CN113072297B - Automatic workpiece rotating frame equipment - Google Patents

Abstract

The invention discloses automatic workpiece rotating frame equipment which comprises a frame, a controller, a feeding manipulator, a secondary positioning mechanism, an inserting manipulator, a positioning jig row, an industrial camera, an XY axis module and a material tray conveying assembly line. The material tray conveying assembly line, the secondary positioning mechanism and the positioning jig row are sequentially arranged along the X-axis direction, the feeding manipulator transversely crosses over the material tray conveying assembly line and the secondary positioning mechanism along the X-axis direction, and the inserting manipulator is arranged in an included angle space between the positioning jig row and the secondary positioning mechanism; the industrial camera photographs all the inserting space units in the stiffening frame clamped by each positioning jig from above under the drive of the XY axis module to obtain coordinate position information, and the inserting manipulator takes out the workpiece positioned by the secondary positioning mechanism according to the coordinate position information, overturns by a preset angle and then inserts the workpiece into the inserting space units; so as to reduce the number of production personnel, reduce the labor intensity of the personnel, and improve the quality and the production efficiency of the product.

Description

Automatic workpiece rotating frame equipment

Technical Field

The invention relates to the field of realizing automatic workpiece rotating frames, in particular to automatic workpiece rotating frame equipment.

Background

With the rapid development and mass application of electronic products, the requirements on the efficiency and quality of glass production are also increasing. In the hardening and strengthening process of glass, conventionally, a worker puts glass which has been arranged one by one on a material tray in a hardening frame, and then moves the hardening frame together with the glass on the hardening frame to a hardening and strengthening device for hardening and strengthening treatment.

The material tray is used for sorting one piece of glass processed by the glass processing equipment and is limited by the processing procedure, so that the glass processing equipment can only place one piece of glass processed by the glass processing equipment in the material tray horizontally; meanwhile, because the hardening and strengthening process is constrained, the glass is required to be vertically placed, and a piece of glass taken out from the material tray is required to be put on the hardening frame after being turned over.

However, a piece of glass horizontally placed on the material tray is manually inserted and installed on the stiffening frame in a vertical placement manner, so that the number of required production personnel is large, the burden of operators is increased, and the production efficiency is reduced.

Therefore, there is a need for an automatic workpiece turret apparatus that reduces the number of production personnel, reduces personnel effort, and improves product quality and productivity.

Disclosure of Invention

The invention aims to provide automatic workpiece rotating frame equipment capable of reducing the number of production personnel, reducing the labor intensity of the personnel and improving the product quality and the production efficiency.

In order to achieve the above purpose, the automatic workpiece rotating frame equipment comprises a frame, a controller arranged on the frame, and feeding manipulators, a secondary positioning mechanism, an inserting manipulator, a positioning jig row, an industrial camera, an XY axis module and a tray conveying assembly line which are electrically connected with the controller. The material tray conveying assembly line is arranged side by side with the side part of the frame along the X-axis direction, the material tray conveying assembly line, the secondary positioning mechanism and the positioning jig row are sequentially arranged along the X-axis direction, the secondary positioning mechanism and the positioning jig row are arranged on the frame, the secondary positioning mechanism is spaced from the positioning jig row along the X-axis direction, and the secondary positioning mechanism is also staggered with the positioning jig row along the Y-axis direction; the feeding manipulator stretches across the upper parts of the tray conveying assembly line and the secondary positioning mechanism along the X-axis direction, and the feeding manipulator takes out workpieces on a tray conveyed by the tray conveying assembly line and places the workpieces in the secondary positioning mechanism; the inserting manipulator is arranged on the frame and is positioned in an included angle space between the positioning jig row and the secondary positioning mechanism, the positioning jig row at least comprises two positioning jigs for clamping the hardening frame, the XY axis module is arranged on the frame and is positioned above the hardening frame clamped by the positioning jigs, the industrial camera is arranged at the output end of the XY axis module, and the industrial camera photographs all inserting space units in the hardening frame clamped by each positioning jig from the upper side under the driving of the XY axis module; the controller processes the pictures photographed by the industrial camera to obtain the coordinate position information of any inserting space unit of the stiffening frame clamped by each positioning jig, and the inserting manipulator takes out the workpiece positioned by the secondary positioning mechanism according to the coordinate position information, overturns a preset angle and then inserts the workpiece into the inserting space unit.

Preferably, the tray conveying assembly line comprises a feeding end for batch feeding of the feed tray, a feeding end for batch feeding of the feed tray and an intermediate conveying line for enabling the feed tray to sequentially convey forward along the Y axis, upward along the Z axis and reversely along the Y axis, and the feeding end is located right above the feeding end.

Preferably, the controller is located at a side portion of the frame, and the controller is further arranged at the opposite side of the tray conveying assembly line.

Preferably, the feeding manipulator comprises a feeding frame body, an X-axis sliding power assembly, a Y-axis sliding power assembly and a material taking module, the feeding frame body stretches across the upper parts of the feeding tray conveying assembly line and the secondary positioning mechanism along the X-axis direction, X-axis guide rails are respectively arranged at the top and the side parts of the feeding frame body, the X-axis sliding power assembly stretches across the upper part of the feeding frame body along the Y-axis direction, X-axis sliding blocks which are in sliding fit with the X-axis guide rails at the top and the side parts of the feeding frame body are respectively arranged on the X-axis sliding power assembly, the X-axis sliding power assembly is arranged on the feeding frame body and drives the X-axis sliding blocks to slide along the Y-axis direction, the Y-axis sliding power assembly is arranged on the X-axis sliding blocks and drives the Y-axis sliding blocks to slide, and the material taking module is arranged on the Y-axis sliding blocks.

