CN113500378A - Method for replacing graphite boat blade staple bolt - Google Patents
Method for replacing graphite boat blade staple bolt Download PDFInfo
- Publication number
- CN113500378A CN113500378A CN202110845899.7A CN202110845899A CN113500378A CN 113500378 A CN113500378 A CN 113500378A CN 202110845899 A CN202110845899 A CN 202110845899A CN 113500378 A CN113500378 A CN 113500378A
- Authority
- CN
- China
- Prior art keywords
- staple
- graphite boat
- module
- nail
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 title claims abstract description 446
- 229910002804 graphite Inorganic materials 0.000 title claims abstract description 446
- 239000010439 graphite Substances 0.000 title claims abstract description 446
- 238000000034 method Methods 0.000 title claims abstract description 72
- 238000001514 detection method Methods 0.000 claims abstract description 120
- 230000000007 visual effect Effects 0.000 claims abstract description 89
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 239000002699 waste material Substances 0.000 claims description 22
- 238000012546 transfer Methods 0.000 claims description 21
- 238000011179 visual inspection Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 230000007547 defect Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 abstract description 20
- 210000000078 claw Anatomy 0.000 description 39
- 230000008569 process Effects 0.000 description 20
- 230000008859 change Effects 0.000 description 9
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 6
- 238000007599 discharging Methods 0.000 description 6
- 229910052710 silicon Inorganic materials 0.000 description 6
- 239000010703 silicon Substances 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 241000252254 Catostomidae Species 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000000623 plasma-assisted chemical vapour deposition Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000001771 vacuum deposition Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
Abstract
The invention is suitable for the technical field of graphite boat pieces, and provides a method for replacing a graphite boat piece staple bolt, which comprises the steps of controlling a taking and placing device to take and place a graphite boat piece arranged on a feeding station, and transferring and placing the graphite boat piece on a staple disassembling and assembling platform; controlling the nail removing module to correspondingly remove the old nail clamps on the graphite boat sheet until all the old nail clamps are removed; the control visual detection module detects the position and the corresponding aperture of the staple hole on the graphite boat sheet, controls the binding module to select a new staple with a corresponding specification in the feeding mechanism according to the aperture of the staple hole, and controls the binding module to load the new staple into the staple hole on the graphite boat sheet according to the position of the staple hole until all the staple holes are bound; and controlling the taking and placing device to take and place the graphite boat piece which is arranged on the nail dismounting and mounting platform and completes the nailing, and transferring and placing the graphite boat piece on the blanking station. The replacing method of the clamp nail of the graphite boat piece solves the problems of low installation efficiency and low assembly precision caused by the existing clamp nail for manually replacing the graphite boat piece.
Description
Technical Field
The invention belongs to the technical field of graphite boat pieces, and particularly relates to a replacement method of a graphite boat piece staple bolt.
Background
With the rapid development of solar cells, more and more solar cells are entering the civil field. In the production process of the solar cell, the coating process is an important link in the production flow and plays a role in playing a role in promoting weight. When the silicon wafer is subjected to the surface coating process, the silicon wafer which is not coated needs to be inserted into a graphite boat, then the graphite boat carrying the silicon wafer is placed in PECVD vacuum coating equipment, and the silicon wafer is coated by adopting a PECVD process. Because the silicon chip can have certain wearing and tearing to the graphite boat piece of graphite boat in the in-process of inserting and getting, need regularly with old bail on the graphite boat piece from the downthehole dismantlement of bail to with new bail dress into corresponding bail hole, realize the change of bail, so that guarantee the good state of graphite boat, and then guarantee the coating film quality of silicon chip.
In the prior art, in order to replace the staple of the graphite boat, the old staple on the graphite boat is usually manually detached from the staple hole, and a new staple is re-installed in the staple hole, so as to replace the staple of the graphite boat. The clamping nail for manually installing the graphite boat piece is adopted, so that the labor intensity is high, the required labor cost is high, and the clamping nail installation efficiency is low; simultaneously, because the aperture design specification in the staple hole on the different graphite boat piece is probably different, and the bail on the same piece graphite boat piece is changed repeatedly and also can make the aperture in each staple hole probably have the difference to the wearing and tearing that cause the certain degree in staple hole, therefore for the aperture of the various sizes of adaptation, it has the bail of multiple size specification, during the bail of artifical installation graphite boat piece, be difficult to accurately judge the aperture in staple hole through the manual work, and select the bail that corresponds the specification, the easy bail that appears mismatches with the bail hole leads to the graphite boat piece to damage or the fixed unstable problem of bail, bail assembly precision is low.
Disclosure of Invention
The embodiment of the invention aims to provide a method for replacing a clamp of a graphite boat piece, and aims to solve the problems of low installation efficiency and low assembly precision caused by the existing manual replacement of the clamp of the graphite boat piece.
The embodiment of the invention is realized in such a way that a method for replacing a staple of a graphite boat sheet comprises the following steps:
controlling a taking and placing device to take and place the graphite boat piece arranged on the feeding station and transferring the graphite boat piece on the screw disassembling and assembling platform;
controlling the nail removing module to correspondingly remove the old nail clamps on the graphite boat sheet until all the old nail clamps are removed;
the control visual detection module detects the position and the corresponding aperture of the staple hole on the graphite boat sheet, controls the binding module to select a new staple with a corresponding specification in the feeding mechanism according to the aperture of the staple hole, and controls the binding module to load the new staple into the staple hole on the graphite boat sheet according to the position of the staple hole until all the staple holes are bound;
and controlling the taking and placing device to take and place the graphite boat piece which is arranged on the nail dismounting and mounting platform and completes the nailing, and transferring and placing the graphite boat piece on the blanking station.
Still further, the staple removing platform comprises a staple removing platform and a staple mounting platform;
the step that the control is got and is put the graphite boat piece of putting on the material loading station of putting to the transfer is placed on dismouting nail platform includes:
controlling a taking and placing device to take and place the graphite boat piece arranged on the feeding station, and sequentially transferring and placing the graphite boat piece on the nail dismounting platform and the nail installing platform;
the step of correspondingly disassembling the old staple on the graphite boat sheet by the control staple disassembling module is completed on the staple disassembling platform;
the control visual detection module detects the position of the staple bolt hole on the graphite boat sheet and the corresponding aperture, controls the binding module to select a new staple bolt with a corresponding specification in the feeding mechanism according to the aperture of the staple bolt hole, and controls the binding module to load the new staple bolt into the staple bolt hole on the graphite boat sheet according to the position of the staple bolt hole.
Still further, the method further comprises:
and acquiring the target model of the graphite boat piece placed on the screw disassembling and assembling platform.
Further, the step of controlling the staple removing module to correspondingly remove the old staples on the graphite boat sheet comprises the following steps:
determining the corresponding nail dismounting position according to the target model of the graphite boat piece;
and controlling the nail dismounting module to dismount the old clamping nail corresponding to the nail dismounting position.
Furthermore, the step of controlling the visual inspection module to inspect the position of the staple hole on the graphite boat sheet and the corresponding hole diameter comprises:
determining a corresponding photographing position according to the target model of the graphite boat piece;
and detecting the position of the staple bolt hole on the graphite boat sheet and the corresponding aperture according to the image acquired by the visual detection module at the photographing position.
