5) and is fixed with the mounting support plate (5-7-3) The support plate (5-7-7) is fixed.
7. The double-sided tear tape apparatus of claim 1, wherein: the coordinate type positioning device I (6) and the coordinate type positioning device II (7) are identical in structure and respectively comprise a servo motor IX (6-1), a speed reducer IX (6-2), a right-angle plate (6-3), an X lead screw II (6-4), an X lead screw sliding block II (6-5), a sliding plate II (6-6), a support (6-7), a guide rail II (6-8) and a bearing seat II (6-9); wherein a right-angle plate (6-3) is fixed on an aluminum profile bracket (4), an output shaft of a speed reducer IX (6-2) passes through the right-angle plate (6-3) and is fixed with the right-angle plate, a servo motor IX (6-1) is fixedly connected with an input end of the speed reducer IX (6-2), one end of an X lead screw II (6-4) is connected with an output shaft of the speed reducer IX (6-2), the other end of the X lead screw II (6-4) passes through an X lead screw sliding block II (6-5) and is connected with a bearing block II (6-9), the bearing block II (6-9) is fixedly arranged on the aluminum profile bracket (4), the X lead screw sliding block II (6-5) is fixed on a sliding plate II (6-6), two ends of the sliding plate II (6-6) are matched with guide rails II (6-8), and guide rails II (6-8) at two sides are fixed on the aluminum profile bracket (4), the support (6-7) is fixed on the sliding plate II (6-6).
8. The double-sided tear tape apparatus of claim 7, wherein: the support (6-7) comprises a U-shaped support (6-7-1), a Y lead screw sliding block II (6-7-2), a servo motor X (6-7-3), a U-shaped mounting plate (6-7-4), a speed reducer X (6-7-5), a Z lead screw sliding block (6-7-6), a Z lead screw (6-7-7), a Z guide rod (6-7-8), a servo motor XI (6-7-9), a speed reducer mounting plate (6-7-10), a speed reducer XI (6-7-11), a Y lead screw II (6-7-12), a Y guide rod II (6-7-13) and a support plate (6-7-14); wherein the output shaft of the speed reducer XI (6-7-11) passes through and is fixed with the through hole of the speed reducer mounting plate (6-7-10), the servo motor XI (6-7-9) is fixedly connected with the input end of the speed reducer XI (6-7-11), one end of the Y lead screw II (6-7-12) is connected with the output shaft of the speed reducer XI (6-7-11), the other end of the Y lead screw II (6-7-12) passes through the Y lead screw sliding block II (6-7-2) and is connected with the support plate (6-7-14), one end of the Y guide rod II (6-7-13) is fixed with the speed reducer mounting plate (6-7-10), the other end of the Y guide rod II (6-7-13) passes through the Y lead screw sliding block II (6-7-2) and is fixed with the support plate (6-7-14), the mounting plate (6-7-10) and the support plate (6-7-14) of the speed reducer are fixed on the sliding plate (6-6), the U-shaped mounting plate (6-7-4) is fixed on the inner side of the U-shaped support (6-7-1), the output shaft of the speed reducer X (6-7-5) passes through the through hole of the U-shaped mounting plate (6-7-4) and is fixed with the through hole, the servo motor X (6-7-3) is fixedly connected with the input end of the speed reducer X (6-7-5), one end of the Z lead screw (6-7-7) is connected with the output shaft of the speed reducer X (6-7-5), the other end of the Z lead screw (6-7-7) passes through the Z lead screw sliding block (6-7-6) and is connected with the U-shaped support (6-7-1), one end of a Z guide rod (6-7-8) is connected with the U-shaped mounting plate (6-7-4), and the other end of the Z lead screw sliding block (6-7-6) penetrates through the Z lead screw sliding block (6-7-6) to be connected with the U-shaped support (6-7-1).
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CN112297207B (en) * 2020-10-27 2022-03-15 张家界中美新材料科技有限公司 Quartz stone plate forming equipment of gradual skinning
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EP2737980A1 (en) * 2012-12-03 2014-06-04 Kabushiki Kaisha Yaskawa Denki Robot disposed adjacent to a conveyance path and retractable in a parking position
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