Preferably, the material taking module comprises a Z-axis driver, a Z-axis lifting frame, a first rotary driver, a second rotary driver, a first vacuum adsorption head and a second vacuum adsorption head, wherein the Z-axis driver is installed on the Y-axis sliding frame, the Z-axis lifting frame is installed on the Z-axis driver, the first rotary driver and the second rotary driver are respectively installed on the Z-axis lifting frame and are mutually spaced and aligned along the Y-axis direction, the first vacuum adsorption head and the second vacuum adsorption head are arranged along the Z-axis direction, the first vacuum adsorption head is located under the first rotary driver and is installed at the output end of the first rotary driver, and the second vacuum adsorption head is located under the second rotary driver and is installed at the output end of the second rotary driver.

Preferably, the secondary positioning mechanism comprises a positioning frame body, a first positioning unit, a second positioning unit and a Y-axis driving assembly, wherein the positioning frame body is arranged along the Y-axis direction, the first positioning unit and the second positioning unit are aligned along the Y-axis direction, the first positioning unit is mounted on the positioning frame body, the Y-axis driving assembly is mounted on the positioning frame body, the second positioning unit is mounted on the output end of the Y-axis driving assembly, and the Y-axis driving assembly drives the second positioning unit to slide close to or far away from the first positioning unit.

Preferably, the positioning jig comprises a Y-axis driver, a resetting piece, a base below, a middle translation frame and a bearing positioning table above the middle translation frame and used for bearing the stiffening frame, the translation frame is slidingly arranged on the base along the Y-axis direction in a linear sliding manner and has an extending position which is slidingly extended relative to the base and a retracting position which is slidingly retracted relative to the base, the bearing positioning table is slidingly arranged on the translation frame along the Y-axis direction in a linear sliding manner, the bearing positioning table has a pulling-out position which is slidingly extended relative to the translation frame and a pushing-in position which is slidingly retracted relative to the translation frame, the sliding extending directions of the bearing positioning table and the translation frame are the same, the Y-axis driver is arranged between the base and the translation frame and drives the translation frame to switch between the extending position and the retracting position, and the resetting piece is arranged between the translation frame and the bearing positioning table and constantly has a trend of driving the bearing positioning table to slide towards the pushing-in position.

Preferably, the translation frame and the base are separated from each other in the Z-axis direction and enclose a lower gap, a first lower buffer member, a second lower buffer member and a plurality of linear guide rail assemblies spaced from each other along the X-axis direction are arranged in the lower gap, each linear guide rail assembly comprises a first linear guide member assembled on the translation frame and a second linear guide member assembled on the base, the first linear guide member and the second linear guide member are in sliding fit with each other, the Y-axis driver is positioned in the lower gap, the Y-axis driver is positioned between two adjacent linear guide rail assemblies along the X-axis direction, the first lower buffer member and the second lower buffer member are separated from each other along the Y-axis direction, the first lower buffer member is in abutting connection with the translation frame when being switched to the retracted position, and the second lower buffer member is in abutting connection with the translation frame when being switched to the extended position.

Preferably, the reset member comprises a first magnetic member and a second magnetic member magnetically attracted to each other and aligned to each other along the Y-axis direction, the first magnetic member is mounted on the carrying and positioning table, the second magnetic member is mounted on the translation frame, the first magnetic member is separated from the second magnetic member when the carrying and positioning table is located at the pull-out position, and the first magnetic member is blocked from each other when the carrying and positioning table is located at the push-in position.

Preferably, the XY axis module comprises a first transfer module installed on the top of the frame from below and a second transfer module installed on the output end of the first transfer module, the industrial camera is installed on the output end of the second transfer module, and the industrial camera slides along the XY axis under the coordinated driving of the first transfer module and the second transfer module.

Compared with the prior art, the material tray conveying assembly line is arranged side by side with the side part of the frame along the X-axis direction, the material tray conveying assembly line, the secondary positioning mechanism and the positioning jig row are sequentially arranged along the X-axis direction, the secondary positioning mechanism is separated from the positioning jig row along the X-axis direction, the secondary positioning mechanism is also staggered with the positioning jig row along the Y-axis direction, the feeding manipulator transversely spans over the material tray conveying assembly line and the secondary positioning mechanism along the X-axis direction, the inserting manipulator is positioned in the included angle space between the positioning jig row and the secondary positioning mechanism, the positioning jig row at least comprises two positioning jigs for clamping the hardening frame, the XY axis module is positioned above the hardening frame clamped by the positioning jig, and the industrial camera is arranged at the output end of the XY axis module, so that the material tray conveying assembly line, the secondary positioning mechanism, the positioning jig row, the feeding manipulator, the inserting manipulator, the camera and the XY axis module are arranged on the frame reasonably and compactly, and the mutual actions are more direct and coherent, thereby creating conditions for improving the speed of the automatic workpiece rotating frame; therefore, under the control of the controller, workpieces in the trays conveyed by the tray conveying assembly line are taken out and put into the secondary positioning mechanism by the feeding manipulator, the workpieces put into the feeding manipulator are subjected to secondary positioning by the secondary positioning mechanism, the workpieces positioned by the secondary positioning mechanism are taken out by the inserting manipulator according to the coordinate position information of any inserting space unit of the stiffening frame clamped by each positioning jig through processing pictures photographed by the industrial camera by the controller, and then are inserted into the inserting space units of the stiffening frame clamped by each positioning jig after being turned to a preset angle, so that the number of production personnel can be reduced, the labor intensity of personnel can be reduced, and the product quality and the production efficiency can be improved.

Drawings

Fig. 1 is a schematic perspective view of an automatic workpiece turret apparatus of the present invention.