Further, the feeding mechanism comprises a plurality of vibrating discs for providing new staples of different specifications;
the step of selecting the new staple of corresponding specification in the feeding mechanism according to the aperture control binding module in the staple hole includes:
controlling the binding module to move to a target vibration disc position for providing a new binding staple with a corresponding specification according to the aperture of the binding staple hole;
and controlling the nailing module to select a new clamping nail with a corresponding specification from the target vibration disc.
Furthermore, the step of controlling the stapling module to select a new staple with a corresponding specification from the target vibration disk comprises:
controlling a visual detection module to acquire an image of a new clamp nail in the target vibration disc;
judging whether the current specification of a new clamping nail in the target vibration disc determined according to the image collected by the visual detection module is in accordance with the corresponding specification;
if so, controlling the nailing module to select a new clamping nail with a corresponding specification from the target vibration disc.
Furthermore, the step of controlling the stapling module to select a new staple with a corresponding specification from the target vibration tray further includes:
and when the current specification of the new staple in the target vibration disc determined according to the image acquired by the visual detection module is judged to be not in accordance with the corresponding specification, controlling the staple module to stop selecting the new staple and give an alarm, or controlling the staple module to select the new staple and transfer the new staple into the storage box.
Further, the step of detecting the position of the staple hole on the graphite boat piece and the corresponding aperture according to the image collected by the photographing position by the visual detection module comprises the following steps:
detecting and judging whether the defect degree of the graphite boat piece is greater than a preset threshold value according to the picture acquired by the photographing position through the visual detection module;
if so, controlling the taking and placing device to take and place the graphite boat piece arranged on the disassembling and assembling nail platform and transferring the graphite boat piece to a reserved station;
if not, detecting the position of the staple bolt hole on the graphite boat piece and the corresponding aperture according to the image collected by the visual detection module group at the photographing position.
Further, the step of controlling the staple module to load a new staple into the staple hole on the graphite boat sheet according to the position of the staple hole comprises the following steps:
controlling the binding module to gradually load the selected new clamping nail with the corresponding specification into the clamping nail hole on the graphite boat piece;
and acquiring a pressure value detected by a pressure detection module arranged below the graphite boat piece, and controlling the nailing module to stop nailing until the detected pressure value reaches a preset pressure value.
Further, the step of correspondingly disassembling the old staple on the graphite boat sheet by the control module of the staple assembling module comprises the following steps:
recording the quantity of the old staples collected currently in the waste staple collecting module corresponding to the staple removing module when the staples are removed, and judging whether the quantity of the old staples reaches a preset quantity;
if so, controlling the waste nail collecting module to transfer all the collected old nails into the containing box;
if not, controlling the nail removing module to correspondingly remove the old nail on the graphite boat sheet.
Further, the step of detecting the position of the staple hole on the graphite boat piece and the corresponding aperture according to the image collected by the photographing position by the visual detection module comprises the following steps:
determining an offset value between the actual position of the staple hole and the reference position in the XY direction and the coverage range of the staple hole according to the image acquired by the visual detection module at the photographing position;
determining the position of a staple bolt hole on the graphite boat sheet according to the preset calibrated size, the preset photographing position and the preset deviation value of the acquired image by the visual detection module;
and determining the corresponding aperture of the clamping nail hole on the graphite boat sheet according to the preset calibrated size of the acquired image and the coverage range of the clamping nail hole by the visual detection module.
Further, the step of obtaining the target model of the graphite boat piece placed on the mounting and dismounting nail platform comprises the following steps:
acquiring a target model of the graphite boat piece input by a user; or
And matching the image detected and collected by the graphite boat piece according to the visual detection module to obtain the target model of the graphite boat piece.
Further, the step of controlling the staple removing module to remove the old staples corresponding to the staple removing positions comprises the following steps:
detecting the staple position on the graphite boat sheet according to the image acquired by the staple removing position by the visual detection module group;
and controlling the staple removing module to remove the old staple corresponding to the position of the staple.
Furthermore, the step of controlling the taking and placing device to take and place the graphite boat piece placed on the feeding station and transfer the graphite boat piece placed on the screw disassembling and assembling platform comprises the following steps:
controlling the pick-and-place device to move to a safe position along the Z-axis direction and move to a position corresponding to the feeding station along the XY-axis direction;
controlling the taking and placing device to move downwards along the Z-axis direction until a detection boat sheet sensor obtains a detection signal, and starting a vacuum chuck to suck the graphite boat sheet;
controlling the pick-and-place device to move to a safe position along the Z-axis direction and move to a position corresponding to the nail dismounting platform along the XY-axis direction;
controlling the pick-and-place device to move downwards along the Z-axis direction to the screw disassembling and assembling platform, and closing the vacuum chuck to stop sucking the graphite boat piece;
and controlling the taking and placing device to move to a safe position along the Z-axis direction, and transferring and placing the graphite boat piece on the feeding station onto the nail dismounting platform.
According to the graphite boat sheet staple replacing method provided by the embodiment of the invention, the graphite boat sheet with staples to be replaced, which is placed in the feeding station, is taken to the staple disassembling and assembling platform by controlling the taking and placing device, the staple disassembling module is controlled to disassemble each old staple on the graphite boat sheet, the position and the corresponding aperture of each staple hole of the graphite boat sheet are detected according to the visual detection module, the staple assembling module is controlled to select new staples with corresponding specifications in the feeding mechanism according to the position and the corresponding aperture of each staple hole, the new staples with corresponding specifications of each staple hole are respectively assembled into the corresponding staple holes, the taking and placing device is controlled to take the graphite boat sheet on the staple disassembling and assembling platform to the feeding station, the automatic replacement of the graphite boat sheet staple is realized, the manual staple assembling mode is replaced, the manual labor intensity and the manual labor cost can be reduced, the staple assembling efficiency is greatly improved, and the staple assembling module is controlled to divide the new staples with corresponding specifications of each staple hole according to the position and aperture of each staple hole Do not pack into corresponding bail hole, avoid bail and bail hole to mismatch and lead to graphite boat piece to damage or the fixed unstable problem of bail for can ensure the assembly precision of bail, solve the problem that the installation effectiveness that the bail of current artifical change graphite boat piece produced is low and the assembly precision is low. Meanwhile, the graphite boat piece does not need to be taken and placed on the disassembling and assembling nail platform manually, automatic feeding and discharging of the graphite boat piece can be achieved, and the automation degree of the equipment is greatly improved. Meanwhile, the worker can directly take away the graphite boat piece of which the staple bolt is replaced from the blanking station, the whole process only needs the worker to place the graphite boat piece of which the staple bolt is to be replaced on the feeding station and take away the graphite boat piece of which the staple bolt is replaced from the blanking station, and the automatic degree is high; moreover, as the taking and placing device is used for automatically taking and placing the graphite boat pieces, a user can place a plurality of stacked graphite boat pieces at one time at the feeding station every time, and does not need to continuously place the graphite boat pieces by workers; moreover, the staff can wait that the unloading station stacks a plurality of graphite boat pieces of changing the bail and just get, can reduce staff's intensity of labour.
Drawings
Fig. 1 is a flow chart of a method for replacing a staple of a graphite boat piece according to an embodiment of the present invention;
fig. 2 is a schematic view of the whole structure of a graphite boat staple replacing apparatus applied in a graphite boat staple replacing method according to an embodiment of the present invention;
fig. 3 is a schematic view of a partial structure of a graphite boat staple replacing apparatus applied to a graphite boat staple replacing method according to an embodiment of the present invention;
FIG. 4 is a top view of the structure shown in FIG. 3;
fig. 5 is a side view of a partial structure of a graphite boat staple replacing apparatus to which a graphite boat staple replacing method according to an embodiment of the present invention is applied;
fig. 6 is a partial structural schematic view of a staple removing and installing device in a graphite boat staple replacing apparatus to which a graphite boat staple replacing method according to an embodiment of the present invention is applied;
fig. 7 is a partial structural schematic view of a staple mounting and dismounting platform in a graphite boat staple replacing apparatus applied in a graphite boat staple replacing method according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a nail dismounting and mounting device of a graphite boat staple replacing apparatus, which is applied in the graphite boat staple replacing method according to an embodiment of the present invention, after a second driving assembly is removed;
fig. 9 is a schematic view of a partial structure of a graphite boat staple replacing apparatus applied to a graphite boat staple replacing method according to an embodiment of the present invention;
fig. 10 is a schematic structural view of an air gripper in a graphite boat staple replacing apparatus to which a graphite boat staple replacing method according to an embodiment of the present invention is applied;
fig. 11 is a schematic structural view illustrating a clamping of a staple by a gas claw in a graphite boat staple replacing apparatus used in a graphite boat staple replacing method according to an embodiment of the present invention;
fig. 12 is a perspective view of a pick-and-place device in a graphite boat staple replacing apparatus to which a graphite boat staple replacing method according to an embodiment of the present invention is applied;
fig. 13 is a schematic structural diagram of a pick-and-place device in a graphite boat staple replacing apparatus applied in a graphite boat staple replacing method according to an embodiment of the present invention;
fig. 14 is a partial structural schematic view of a pick-and-place device in a graphite boat staple replacing apparatus applied in a graphite boat staple replacing method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention takes the graphite boat sheet of which the staple is to be replaced in the feeding station to the staple disassembling and assembling platform by controlling the taking and placing device, and controls the staple disassembling module to disassemble each old staple on the graphite boat sheet, then detects the position and corresponding aperture of each staple hole of the graphite boat sheet according to the visual detection module, controls the staple assembling module to select a new staple with corresponding specification in the feeding mechanism according to the position and corresponding aperture of each staple hole, and respectively loads the new staple with corresponding specification into the corresponding staple hole of each staple hole, then controls the taking and placing device to take the graphite boat sheet on the staple disassembling and assembling platform to the feeding station, realizes the automatic replacement of the staple of the graphite boat sheet, replaces the manual staple installation mode, can reduce the labor intensity and labor cost, and greatly improves the efficiency of installing the staple, and simultaneously controls the staple module to respectively load the new staple with corresponding specification into the corresponding staple hole of each staple hole according to the position and corresponding aperture of each staple hole, avoid bail and bail hole to mismatch and lead to graphite boat piece to damage or the fixed unstable problem of bail for can ensure the assembly precision of bail, solve the problem that the installation effectiveness that the bail of current artifical change graphite boat piece produced is low and the assembly precision is low.
Example one
Referring to fig. 1, a schematic flow chart of a method for replacing a staple in a graphite boat piece according to a first embodiment of the present invention is shown, which only illustrates portions related to the embodiment of the present invention for convenience of description, and the method includes:
step S10, controlling a taking and placing device to take and place the graphite boat piece placed on the feeding station and transfer the graphite boat piece onto the screw disassembling and assembling platform;
in an embodiment of the present invention, the method for replacing a graphite boat staple is applied to a graphite boat staple replacing apparatus, and in order to describe the flow steps of the method for replacing a graphite boat staple provided in the embodiment of the present invention in detail, the structure of the graphite boat staple replacing apparatus is indicated. It should be noted that the structure of the graphite boat blade staple replacing apparatus is not limited to the specific structure defined below, and some device structures may be added or deleted or other device structures corresponding to the flow steps of the method according to the embodiment may be selected to implement the flow steps.
Referring to fig. 2 to 14, in one embodiment of the present invention, the graphite boat sheet staple replacing apparatus comprises:
the automatic feeding device comprises a frame 1, a rivet dismounting platform 2 arranged on the frame 1 and used for placing graphite boat pieces, a rivet dismounting device 3 and a taking and placing device 5 movably arranged on the frame 1, a control device 4 arranged on the frame 1, a feeding station 6 and a discharging station 7 arranged on the frame 1, and a feeding mechanism 8 arranged on the frame 1 and used for providing new staples of different specifications. Wherein, the control device 4 is respectively connected with the nail dismounting device 3 and the taking and placing device 5. The taking and placing device 5 and the dismounting and nailing device 3 are controlled by the control device 4 to work, and the graphite boat sheet staple replacing method in the embodiment of the invention is mainly applied to the control device 4 of the graphite boat sheet staple replacing equipment.
As an embodiment of the present invention, the frame 1 includes a base 11 and a frame 12 supported on the base 11, wherein the feeding station 6 and the discharging station 7 are both disposed on the frame 1 and are disposed on the same side of the frame 1, the nail mounting and dismounting platform 2 and the nail mounting and dismounting device 3 are respectively supported on the base 11, and the nail mounting and dismounting platform 2 is located below the frame 12. Wherein the feeding station 6 is used for placing the graphite boat piece of the staple bolt to be replaced, and the discharging station 7 is used for placing the graphite boat piece of which the replacement of the staple bolt is finished. Through setting up same one side in frame 1 with material loading station 6 and unloading station 7 for the staff can place the graphite boat piece of waiting to change the bail and take away the graphite boat piece that has accomplished to change the bail in same one side of frame 1, makes things convenient for staff's operation.
As an embodiment of the present invention, the pick-and-place device 5 is used for picking and placing the graphite boat, wherein the pick-and-place device 5 picks and places the graphite boat in a manner including but not limited to suction, grabbing, and picking, and in this embodiment, the pick-and-place device 5 picks and places the graphite boat mainly in a suction manner, in an alternative embodiment of the present invention, referring to fig. 12-14, the pick-and-place device 5 includes a three-axis linkage mechanism 51 disposed on the frame 1 and connected to the control device 4, and a suction cup assembly 52 disposed on the three-axis linkage mechanism 51, wherein the suction cup assembly 52 is connected to a vacuum pump (not shown) through a pipeline, the vacuum pump is connected to the control device 4, and the three-axis linkage mechanism 51 can drive the suction cup assembly 52 to move along the X-axis direction, the Y-axis direction, and the Z-axis direction.
In this embodiment, the control device 4 drives the suction cup assembly 52 to move left and right along the Y-axis direction, move back and forth along the X-axis direction, and move up and down along the Z-axis direction by controlling the three-axis linkage mechanism 51, so that the suction cup assembly 52 can freely move on the rack 1 to pick and place the graphite boat sheet; meanwhile, the suction disc assembly 52 is used for picking and placing the graphite boat piece in an adsorption mode, so that the graphite boat piece is convenient to pick and place, and the damage to the graphite boat piece in the picking and placing process is avoided. It is understood that in other embodiments of the present invention, the taking and placing device 5 may also adopt other structures to achieve taking and placing of the graphite boat piece by using a grabbing manner, and the like, and is configured according to actual use requirements, and is not specifically limited herein.