Fig. 2 is a schematic perspective view of the workpiece automatic turret apparatus shown in fig. 1 at another angle.

Fig. 3 is a schematic perspective view of the automatic workpiece turret apparatus of fig. 1 after concealing the tray transfer line and a portion of the frame.

Fig. 4 is a schematic perspective view of a loading manipulator in the workpiece automatic turret apparatus of the present invention.

Fig. 5 is a schematic perspective view of a material taking module in the feeding manipulator shown in fig. 4.

Fig. 6 is a schematic perspective view of a secondary positioning mechanism in the workpiece automatic turret apparatus of the present invention.

Fig. 7 is a schematic perspective view of an XY axis module in the workpiece automatic turret apparatus of the present invention when it is mounted with an industrial camera.

Fig. 8 is a schematic perspective view of a positioning jig row in the workpiece automatic turret apparatus of the present invention.

Fig. 9 is a schematic perspective exploded view of the positioning fixture shown in fig. 8.

Fig. 10 is a schematic view of the positioning fixture shown in fig. 9 at another angle.

Fig. 11 is a schematic perspective view of a stiffening frame incorporating glass in a vertical arrangement.

Fig. 12 is a schematic plan view of the positioning jig shown in fig. 8 when the translation stage is in the retracted position.

Fig. 13 is a schematic plan view of the positioning fixture shown in fig. 12 when the translation stage is in the extended position and the carrying positioning stage is in the pushed-in position.

Fig. 14 is a schematic plan view of the positioning fixture shown in fig. 13 when the carrying positioning table is in the pulled-out position.

Fig. 15 is a schematic perspective view of a tray conveying line in the automatic workpiece turret apparatus of the present invention.

Detailed Description

In order to describe the technical content and constructional features of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.

Referring to fig. 1 to 3, the automatic workpiece turret apparatus 100 of the present invention includes a frame 80a, a controller 80b mounted on the frame 80a, and a loading manipulator 10, a secondary positioning mechanism 20, an inserting manipulator 30, a positioning jig row 4, an industrial camera 50, an XY axis module 60, and a tray conveying line 90 each electrically connected to the controller 80 b. The tray conveying assembly line 90 is parallel to the side 81 of the frame 80a along the X-axis direction, so that the gap between the tray conveying assembly line 90 and the frame 81 is smaller, so that the tray conveying assembly line 90 and the frame 81 are more compact, and preferably, the frame 80a has a frame-shaped structure, but not limited thereto; the tray conveying assembly line 90, the secondary positioning mechanism 20 and the positioning jig row 4 are sequentially arranged along the X-axis direction, the secondary positioning mechanism 20 and the positioning jig row 4 are arranged on the frame 80a, and the frame 80a provides a fixed supporting function for the secondary positioning mechanism 20 and the positioning jig row 4; the secondary positioning mechanism 20 is spaced from the positioning jig row 4 along the X-axis direction, the secondary positioning mechanism 20 is also staggered from the positioning jig row 4 along the Y-axis direction, as shown in fig. 3, and a space is provided for mounting the inserting manipulator 30. The feeding manipulator 10 spans over both the tray conveying assembly line 90 and the secondary positioning mechanism 20 along the X-axis direction, the feeding manipulator 10 takes out the glass 220 on the tray 230 conveyed by the tray conveying assembly line 90 and puts the glass 220 into the secondary positioning mechanism 20, the secondary positioning mechanism 20 positions the glass 220, preferably, the feeding manipulator 10 takes out two pieces of glass 220 from the tray 230 in a primary feeding process, and correspondingly, the secondary positioning mechanism 20 can position the two pieces of glass 220 at one time, but the invention is not limited thereto. The inserting manipulator 30 is mounted on the frame 80a, the frame 80a provides supporting and fixing functions for the inserting manipulator 30, and the inserting manipulator 30 is located in the included angle space 70 between the positioning jig row 4 and the secondary positioning mechanism 20. The positioning jig row 4 comprises two positioning jigs 40 for clamping the hardening frames 210, so that when the hardening frames 210 clamped by one positioning jig 40 are filled with the glass 220, the glass 220 is continuously inserted into the hardening frames 210 clamped by the other positioning jig 40 under the condition of no shutdown, and therefore, the hardening frames 210 filled with the glass 220 can be conveniently removed and the upper space hardening frames 210 can be conveniently reinstalled, and of course, the number of the positioning jigs 40 can be three or four according to actual needs, so that the invention is not limited. The XY axis module 60 is mounted on the frame 80a and located above the hardening frame 210 clamped by the positioning jig 40, the industrial camera 50 is mounted on the output end of the XY axis module 60, and the industrial camera 50 photographs all the plug-in space units 211 (see fig. 11) in the hardening frame 210 clamped by each positioning jig 40 from above under the driving of the XY axis module 60. The controller 80b processes the pictures photographed by the industrial camera 50 to obtain the coordinate position information of any one of the inserting space units 211 of the stiffening frame 210 clamped by each positioning jig 40, and the inserting manipulator 30 takes out the glass 220 positioned by the secondary positioning mechanism 20 according to the coordinate position information and turns over a preset angle (for example, but not limited to, 90 degrees) and then inserts the glass 220 into the inserting space unit 211, so that the glass 220 horizontally placed in the tray 230 is turned over to be vertically placed and then inserted into the inserting space unit 211. Specifically, in fig. 1 and 2, the controller 80b is located at a side 81 of the rack 80a, and the controller 80b is also disposed on the opposite side to the tray conveying line 90, that is, the side 81 (see right side of fig. 1) of the rack 80a where the controller 80b is located and the side 81 (see front side of fig. 1) of the rack 80a where the tray conveying line 90 is located are disposed on the opposite side, so that the operation of an operator is facilitated. When the secondary positioning mechanism 20 positions the two pieces of glass 220 at a time, the insertion robot 30 takes out and inserts the two pieces of glass 220 on the secondary positioning mechanism 20 into the two insertion space units 221 of the stiffening frame 210 at a time. More specifically, the following is:

as shown in fig. 8 to 10, the positioning jig 40 includes a Y-axis driver 41, a reset member 42, a lower base 43, a middle translation frame 44, and an upper bearing positioning table 45 for bearing the stiffening frame 210; the translation frame 44 is slidingly arranged on the base 43 in a linear sliding manner along the Y-axis direction, so that the translation frame 44 has an extension position (state see fig. 13) which is slidingly extended relative to the base 43 and a retraction position (state see fig. 12) which is slidingly retracted relative to the base 43, the bearing positioning table 45 is slidingly arranged on the translation frame 44 in a linear sliding manner along the Y-axis direction, so that the bearing positioning table 45 has a pull-out position (state see fig. 14) which is slidingly extended relative to the translation frame 44 and a push-in position (state see fig. 13) which is slidingly retracted relative to the translation frame 44, and the sliding extension directions of the bearing positioning table 45 and the translation frame 44 are the same, namely, the bearing positioning table 45 and the translation frame 44 are slidingly extended in the same direction or slidingly retracted in the same direction; the Y-axis driver 41 is arranged between the base 43 and the translation frame 44 and drives the translation frame 44 to switch between an extending position and a retracting position so as to meet the power requirement of the translation frame 44 between the extending position and the retracting position automatically; the reset piece 42 is arranged between the translation frame 44 and the bearing positioning table 45 and has a constant trend of driving the bearing positioning table 45 to slide towards the pushing position, so that the reset piece 42 assists the bearing positioning table 45 to reset towards the pushing position. In the positioning jig 40, when the stiffening frame 210 is taken out, the translation frame 44 is driven by the Y-axis driver 41 to slide to the extended position along the direction away from the insertion manipulator 30, and the state is shown in fig. 13, so that the carrying positioning table 45 on the translation frame 44 approaches to the operator; then, the operator manually pulls out the carrying and positioning table 45 to slide along the direction away from the inserting and mounting manipulator 30, so that the carrying and positioning table 45 slides to the pulled-out position, as shown in fig. 14, so that the carrying and positioning table 45 is at the maximum extending position relative to the base 43, and the carrying and positioning table 45 extends out of the frame 80a, thereby facilitating the operations of removing and mounting the stiffening frame 210 on the carrying and positioning table 45. In addition, regarding the more detailed structure of the positioning jig 40, see the following description:

as shown in fig. 8, 10, 12, 13 and 14, the translation frame 44 and the base 43 are spaced apart from each other in the Z-axis direction and define a lower gap 461, and a first lower buffer 463, a second lower buffer 463 and two linear guide assemblies 462 spaced apart from each other in the X-axis direction are disposed in the lower gap 461. Each linear guide assembly 462 includes a first linear guide 4621 mounted on the translation frame 44 and a second linear guide 4622 mounted on the base 43, the first linear guide 4621 and the second linear guide 4622 are slidably engaged with each other, the Y-axis driver 41 is located in the lower gap 461, and the Y-axis driver 41 is located between two adjacent linear guide assemblies 462 along the X-axis direction; the design makes the sliding connection between the translation frame 44 and the base 43 more reliable, and makes the arrangement among the Y-axis driver 41, the base 43, the translation frame 44 and the linear guide rail assembly 462 more reasonable, so that the Y-axis driver 41 can drive the translation frame 44 to switch between the extending position and the retracting position more flexibly and smoothly under the cooperation of the linear guide rail assembly 462. Meanwhile, the first lower buffer 463 and the second lower buffer 464 are spaced apart from each other in the Y-axis direction, and the first lower buffer 463 abuts against the translation frame 44 when switching to the retracted position, the state being shown in fig. 12; the second lower buffer member 464 abuts against the translation frame 44 when being switched to the extended position, as shown in fig. 13; this arrangement prevents hard collision between the translation frame 44 and the base 43, thereby ensuring smooth reliability of switching of the translation frame 44 between the extended position and the retracted position. More specifically, in fig. 10, the bottom of the translation frame 44 is provided with a first stop 441 for abutting the first lower buffer 463 when the translation frame 44 slides to the retracted position and a second stop 442 for abutting the second lower buffer 464 when the translation frame 44 slides to the extended position, the first stop 441 and the second stop 442 being located in the lower gap 461. For example, the Y-axis driver 41 is a cylinder, an oil cylinder or other linear driver, and when the cylinder is selected, the cylinder may be a rodless cylinder, but not limited thereto; the first linear guiding element 4621 is a slider, and correspondingly, the second linear guiding element 4622 is a guide rail, and of course, according to actual needs, the first linear guiding element 4621 may be a guide rail and the second linear guiding element 4622 is a slider, so the present invention is not limited thereto. In addition, the first lower buffer 463 and the second buffer 464 may be spring buffers or hydraulic buffers, but are not limited thereto. It is to be understood that the linear guide assembly 462 may be three or four different types according to actual needs, and is not limited thereto.