As an embodiment of the present invention, the three-axis linkage mechanism 51 includes a Y-axis electric cylinder 511, an X-axis electric cylinder 512, and a Z-axis electric cylinder 513 respectively connected to the control device 4; the Y-axis electric cylinder 511 is fixed on the machine frame 1, the Y-axis electric cylinder 511 is connected with the X-axis electric cylinder 512 and can drive the X-axis electric cylinder 512 to move left and right along the Y-axis direction, the X-axis electric cylinder 512 is connected with the Z-axis electric cylinder 513 and can drive the Z-axis electric cylinder 513 to move front and back along the X-axis direction, and the Z-axis electric cylinder 513 is connected with the sucker component 52 and can drive the sucker component 52 to move up and down along the Z-axis direction.
In this embodiment, the control device 4 controls the Y-axis electric cylinder 511, the X-axis electric cylinder 512, and the Z-axis electric cylinder 513 to work in coordination, so as to control the chuck assembly 52 to move left and right along the Y-axis direction, move front and back along the X-axis direction, and move up and down along the Z-axis direction, thereby facilitating the chuck assembly 52 to pick and place the graphite boat at a freely moving position on the frame 1.
As an embodiment of the present invention, the three-axis linkage 51 further includes a first connecting member 514, the first connecting member 514 is connected to the Y-axis electric cylinder 511, the X-axis electric cylinder 512 is fixed on the first connecting member 514 to connect the X-axis electric cylinder 512 and the Y-axis electric cylinder 511, and the Y-axis electric cylinder 511 drives the first connecting member 514 to move along the Y-axis direction, so as to drive the X-axis electric cylinder 512 to move along the Y-axis direction synchronously.
As an embodiment of the present invention, the three-axis linkage mechanism 51 further includes a second connecting member 515, the second connecting member 515 is connected to the X-axis electric cylinder 512, the Z-axis electric cylinder 513 is fixed on the second connecting member 515 to realize connection between the Z-axis electric cylinder 513 and the X-axis electric cylinder 512, and the X-axis electric cylinder 512 drives the second connecting member 515 to move along the X-axis, so as to drive the Z-axis electric cylinder 513 to synchronously move along the X-axis, so as to drive the suction cup assembly 52 to synchronously move along the X-axis.
As an embodiment of the present invention, the suction cup assembly 52 includes a frame 521, and a plurality of vacuum suction cups 522 disposed on the frame 521 and connected to a vacuum pump through a pipeline, wherein the frame 521 is connected to the three-axis linkage 51. Specifically, the bracket 521 is connected to the Z-axis electric cylinder 513, and the chuck assembly 52 adsorbs the graphite boat piece by the plurality of vacuum chucks 522, so that the graphite boat piece is stably adsorbed. When sucking disc subassembly 52 is when the graphite boat piece of needs absorption, controlling means 4 control vacuum pump work, make a plurality of vacuum chuck 522 form the negative pressure, when a plurality of vacuum chuck 522 and graphite boat piece contact, can adsorb the graphite boat piece, sucking disc subassembly 52 removes the graphite boat piece to corresponding position after, sucking disc subassembly 52 descends to the back in place along the Z axle direction, controlling means 4 control vacuum pump stop work, graphite boat piece breaks away from with a plurality of vacuum chuck 522 this moment, thereby accomplish sucking disc subassembly 52 get the action of putting the graphite boat piece.
Furthermore, a detection boat sensor (not shown) is further arranged on the pick-and-place device 5 and used for detecting whether the sucker component 52 descends to the right position and abuts against the graphite boat sheet in the descending process, in the specific implementation, the detection boat sensor can be arranged on the sucker component 52 and can be a distance sensor, a pressure sensor and other sensing devices, at the moment, if the distance between the distance sensor and the graphite boat sheet reaches a preset distance or the pressure sensor detects that the pressure reaches a preset pressure value, the detection boat sensor collects a detection signal, namely, the sucker component 52 is determined to descend to the right position, and at the moment, the control device 4 controls the three-axis linkage mechanism 51 to stop driving the sucker component 52 to descend continuously.
As an embodiment of the present invention, the step of controlling the pick-and-place device to pick and place the graphite boat piece placed on the loading station and transfer the graphite boat piece placed on the nail dismounting platform specifically includes:
controlling the pick-and-place device to move to a safe position along the Z-axis direction and move to a position corresponding to the feeding station along the XY-axis direction;
controlling the taking and placing device to move downwards along the Z-axis direction until a detection boat sheet sensor obtains a detection signal, and starting a vacuum chuck to suck the graphite boat sheet;
controlling the pick-and-place device to move to a safe position along the Z-axis direction and move to a position corresponding to the nail removing platform along the XY-axis direction;
controlling the taking and placing device to move downwards to the nail removing platform along the Z-axis direction, and closing the vacuum chuck to stop sucking the graphite boat piece;
and controlling the taking and placing device to move to a safe position along the Z-axis direction, and transferring and placing the graphite boat piece on the feeding station onto the nail dismounting platform.
Specifically, the control device 4 firstly controls the pick-and-place device 5 to move to a safe position along the Z-axis direction, that is, the control device 4 controls the three-axis linkage mechanism 51 to drive the sucker assembly 52 to ascend to a safe position, so as to avoid interference collision with other structural components in the graphite boat staple replacing equipment; further, the control device 4 controls the three-axis linkage mechanism 51 to drive the sucker assembly 52 to move to the position of the feeding station 6 along the front-back and left-right directions; further, the control device 4 controls the three-axis linkage mechanism 51 to drive the sucker assembly 52 to descend, wherein when the number of graphite boat pieces placed on the feeding station 6 is different, the heights of the sucker assembly 52 driven by the three-axis linkage mechanism 51 to descend are different, so that signals detected by the boat piece detection sensor are obtained in real time in the process that the control device 4 controls the three-axis linkage mechanism 51 to drive the sucker assembly 52 to descend; when the boat piece sensor descends in place to obtain a detection signal, the control device 4 controls the three-axis linkage mechanism 51 to stop driving the sucker assembly 52 to descend, and at the moment, the control device 4 controls the vacuum pump to work to enable the vacuum suckers 522 to form negative pressure, so that the graphite boat piece can be sucked when the vacuum suckers 522 are in contact with the graphite boat piece; further, the control device 4 controls the three-axis linkage mechanism 51 to drive the sucker assembly 52 to ascend to a safe position, and then the control device 4 controls the three-axis linkage mechanism 51 to drive the sucker assembly 52 to move to the position where the nail dismounting platform 2 is located along the front-back and left-right directions; further, after the control device 4 controls the three-axis linkage mechanism 51 to drive the sucker assembly 52 to descend onto the nail dismounting platform 2, the control device 4 controls the vacuum pump to stop working, so that the graphite boat piece is separated from the plurality of vacuum suckers 522; further, the control device 4 controls the three-axis linkage mechanism 51 to drive the sucker assembly 52 to ascend to a safe position, so that the graphite boat piece on the feeding station 6 is transferred and placed on the nail dismounting platform 2.
Step S20, controlling the nail removing module to correspondingly remove the old staple nails on the graphite boat sheet until all the old staple nails are removed;
in one embodiment of the invention, referring to fig. 7, the staple mounting and dismounting platform 2 is provided with through holes 202 corresponding to the staple holes on the graphite boat sheet; when the graphite boat piece is placed on the screw mounting and dismounting platform 2, the screw clamping holes on the graphite boat piece correspond to the through holes 202 on the screw mounting and dismounting platform 2 one by one, so that the old screw clamps on the graphite boat piece correspond to the through holes 202 on the screw mounting and dismounting platform 2 one by one. When the old staple on the graphite boat piece is correspondingly disassembled, the old staple on the graphite boat piece can fall off from the through hole 202 on the disassembling and assembling staple platform 2, so that the old staple on the graphite boat piece can be disassembled. It should be pointed out that the graphite boat pieces have different models, the shapes, the size specifications and the positions of the clamping nail holes of the graphite boat pieces of different models are different, at the moment, the through holes 202 arranged on the disassembling and assembling nail platform 2 are matched with the clamping nail holes on all the graphite boat pieces, namely, when any one graphite boat piece is placed on the disassembling and assembling nail platform 2, the clamping nail holes on the graphite boat piece can be in one-to-one correspondence with the through holes 202 on the disassembling and assembling nail platform 2. It should also be noted that the size of each through hole 202 on the staple mounting and dismounting platform 2 is larger than the size of the old staple on the graphite boat piece, which allows a certain offset of the graphite boat piece placed on the staple mounting and dismounting platform 2. The problem of each through-hole 202 on the dismouting nail platform 2 the size with graphite boat piece on old bail the same, and when placing graphite boat piece on dismouting nail platform 2 and have certain skew, its dismouting nail in-process old bail inconsistent with dismouting nail platform 2 and can't follow through-hole 202 and drop is avoided. Meanwhile, the old clamp nail is the clamp nail which needs to be disassembled to be replaced on the graphite boat piece.
In an embodiment of the present invention, the staple removing device 3 includes a driving mechanism (not numbered) connected to the control device 4, a visual detection module 31, a staple removing module 32 for removing the staples, and a staple installing module 33 for installing the staples, wherein the visual detection module 31, the staple removing module 32, and the staple installing module 33 are fixed to the driving mechanism, and the driving mechanism drives the driving mechanism to move in the X-axis and Y-axis directions, so that the driving mechanism can drive the visual detection module 31, the staple removing module 32, and the staple installing module 33 to move to any position above the graphite boat.
Referring to fig. 4, 6, 8 and 9, as an embodiment of the present invention, the driving mechanism includes a first driving assembly 34 disposed on the frame 1 and connected to the control device 4, an upper moving base 39 connected to the first driving assembly 34, and a second driving assembly 36 disposed on the upper moving base 39 and connected to the control device 4; wherein the vision detection module 31, the nail removing module 32 and the nail installing module 33 are integrally arranged on the upper moving seat 39 and connected with the second driving assembly 36; the first driving component 34 can drive the upper moving seat 39 to drive the vision detecting module 31, the nail removing module 32 and the nail installing module 33 to move synchronously along the Y-axis direction, and the second driving component 36 can drive the vision detecting module 31, the nail removing module 32 and the nail installing module 33 to move synchronously along the X-axis direction.
Referring to fig. 9, as an embodiment of the present invention, the nail removing module 32 includes a fixing base 323 connected to the second driving assembly 36, a support driving mechanism 321 fixedly connected to the fixing base 323 and the nailing module 33, and a support 322 connected to the support driving mechanism 321, wherein the support driving mechanism 321 is connected to the control device 4 and is configured to drive the support 322 to move up and down along the Z-axis direction. The post driving mechanism 321 is fixed on the fixing base 323, and the second driving assembly 36 drives the nail removing module 32 and the nail installing module 33 to move along the X-axis direction synchronously through the fixing base 323. In a specific implementation, the driving mechanism 321 may be an air cylinder, which is convenient for controlling the driving force when the top pillar 322 moves up and down.
Referring to fig. 9, as an embodiment of the present invention, the stapling module 33 includes a pneumatic claw driving mechanism 331, a connecting seat 333, and a pneumatic claw 332 for clamping a staple; the control device 4 is connected to the pneumatic claw driving mechanism 331 and is configured to control the pneumatic claw driving mechanism 331 to drive the pneumatic claw 332 to move up and down along the Z-axis direction, so that the pneumatic claw 332 mounts a new staple into a corresponding staple hole. The pneumatic claw driving mechanism 331 is connected to the pneumatic claw 332 through the connecting base 333, and at this time, the pneumatic claw driving mechanism 331 drives the pneumatic claw 332 to move up and down along the Z-axis direction by driving the connecting base 333. In specific implementation, the pneumatic claw driving mechanism 331 is an electric cylinder, which is convenient for controlling the downward pressure when the pneumatic claw 332 installs the new clamping nail on the clamping nail hole of the graphite boat piece and is convenient for controlling the output torque force. Referring to fig. 10 and 11, as an embodiment of the present invention, the air gripper 332 includes an installation base 3325, at least two grippers 3326 movably installed on the installation base 3325 and spaced to form a clamping space, and an air cylinder 3327 for driving the grippers 3326 to open or close each other, and the air gripper driving mechanism 331 is connected to the installation base 3325 or the air cylinder 3327. Among them, the number of the claws 3326 shown in fig. 10 and 11 is three. As an embodiment of the present invention, the gas claw 332 further includes a positioning post 3328 disposed in the clamping space, one end of the positioning post 3328 is disposed on the mounting seat 3325, and the other end is used for abutting and limiting the clip when the claw 3326 grips the clip. In this embodiment, the positioning post 3328 is disposed inside the claw 3326, so that when the claw 3326 grips the staple, the upper surface of the staple contacts the positioning post 3328 to position the staple, thereby preventing the staple from skewing in the claw 3326, ensuring that the staple is kept in a vertical state in the claw 3326, and preventing the staple from skewing; when the clamping module 33 mounts the clamp, the positioning post 3328 provides a vertically downward pressure to the clamp when the claw 3326 presses the clamp down into the clamp hole, so that the clamp can be vertically pressed into the clamp hole, thereby further preventing the clamp from being mounted askew and ensuring the mounting accuracy of the clamp. Preferably, the positioning column 3328 is in threaded connection with the mounting seat 3325, so that the height of the positioning column 3328 in the claw 3326 can be conveniently adjusted, the height of the positioning column 3328 can be conveniently adjusted according to staples with different lengths, and the universality is good.
As an embodiment of the present invention, the visual inspection module 31 includes a CCD camera 311 fixedly connected to the stapling module 33, a lower moving seat 30 connected to the first driving component 34 is disposed below the staple mounting and dismounting platform 2, the lower moving seat 30 is provided with a third driving component 38, the staple mounting and dismounting device 3 further includes a light source component 9 disposed below the staple mounting and dismounting platform 2 and connected to the third driving component 38, and the third driving component 38 can drive the light source component 9 to move along the X-axis direction; the control device 4 can control the first driving assembly 34, the second driving assembly 36, and the third driving assembly 38, so that the light source assembly 9 and the CCD camera 311 move to the upper and lower sides of the through hole 202, respectively, for example, when the CCD camera 311, the staple removing module 32, and the staple installing module 33 move to the upper side of the staple removing platform 2 along the Y axis, the light source assembly 9 moves to the lower side of the staple removing platform 2 along the Y axis synchronously. Specifically, the CCD camera 311 is connected with the binding module 33 into a whole, and the CCD camera 311 moves along the X-axis direction and the Y-axis direction synchronously with the binding module 32 and the binding module 33, so that the CCD camera 311 moves to any position along the X-axis direction and the Y-axis direction synchronously with the binding module 32 and the binding module 33, and thus, each staple and each staple hole on the graphite boat sheet are photographed and identified.