As shown in fig. 8 and 9, the reset member 42 includes a first magnetic member 421 and a second magnetic member 422 magnetically attracted to each other and aligned with each other in the Y-axis direction. The first magnetic piece 421 is mounted on the carrying and positioning table 45, the second magnetic piece 422 is mounted on the translation frame 44, and the first magnetic piece 421 is separated from the second magnetic piece 422 when the carrying and positioning table 45 is located at the pull-out position, so that the carrying and positioning table 45 cannot be automatically switched to the push-in position through the magnetic attraction between the first magnetic piece 421 and the second magnetic piece 422, and an operator does not need to keep the force application operation of pulling out the carrying and positioning table 45 any more to release the hands of the operator, so that the operator can conveniently take down the stiffening frame 210 with the glass 220 inserted on the carrying and positioning table 45 or put the empty stiffening frame 210 into the carrying and positioning table 45; the first magnetic member 421 and the second magnetic member 422 abut against each other when the carrying and positioning table 45 is located at the pushing position, so as to prevent accidental cluttering of the carrying and positioning table 45 located at the pushing position, and ensure stability of the carrying and positioning table 45 located at the pushing position; of course, according to practical needs, the restoring member 42 may be a telescopic spring, and one end of the telescopic spring is assembled to the translation frame 44 and the other end is assembled to the bearing positioning table 45, which is not limited thereto. Specifically, in fig. 8, the carrying and positioning stage 45 and the translation frame 44 are spaced apart from each other in the Z-axis direction and define an upper gap 471, and a linear guide assembly 472 is disposed in the upper gap 471, and the linear guide assembly 472 includes a first linear guide 4721 and a second linear guide 4722 that are slidably engaged with each other. The first linear guide 4721 is installed on the bearing positioning table 45, the second linear guide 4722 is installed on the translation frame 44, and the purpose of the design is to make the structure among the bearing positioning table 45, the translation frame 44 and the linear guide assembly 472 more compact, and make the telescopic sliding of the bearing positioning table 45 relative to the translation frame 44 more flexible and smooth. More specifically, in fig. 9, the number of the linear guide assemblies 472 is two, the two linear guide assemblies 472 are spaced apart from each other in the X-axis direction, and the restoring member 42 is located between the adjacent two linear guide assemblies 472 in the X-axis direction to ensure the rationality of the arrangement between the restoring member 42 and the linear guide assemblies 472; preferably, the first linear guide 4721 and the second linear guide 4722 are disposed vertically, but not limited thereto. Wherein, to prevent hard collision when the carrying and positioning table 45 is switched to the pushing position, the positioning jig 40 further includes an upper buffer member 473, a mounting bracket 474 is assembled above the translation frame 44, the upper buffer member 473 and the second magnetic member 422 are simultaneously assembled on the mounting bracket 474, the first magnetic member 421 is located at one side (e.g., left side in fig. 8) of the carrying and positioning table 45 facing the mounting bracket 474, and a handle 477 is provided at the opposite side (e.g., right side in fig. 8) of the carrying and positioning table 45 to facilitate the pulling and pushing operation of the carrying and positioning table 45 by an operator; the first magnetic member 421 abuts against the upper buffer 473 when the loading and positioning table 45 is switched to the pushing position. For example, the upper buffer 473 is a spring buffer or a hydraulic buffer, but not limited thereto.

As shown in fig. 8 and 9, the top of the loading and positioning table 45 has a positioning area 451 for positioning the stiffening frame 210, the bottom of the loading and positioning table 45 is provided with a pressing driver 475, the output end of the pressing driver 475 is provided with a lateral pressing block 476, and the lateral pressing block 476 selectively presses or releases the stiffening frame 210 in the pressing and positioning area 451 under the driving of the pressing driver 475 so as to ensure that the stiffening frame 210 maintains a stable position when the glass 220 (see fig. 6) is loaded. Specifically, the compaction driver 475 drives the lateral pressing block 476 to perform loose sliding along the Y-axis direction, and the lateral pressing block 476 is located outside the left side of the translation frame 44, so as to avoid the sliding of the lateral pressing block 476 by the handle 477. For example, the hold-down drive 475 is a pneumatic cylinder, oil cylinder, or other linear drive.