In an embodiment of the present invention, when the graphite boat staple replacing apparatus only performs unified staple removal processing on each graphite boat sheet of the same model, a user needs to stack a plurality of graphite boat sheets in a stacking manner at the loading station 6 strictly according to the requirements of the graphite boat sheets of the same model, and meanwhile, the control device 4 pre-stores the staple removal positions of each old staple in the graphite boat sheets of each model, and at this time, in the corresponding staple removal process, the control device 4 correspondingly controls the first driving assembly 34 and the second driving assembly 36 to operate according to the staple removal position of the first old staple of the graphite boat sheet, so as to drive the top pillar 322 of the staple removal module 32 to move to the position above the staple removal position on the graphite boat sheet along the X-axis direction and the Y-axis direction; the further control device 4 controls the top pillar driving mechanism 321 to drive the top pillar 322 to move downwards along the Z-axis direction, so that the old staple in the first staple hole is detached from the graphite boat piece and falls off from the through hole 202 on the staple detaching platform 2, and the detachment of the old staple is realized; the further control device 4 controls the jack post driving mechanism 321 to move the driving jack post 322 upward in the Z-axis direction back to the initial position; then the corresponding control device 4 controls the first driving component 34 and the second driving component 36 to work according to the nail dismounting position of the second nail clamping hole of the graphite boat piece, and the actions are repeated continuously in this way, so that the next old nail is dismounted until all the old nails on the graphite boat piece are dismounted.
Further, in an embodiment of the present invention, the graphite boat staple replacing method provided in the embodiment of the present invention can be applied to various graphite boat pieces of any type, and the control device 4 further includes a step of acquiring a target type of the graphite boat piece placed on the staple mounting and dismounting platform 2 after controlling the pick-and-place device 5 to transfer and place the graphite boat piece on the staple mounting and dismounting platform 2.
Specifically, the above-mentioned target model of obtaining the graphite boat piece placed on the screw mounting and dismounting platform includes the following mode:
the method comprises the steps of firstly, acquiring a target model of a graphite boat sheet input by a user;
and in the second mode, matching the image detected and collected by the graphite boat piece according to the visual detection module to obtain the target model of the graphite boat piece.
That is, the target model of the graphite boat piece can be determined manually by the first mode, and at this time, the worker is always required to select the model of the graphite boat piece currently placed on the screw mounting and dismounting platform 2 at the graphite boat piece staple replacing device, so that the control device 4 performs the screw mounting and dismounting process according to the target model of the graphite boat piece input by the user. Certainly, the target model of the graphite boat piece can be automatically determined by the second mode, at this time, the control device 4 controls the visual detection module 31 to collect images of the graphite boat piece, for example, the control device 4 controls the driving mechanism to drive the visual detection module 31 to gradually move above the graphite boat piece and collect the images of the graphite boat piece in sections, and at this time, the control device 4 determines the target model of the graphite boat piece according to the corresponding detection of the images collected by the visual detection module 31. Specifically, because the graphite boat pieces in different shapes, sizes and positions of the staple holes are different, the control device 4 compares the image collected by the visual detection module 31 with the image information of the graphite boat pieces in different models stored in advance, and then detects and determines the target model of the graphite boat piece.
When the model of the graphite boat piece is different, the step of correspondingly disassembling the old staple on the graphite boat piece by the control staple disassembling module comprises the following steps:
determining the corresponding nail dismounting position according to the target model of the graphite boat piece;
and controlling the nail dismounting module to dismount the old clamping nail corresponding to the nail dismounting position.
That is, a user can place a plurality of graphite boat sheets stacked in a stacking manner at a loading station 6 at one time without stacking the graphite boat sheets strictly according to the same model, at this time, after the control device 4 controls the pick-and-place device 5 to pick and place the graphite boat sheets placed on the loading station 6 and transfer the graphite boat sheets to the nail dismounting platform 2, the control device 4 obtains the target model of the graphite boat sheets according to the target model of the current graphite boat sheets input by the user or according to the image matching detected and collected by the visual detection module 31, at this time, the control device 4 determines the nail dismounting positions according to the old nail positions correspondingly distributed on the graphite boat sheets of the target model stored in advance, and correspondingly controls the driving mechanism to drive the nail dismounting module 32 to move to the nail dismounting positions, and then the control device 4 controls the nail dismounting module 32 to dismount the old nails corresponding to the nail dismounting positions, the nail removing process is referred to the above description and will not be described herein.
Further, in an embodiment of the present invention, it should be noted that the size of the top pillar 322 is smaller than that of the staple, so that even if there is a certain degree of positional deviation of the graphite boat piece on the staple mounting and dismounting platform 2, the top pillar 322 can largely realize the dismounting of each old staple on the graphite boat piece. However, in this embodiment, in order to realize tearing the nail open more accurately to the graphite boat piece, the step of controlling the nail-tearing module to correspondingly dismantle the old staple bolt on the graphite boat piece at this moment still includes:
detecting the staple position on the graphite boat sheet according to the image acquired by the staple removing position by the visual detection module group;
and controlling the staple removing module to remove the old staple corresponding to the position of the staple.
When the control device 4 determines the corresponding nail dismounting position according to the target model of the graphite boat piece, and controls the driving mechanism to drive the visual detection module 31, the nail dismounting module 32 and the nail mounting module 33 to move to the nail dismounting position, the control device 4 controls the visual detection module 31 to acquire an image of the graphite boat piece at the nail dismounting position, and at the moment, the control device 4 detects the position of the nail on the graphite boat piece according to the image acquired by the visual detection module 31 at the nail dismounting position, namely the actual nail dismounting position of the graphite boat piece, correspondingly, the control device 4 controls the nail dismounting module 32 to dismount the old nail corresponding to the nail position, and the old nail dismounting method is not specifically limited herein.
As an embodiment of the present invention, when the staple removing operation is performed, the control device 4 can control the visual detection module 31 to collect an image of one of the old staples, and then control the staple removing module 32 to remove the old staple, that is, the old staple is removed while the position of the old staple is identified, so as to improve the staple removing efficiency; the control device 4 can also control the visual detection module 31 to collect images of all the old staple positions on the graphite boat sheet, and then control the staple removing module 32 to sequentially remove all the old staples.
Further, in an embodiment of the present invention, referring to fig. 6, the staple removing device 3 further includes a waste staple collecting module 35 disposed below the staple removing platform 2 for collecting the used staples, a lower moving seat 30 connected to the first driving module 34 is disposed below the staple removing platform 2, the lower moving seat 30 is provided with a third driving module 38, the waste staple collecting module 35 is connected to the third driving module 38, and the third driving module 38 can drive the waste staple collecting module 35 to move along the X-axis direction below the staple removing platform 2. Furthermore, the waste nail collecting module 35, the visual detection module 31, the nail dismounting module 32 and the nail installing module 33 share the first driving assembly 34, so that the waste nail collecting module 35, the visual detection module 31, the nail dismounting module 32 and the nail installing module 33 can synchronously move along the Y-axis direction; since the third driving assembly 38 is connected to the waste nail collecting module 35 and can drive the waste nail collecting module 35 to move along the X-axis direction, and the first driving assembly 34 can drive the lower moving seat 30 together with the waste nail collecting module 35, the vision detecting module 31, the nail removing module 32 and the nail installing module 33 to move along the Y-axis direction synchronously, the waste nail collecting module 35 can move along the X-axis direction and the Y-axis direction. Utilize third drive assembly 38 to drive useless nail to collect module 35 and can follow the X axle direction back-and-forth movement this moment, the nimble removal that module 35 position was collected to useless nail of being convenient for is torn open the nail when module 32 tears open the nail work, and useless nail is collected module 35 and can be followed Y axle direction and X axle direction and is nimble to be removed under nail module 32, the collection of the old bail of being convenient for. In addition, in other embodiments of the present invention, a driving device may be separately provided to drive the waste nail collecting module 35 to move along the X-axis direction and the Y-axis direction.