As shown in fig. 3 to 5, the loading manipulator 10 includes a loading frame 11, an X-axis carriage 12, an X-axis sliding power assembly 13, a Y-axis carriage 14, a Y-axis sliding power assembly 15, and a material taking module 16. The upper material frame 11 spans over the two secondary positioning mechanisms 20 and the material tray conveying assembly line 90 along the X-axis direction, specifically spans over the two secondary positioning mechanisms 20 and the middle assembly line 93, the top and the side parts of the upper material frame 11 are respectively provided with an X-axis guide rail 17, the X-axis sliding frame 12 spans over the upper material frame 11 along the Y-axis direction, and the X-axis sliding frame 12 is respectively provided with an X-axis sliding block (not shown) in sliding fit with the X-axis guide rails 17 at the top and the side parts of the upper material frame 11 so as to be in sliding connection with the X-axis sliding frame 12 from the top and the side parts of the upper material frame 11, thereby effectively reducing the falling of the X-axis sliding frame 12 relative to the suspended part of the upper material frame 11 extending along the Y-axis direction; the X-axis sliding power component 13 is arranged on the feeding frame 11 and drives the X-axis sliding frame 12 to slide so as to meet the requirement of reciprocating sliding of the X-axis sliding frame 12 along the X-axis direction; the Y-axis sliding frame 14 is arranged on the X-axis sliding frame 12 in a sliding manner along the Y-axis direction, and the Y-axis sliding power component 15 is arranged on the X-axis sliding frame 12 and drives the Y-axis sliding frame 14 to slide so as to meet the requirement of reciprocating sliding of the Y-axis sliding frame 14 along the Y-axis direction; the material taking module 16 is arranged on the Y-axis sliding frame 14; therefore, in the process of taking and placing materials, the movement requirement of the material taking module 16 for XY axis sliding is met by means of the cooperation of the X-axis sliding power assembly 12, the X-axis sliding power assembly 13, the Y-axis sliding power assembly 14 and the Y-axis sliding power assembly 15; the feeding frame 11 spans over both the tray conveying line 90 and the secondary positioning mechanism 20 along the X-axis direction, so that the efficiency of the feeding manipulator 10 for transferring the glass 220 in the tray 230 conveyed by the tray conveying line 90 to the secondary positioning mechanism 20 is improved. Specifically, in fig. 4 and 5, the material taking module 16 includes a Z-axis driver 161, a Z-axis lift 162, a first rotary driver 163, a second rotary driver 164, a first vacuum suction head 165, and a second vacuum suction head 166; the Z-axis driver 161 is mounted on the Y-axis carriage 14, the Z-axis lifter 162 is mounted on the Z-axis driver 161, and preferably, the output end of the Z-axis driver 161 is disposed downward, and the Z-axis lifter 162 is located directly under the Z-axis driver 161, so that the connection between the Z-axis lifter 162 and the Z-axis driver 161 is more compact, but not limited thereto. The first rotary driver 163 and the second rotary driver 164 are respectively mounted on the Z-axis lifting frame 162 and are spaced and aligned with each other along the Y-axis direction, and the first rotary driver 163 and the second rotary driver 164 are driven by the Z-axis lifting frame 162 to lift together; the first vacuum adsorption head 163 and the second vacuum adsorption head 164 are arranged along the Z-axis direction, the first vacuum adsorption head 165 is located under the first rotary driver 163 and is mounted at the output end 1631 of the first rotary driver 163, the second vacuum adsorption head 166 is located under the second rotary driver 164 and is mounted at the output end 1641 of the second rotary driver 164, the first rotary driver 163 drives the glass 220 adsorbed by the first vacuum adsorption head 165 and the second rotary driver 164 drives the glass 220 adsorbed by the second vacuum adsorption head 166 to rotate in the horizontal direction, and angle adjustment of the glass 220 in the horizontal direction is achieved. For example, the Z-axis drive 161 is a cylinder, ram, or other linear drive; the first rotary driver 163 and the second rotary driver 164 are rotary cylinders or rotary cylinders to realize rapid adjustment of the glass 220 in the horizontal direction, but not limited thereto. It should be noted that, the structures of the X-axis sliding power assembly 13 and the Y-axis sliding power assembly 15 may be composed of a motor, a screw rod and a nut, or may be composed of a motor and a belt transmission, but these are structures well known in the art, and thus will not be described herein. In addition, by means of the first vacuum adsorption head 165 and the second vacuum adsorption head 166, the material taking module 16 can complete the feeding of two pieces of glass 220 at a time.

As shown in fig. 3 and 6, the secondary positioning mechanism 20 includes a positioning frame 21, a first positioning unit 22, a second positioning unit 23, and a Y-axis driving assembly 24. The positioning frame body 21 is arranged along the Y-axis direction, the first positioning unit 22 and the second positioning unit 23 are aligned along the Y-axis direction, the first positioning unit 22 is arranged on the positioning frame body 21, the Y-axis driving assembly 24 is arranged on the positioning frame body 21, the second positioning unit 23 is arranged at the output end of the Y-axis driving assembly 24, and the Y-axis driving assembly 24 drives the second positioning unit 23 to slide close to or far from the first positioning unit 22, so that the secondary positioning mechanism 20 can finish positioning of two glasses 220 at one time; meanwhile, by means of the Y-axis driving assembly 24, the distance between the first positioning unit 22 and the second positioning unit 23 can be flexibly adjusted, so that the adaptability is better. It should be noted that the structure of the Y-axis driving assembly 24 may be formed by a motor, a screw and a nut, or may be formed by a motor and a belt transmission, but this is a structure well known in the art, and thus will not be described herein.

As shown in fig. 3 and 7, the XY axis module 60 includes a first transfer module 61 mounted on the top 82 of the frame 80a from below and a second transfer module 62 mounted on the output end of the first transfer module 61. The industrial camera 50 is installed at the output end of the second transferring module 62, and the industrial camera 50 slides along the XY axis under the coordinated driving of the first transferring module 61 and the second transferring module 62, so as to meet the requirement of the industrial camera 50 for sliding along the XY axis. For example, the industrial camera 50 is a CCD camera, but not limited thereto. The first transfer module 61 and the second transfer module 62 may be configured by a motor, a screw and a nut, or may be configured by a motor and a belt drive, but are well known in the art, and thus will not be described in detail herein.

As shown in fig. 11, the stiffening frame 210 includes a rectangular outer frame 212, and an upper row of toothed bars 213 and a lower row of toothed bars 214 arranged in the rectangular outer frame 212; the upper toothed bars 2131 of the upper toothed bars 213 are offset from the lower toothed bars 2141 of the lower toothed bars 214, such that one lower toothed bar 2141 of the lower toothed bars 214 is located between two adjacent upper toothed bars 2131 of the upper toothed bars 213, and thus, the two adjacent upper toothed bars 2131 and one lower toothed bar 2141 together enclose a plurality of plug-in space units 211, as shown in fig. 11.

As shown in fig. 1, 2 and 15, the tray conveying line 90 includes a discharging end 91 for batch discharging of the feed tray 230, a feeding end 92 for batch feeding of the feed tray 230, and an intermediate conveying line 93 for sequentially conveying the feed tray 230 forward along the Y-axis, downward along the Z-axis and backward along the Y-axis, wherein the discharging end 91 is located directly above the feeding end 93, so that an operator can place the tray 230 filled with glass 220 at the feeding end 92 below the discharging end 91, and an operator can take out the empty tray 230 from the discharging end 91 above the feeding end 92, which is more labor-saving, thereby facilitating batch feeding and discharging operations of the tray 230 by the operator.

In fig. 1, when the frame 80a is in a frame structure, the insertion manipulator 30, the secondary positioning mechanism 20, the feeding manipulator 10 and the positioning jig row 4 are respectively mounted at the middle of the frame 80a, so that the XY axis module 60 is mounted at the top 82 of the frame 80a from below and is located above the stiffening frame 210 clamped by the positioning jig 4.

The working principle of the automatic workpiece rotating stand device of the invention is described with reference to the accompanying drawings: firstly, the feeding manipulator 10 takes two pieces of glass 220 in a tray 230 conveyed by the tray conveying assembly line 90 away at a time and puts the two pieces of glass 220 into the secondary positioning mechanism 20, and the secondary positioning mechanism 20 positions the two pieces of glass 220 at a time; then, the two pieces of glass 220 positioned by the secondary positioning mechanism 20 are grabbed away by the inserting manipulator 30 at one time, all inserting space units 211 in the stiffening frame 210 clamped by each positioning jig 40 are shot by the industrial camera 50 under the drive of the XY axis module 60, the shot pictures of the industrial camera 50 are processed by the controller to obtain the coordinate position of each inserting space unit 211, the coordinate position information is transmitted to the inserting manipulator 30 by the controller, and the two grabbed pieces of glass 220 are turned to a preset angle by the inserting manipulator 30 according to the coordinate position information and then are inserted into the inserting space units 211; the above steps are repeated until any one of the inserting space units 211 in the stiffening frame 210 clamped by one positioning jig 40 is inserted with the glass 220; when the stiffening frame 210 clamped by one positioning jig 40 is fully inserted with the glass 220, the stiffening frame 210 clamped by the positioning jig 40 can be taken out and reloaded into the empty stiffening frame 210, and the inserting and loading manipulator 30 continuously inserts the glass 220 into the stiffening frame 210 clamped by the other positioning jig 40, so that the purpose of automatically inserting the glass 220 is continuously performed without stopping the machine.

Compared with the prior art, as the tray conveying assembly line 90 is arranged side by side with the side 81 of the frame 80a along the X-axis direction, the tray conveying assembly line 90, the secondary positioning mechanism 20 and the positioning jig row 4 are sequentially arranged along the X-axis direction, the secondary positioning mechanism 20 is spaced from the positioning jig row 4 along the X-axis direction, the secondary positioning mechanism 20 is also staggered from the positioning jig row 4 along the Y-axis direction, the feeding manipulator 10 is transversely arranged above the tray conveying assembly line 90 and the secondary positioning mechanism 20 along the X-axis direction, the inserting manipulator 30 is positioned in the included angle space 70 between the positioning jig row 4 and the secondary positioning mechanism 20, the positioning jig row 4 at least comprises two positioning jigs 40 for clamping the hardening frame 210, the XY-axis module 60 is positioned above the hardening frame 210 clamped by the positioning jig 40, and the industrial camera 50 is arranged at the output end of the XY-axis module 60, so that the tray conveying assembly line 90, the secondary positioning mechanism 20, the positioning jig row 4, the feeding manipulator 10, the industrial camera 50 and the XY-axis module 60 are arranged on the frame 80 more reasonably and the frame 80 are more compact, and the movement speed is improved; therefore, under the control of the controller 80b, the feeding manipulator 10 takes out the glass 220 in the tray 230 conveyed by the tray conveying line 90 and puts the glass 220 into the secondary positioning mechanism 20, the secondary positioning mechanism 20 performs secondary positioning on the glass 220 put into the feeding manipulator 10, the inserting manipulator 30 processes the pictures photographed by the industrial camera 50 according to the controller 80b to obtain the coordinate position information of any one of the inserting space units 211 of the stiffening frame 210 clamped by each positioning jig 40, and then takes out the glass 220 positioned by the secondary positioning mechanism 20, and after turning to a preset angle, the glass is inserted into the inserting space unit 211 of the stiffening frame 210 clamped by each positioning jig 40, thereby reducing the number of production personnel, reducing the labor intensity of personnel, and improving the product quality and the production efficiency.

In the present embodiment, glass 220 is described as a preferred wristwatch front cover glass, but the types of workpieces are not limited thereto. The cartridge robot 30 is preferably a six-axis robot.

The foregoing disclosure is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.

Claims (10)

1. The automatic workpiece rotating frame equipment is characterized by comprising a frame, a controller arranged on the frame, a feeding manipulator, a secondary positioning mechanism, an inserting manipulator, a positioning jig row, an industrial camera, an XY axis module and a tray conveying assembly line which are electrically connected with the controller, wherein the tray conveying assembly line is arranged side by side with the side part of the frame along the X axis direction, the tray conveying assembly line, the secondary positioning mechanism and the positioning jig row are sequentially arranged along the X axis direction, the secondary positioning mechanism and the positioning jig row are arranged on the frame, the secondary positioning mechanism is separated from the positioning jig row along the X axis direction, the secondary positioning mechanism is also staggered with the positioning jig row along the Y axis direction, the feeding manipulator stretches across the upper parts of the tray conveying assembly line and the secondary positioning mechanism along the X-axis direction, the feeding manipulator takes out workpieces on trays conveyed by the tray conveying assembly line and puts the workpieces into the secondary positioning mechanism, the inserting manipulator is arranged on the frame and is positioned in an included angle space between the positioning jig row and the secondary positioning mechanism, the positioning jig row at least comprises two positioning jigs for clamping a hardening frame, the XY axis module is arranged on the frame and is positioned above the hardening frame clamped by the positioning jigs, the industrial camera is arranged at the output end of the XY axis module, the industrial camera photographs all inserting space units in the hardening frame clamped by each positioning jig from the upper part under the driving of the XY axis module, the controller processes the pictures photographed by the industrial camera to obtain the coordinate position information of any inserting space unit of the stiffening frame clamped by each positioning jig, and the inserting manipulator takes out the workpiece positioned by the secondary positioning mechanism according to the coordinate position information, overturns a preset angle and then inserts the workpiece into the inserting space unit.