As an embodiment of the present invention, the graphite boat sheet staple replacing apparatus further comprises a storage box 10 provided on the frame 1; the waste nail collecting module 35 includes:
a collecting barrel 351 for collecting the old staples, wherein the top of the collecting barrel 351 is provided with a feeding port 3511, and the bottom of the collecting barrel 351 is provided with a discharging port (not shown);
a baffle 352 movably arranged at the discharge hole; and
a baffle driving device 353 connected with the baffle 352, wherein the baffle driving device 353 is connected with the control device 4 and can drive the baffle 352 to move so as to open or close the discharge hole, and the third driving assembly 38 can drive the collecting cylinder 351 to move to the upper part of the containing box 10 along the X-axis direction. In one embodiment, the baffle driving device 353 is an air cylinder.
Further, in an embodiment of the invention, the step of controlling the staple removing module to correspondingly remove the old staples on the graphite boat sheet comprises:
recording the quantity of the old staples collected currently in the waste staple collecting module corresponding to the staple removing module when the staples are removed, and judging whether the quantity of the old staples reaches a preset quantity;
if so, controlling the waste nail collecting module to transfer all the collected old nails into the containing box;
if not, controlling the nail removing module to correspondingly remove the old nail on the graphite boat sheet.
In this embodiment, the waste nail collecting module 35 can move to the lower part of each nail clamping hole of the graphite boat along the X-axis direction and the Y-axis direction, when the nail removing module 32 in the nail removing module 32 removes nails, the control device 4 moves to the position under the nail removing module 32 according to the corresponding control waste nail collecting module 35 in the nail removing position, and after the nail removing module 32 removes old nails from the nail clamping holes, the old nails directly drop from the through holes 202 on the nail removing platform 2, and drop into the inside of the collecting cylinder 351 from the feeding port 3511 of the collecting cylinder 351. The useless nail of this moment is collected module 35 and is used for realizing accomodating temporarily of old bail, the recycle of the old bail of being convenient for. Further, the control device 4 records the number of the old staples collected currently in the waste staple collecting module 35; that is, when each old staple is detached from the graphite boat, the control device 4 will count up the number of old staples. When the control device 4 judges that the quantity of the old staples collected currently in the waste staple collecting module 35 does not reach the preset quantity, the corresponding control staple removing module 32 continues to remove the next old staple on the graphite boat sheet; when the control device 4 determines that the used staples in the collecting cylinder 351 are fully collected and reach the preset number, the control device 4 controls the third driving assembly 38 to drive the collecting cylinder 351 to move above the containing box 10 along the X-axis direction, the control device 4 controls the baffle driving device 353 to drive the baffle 352 to move so as to open the discharge hole, so that all the used staples in the collecting cylinder 351 fall into the containing box 10, after all the used staples in the collecting cylinder 351 fall into the containing box 10, the baffle driving device 353 drives the baffle 352 to move so as to close the discharge hole, so that the used staple collecting module 35 transfers all the collected used staples into the containing box 10, and correspondingly, the control device 4 resets the number of the used staples currently collected in the used staple collecting module 35 to 0, so as to realize the function of continuing to temporarily collecting the used staples by the collecting cylinder 351, thereby realizing the full-automatic recovery and uniform collection of the used staples into the containing box 10, the automation degree is high.
Wherein, the control device 4 can count the old staples collected in the collecting cylinder 351 to determine whether the old staples in the collecting cylinder 351 are fully collected; it may also be that a sensor is provided on the collecting cylinder 351 to detect whether the old staples are fully collected, in which case the sensor may be an infrared sensor, a distance sensor, etc. provided on the upper end of the collecting cylinder 351. If the infrared sensor is used, if the old card nails in the collecting cylinder 351 are fully collected, the old card nails can shield the infrared sensor, and at the moment, the infrared receiving geminate transistor cannot receive infrared rays emitted by the infrared emitting geminate transistor and can determine that the old card nails in the collecting cylinder 351 are fully collected. In the case of the distance sensor, if the old staples in the collection cylinder 351 are fully collected, the old staples are closer to the distance sensor, and the distance sensor determines that the old staples in the collection cylinder 351 are fully collected according to the fact that the detected distance value is smaller than the preset distance value.
Step S30, controlling the visual detection module to detect the position and the corresponding aperture of the staple hole on the graphite boat piece, controlling the binding module to select a new staple with a corresponding specification in the feeding mechanism according to the aperture of the staple hole, and controlling the binding module to load the new staple into the staple hole on the graphite boat piece according to the position of the staple hole until all the staple holes are bound;
in an embodiment of the present invention, referring to fig. 7, a negative pressure cavity (not shown) is disposed inside the nail mounting and dismounting platform 2, a plurality of suction holes 201 communicated with the negative pressure cavity are disposed on the upper surface of the nail mounting and dismounting platform 2, and the graphite boat piece is sucked on the nail mounting and dismounting platform 2 through the suction holes 201. Wherein the negative pressure cavity is connected with an external vacuum generating device through a pipeline, and the vacuum generating device is connected with the control device 4. Preferably, the vacuum generating means is a vacuum pump. In the embodiment, when the graphite boat piece is placed on the dismounting nail platform 2, the control device 4 controls the vacuum generating device to work, the dismounting nail platform 2 adsorbs and fixes the graphite boat piece by using the adsorption holes 201, so that the graphite boat piece is prevented from moving in the process of dismounting the staple bolt, the positioning of the graphite boat piece is realized, and the dismounting precision of the staple bolt is improved; and the graphite boat piece can be attached to the dismounting nail platform 2 as much as possible, so that the bottom surface of the graphite boat piece is kept flat, the problem that the installation depth of the staple is inconsistent due to inconsistent flatness of the bottom surface of the graphite boat piece is avoided, and the installation precision of the staple is further ensured. When the graphite boat piece needs to be taken away from the screw mounting and dismounting platform 2, the control device 4 controls the vacuum generating device to stop working, so that the graphite boat piece can be smoothly taken away from the screw mounting and dismounting platform 2. Simultaneously, dismouting nail platform 2 still is provided with and is used for cooperating with graphite boat piece to realize the locating pin of graphite boat piece location, with the positioning accuracy that further promotes graphite boat piece.
In an embodiment of the present invention, the step of controlling the visual inspection module to inspect the position and the corresponding aperture of the staple hole on the graphite boat sheet includes:
determining a corresponding photographing position according to the target model of the graphite boat piece;
and detecting the position of the staple bolt hole on the graphite boat sheet and the corresponding aperture according to the image acquired by the visual detection module at the photographing position.