2. The automatic workpiece turret apparatus of claim 1, wherein the tray conveying line includes a blanking end for batch blanking of the trays, a loading end for batch loading of the trays, and an intermediate conveying line for sequentially conveying the trays in the forward direction along the Y-axis, in the upward direction along the Z-axis, and in the reverse direction along the Y-axis, the blanking end being located directly above the loading end.

3. The automatic workpiece turret apparatus of claim 1, wherein the controller is located on a side of the frame, the controller also being disposed on an opposite side of the tray transfer line.

4. The automatic workpiece rotating frame device according to claim 1, wherein the feeding manipulator comprises a feeding frame body, an X-axis sliding frame, an X-axis sliding power assembly, a Y-axis sliding frame, a Y-axis sliding power assembly and a material taking module, the feeding frame body stretches across the upper parts of the feeding tray conveying assembly line and the secondary positioning mechanism along the X-axis direction, X-axis guide rails are respectively arranged on the top and the side parts of the feeding frame body, the X-axis sliding frame stretches across the upper parts of the feeding frame body along the Y-axis direction, X-axis sliding blocks which are respectively arranged on the X-axis guide rails and are in sliding fit with the top and the side parts of the feeding frame body, the X-axis sliding power assembly is arranged on the feeding frame body and drives the X-axis sliding frame to slide along the Y-axis direction, the Y-axis sliding power assembly is arranged on the X-axis sliding frame and drives the Y-axis sliding frame to slide, and the material taking module is arranged on the Y-axis sliding frame.

5. The automated workpiece turret apparatus of claim 4, wherein the take out module includes a Z-axis drive mounted to the Y-axis carriage, a Z-axis lift mounted to the Z-axis drive, a first rotary drive, a second rotary drive mounted to the Z-axis lift and each of the first and second rotary drives mounted to the Z-axis lift and spaced apart and aligned along the Y-axis direction, a first vacuum suction head disposed along the Z-axis direction, the first vacuum suction head being located directly below the first rotary drive and mounted to an output of the first rotary drive, and a second vacuum suction head located directly below the second rotary drive and mounted to an output of the second rotary drive.

6. The automatic workpiece rotating stand device according to claim 1, wherein the secondary positioning mechanism comprises a positioning frame body, a first positioning unit, a second positioning unit and a Y-axis driving assembly, the positioning frame body is arranged along the Y-axis direction, the first positioning unit and the second positioning unit are aligned along the Y-axis direction, the first positioning unit is mounted on the positioning frame body, the Y-axis driving assembly is mounted on the positioning frame body, the second positioning unit is mounted on an output end of the Y-axis driving assembly, and the Y-axis driving assembly drives the second positioning unit to slide close to or far away from the first positioning unit.

7. The automatic workpiece rotating stand device according to claim 1, wherein the positioning jig comprises a Y-axis driver, a reset piece, a lower base, a middle translation frame and an upper bearing positioning table for bearing the stiffening frame, the translation frame is slidingly arranged on the base in a linear sliding manner along the Y-axis direction and has an extending position slidingly extending relative to the base and a retracting position slidingly retracting relative to the base, the bearing positioning table is slidingly arranged on the translation frame in a linear sliding manner along the Y-axis direction, the bearing positioning table has a pulling position slidingly extending relative to the translation frame and a pushing position slidingly retracting relative to the translation frame, the sliding extending directions of the bearing positioning table and the translation frame are the same, the Y-axis driver is arranged between the base and the translation frame and drives the translation frame to switch between the extending position and the retracting position, and the reset piece is arranged between the translation frame and the bearing positioning table and constantly has a trend of driving the bearing positioning table to slide towards the pushing position.

8. The automated workpiece turret apparatus of claim 7, wherein the translation frame and the base are spaced apart from each other in the Z-axis direction and define a lower gap, a first lower buffer, a second lower buffer, and a plurality of linear rail assemblies spaced apart from each other in the X-axis direction are disposed in the lower gap, each of the linear rail assemblies including a first linear mating guide assembled to the translation frame and a second linear mating guide assembled to the base, the first linear mating guide and the second linear mating guide being in sliding engagement with each other, the Y-axis driver being disposed in the lower gap, the Y-axis driver being disposed between adjacent two of the linear rail assemblies in the X-axis direction, the first lower buffer and the second lower buffer being spaced apart from each other in the Y-axis direction, the first lower buffer being in abutment with the translation frame upon switching to the retracted position, and the second lower buffer being in abutment with the translation frame upon switching to the extended position.

9. The automated workpiece turret apparatus of claim 7, wherein the reset member includes first and second magnetic members magnetically attracted to each other and aligned with each other along the Y-axis, the first magnetic member being mounted to the load-bearing positioning stage, the second magnetic member being mounted to the translation stage, the first magnetic member being separated from the second magnetic member when the load-bearing positioning stage is in the pulled-out position, the first magnetic member being held against each other when the load-bearing positioning stage is in the pushed-in position.

10. The automatic workpiece turret apparatus according to claim 1, wherein the XY axis module includes a first transfer module mounted on a top of the frame from below and a second transfer module mounted on an output end of the first transfer module, the industrial camera is mounted on an output end of the second transfer module, and the industrial camera slides in XY axis under coordinated driving of the first transfer module and the second transfer module.

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