The control device 4 prestores photographing positions corresponding to the clamping nail holes in the graphite boat sheets of various types, and the photographing positions can be overlapped with the nail dismounting positions in the concrete implementation process. When the graphite boat piece staple replacing equipment only carries out unified staple mounting processing on each graphite boat piece of the same model, the control device 4 directly acquires the pre-stored photographing position corresponding to each staple hole in the graphite boat piece, and each time when all old staples in the graphite boat piece on the staple mounting and dismounting platform 2 are dismounted, the control device 4 controls the driving mechanism to drive the visual detection module 31 to move to the photographing position for image acquisition; when staple bolt binding processing is carried out on various graphite boat sheets of any type, the target type of the graphite boat sheet is obtained, and the corresponding photographing position is determined according to the obtained target type of the graphite boat sheet; or determining the corresponding photographing position according to the target model of the graphite boat piece obtained in the step S20 when the nail is detached, and then after all the old nails in the graphite boat piece are detached, the control device 4 controls the driving mechanism to drive the visual inspection module 31 to move to the photographing position corresponding to the graphite boat piece of the target model for image acquisition. Further, the control device 4 detects the staple hole position and the corresponding aperture on the graphite boat sheet according to the image collected by the visual detection module 31.
Specifically, the above-mentioned step of detecting staple bolt hole position on the graphite boat piece and corresponding aperture according to the image that the visual inspection module group gathered the position of shooing includes:
determining an offset value between the actual position of the staple hole and the reference position in the XY direction and the coverage range of the staple hole according to the image acquired by the visual detection module at the photographing position;
determining the position of a staple bolt hole on the graphite boat sheet according to the preset calibrated size, the preset photographing position and the preset deviation value of the acquired image by the visual detection module;
and determining the corresponding aperture of the clamping nail hole on the graphite boat sheet according to the preset calibrated size of the acquired image and the coverage range of the clamping nail hole by the visual detection module.
As an embodiment of the present invention, a graphite boat piece replacing device calibrates the visual detection module 31 using a checkerboard of a preset specification at the beginning of use, specifically, a high-precision calibration plate made of glass and having a precision of 0.01mm and a size of 0.5 × 0.5mm is selected according to the precision (e.g. 0.01mm) of the detection system and the visual field range of the CCD camera 311, wherein a 5-point method is specifically adopted to calibrate five target points, wherein the five target points are respectively an original point, a first quadrant point, a second quadrant point, a third quadrant point and a fourth quadrant point of the high-precision calibration plate, so that a mapping can be made between the physical coordinates and the pixel coordinates of the visual detection module 31, and therefore, the pixel units in the image collected by the CCD camera 311 can be converted into actual physical units (mm) and actual sizes.
Further, when the control device 4 controls the driving mechanism to drive the CCD camera 311, the nail removing module 32 and the nail installing module 33 to move to the upper side of the photographing position along the Y axis, the driving mechanism correspondingly drives the light source assembly 9 to move to the lower side of the photographing position along the Y axis synchronously, at this time, when the CCD camera 311 photographs the graphite boat piece at the photographing position, the control device 4 controls the light source assembly 9 to emit light, at this time, the image collected by the CCD camera 311 is specifically a white aperture at the middle part, and the outside is black. The control device 4 can fit the black-white boundary of the edge of the image into a circle by distinguishing parameters such as color, contrast and the like of the collected image according to image processing software, and then determines the coverage range of the circle and measures to obtain the pixel diameter of the circle. Wherein the pixel units of the diameter of the circle measured in the image can be converted into the actual physical units of the staple hole, i.e. the aperture of the staple hole is determined, due to the aforementioned calibration.
Further, when the graphite boat piece does not deviate on the nail mounting and dismounting platform 2, the white aperture of the visual detection module 31 in the image collected at the photographing position should be in the middle position of the image, namely the reference position; when the graphite boat sheet deviates to a certain extent on the nail mounting and dismounting platform 2, the white aperture of the visual detection module 31 is located at a position deviating from the reference position in the image collected by the photographing position, and at this time, the corresponding control device 4 measures and determines the pixel deviation value between the center of the circle and the reference position in the XY direction according to the actual position of the circle in the image collected by the visual detection module 31. Correspondingly, the step of detecting the staple position on the graphite boat sheet according to the image acquired by the visual detection module 31 at the staple detachment position also refers to the above steps, and the step can also correspondingly fit the edges of the old staples in the image into a circle according to the parameters such as color, contrast and the like in the image acquired by the visual detection module 31, and determine the staple position according to the above steps, which is not described herein again.
Further, in an embodiment of the present invention, the step of detecting the position of the staple hole on the graphite boat sheet and the corresponding aperture according to the image acquired by the visual detection module at the photographing position includes:
detecting and judging whether the defect degree of the graphite boat piece is greater than a preset threshold value according to the picture acquired by the photographing position through the visual detection module;
if so, controlling the taking and placing device to absorb the graphite boat piece placed on the disassembling and assembling nail platform and transferring the graphite boat piece to a reserved station;
if not, detecting the position of the staple bolt hole on the graphite boat piece and the corresponding aperture according to the image collected by the visual detection module group at the photographing position.
As an embodiment of the present invention, the rack 1 is further provided with a reserved station 15, after the staple removing module 32 finishes removing the staple and before the staple attaching module 33 mounts a new staple, the control device 4 controls the visual detection module 31 to acquire an image of the graphite boat at the photographing position, and at this time, by processing the image of the graphite boat, it can be identified whether the staple hole is damaged, specifically, because the light emitted by the light source assembly 9 penetrates through the through hole 202 on the staple removing platform 2, an aperture is formed at the position of the staple hole on the graphite boat, and when the control device 4 acquires the image of the graphite boat through the CCD camera 311, the acquired image is specifically a white aperture at the middle part and black at the outside. At the moment, the control device 4 can fit the black-white junction of the edge of the image into a circle through the difference of parameters such as color, contrast and the like of the image, at the moment, when the staple bolt hole is damaged and defected, the fitted circle is also correspondingly not a standard circle, but a certain gap exists, at the moment, the control device 4 correspondingly detects the defect degree of the staple bolt hole according to the image acquired by the visual detection module 31 from the graphite boat sheet at the photographing position, when the control device 4 detects that the defect degree of the staple bolt hole is greater than a preset threshold value according to the image acquired by the visual detection module 31, the graphite boat sheet is judged to be damaged, at the moment, the control device 4 controls the picking and placing device 5 to take out the damaged graphite boat sheet from the dismounting nail platform 2 and transfer the damaged graphite boat sheet to the reserved station 15, so that a new staple can be prevented from being mounted on the damaged graphite boat sheet, and a worker can take out the damaged graphite boat sheet from the reserved station 15, the intelligent degree and the working efficiency of the equipment are greatly improved.
Further, referring to fig. 2-4, as an embodiment of the present invention, the feeding mechanism 8 can provide new staples with different specifications, so that the stapling module 33 can select new staples with corresponding specifications according to the aperture of the staple holes. When a new staple is installed in the stapling module 33, the control device 4 controls the driving mechanism to drive the stapling module 33 to move to the feeding mechanism 8 along the X-axis and Y-axis directions to select a new staple with a corresponding specification, and the stapling module 33 then loads the new staple into the corresponding staple hole. It should be noted that the new staple is a staple to be mounted in the staple hole of the graphite boat piece.
As an embodiment of the present invention, the feeding mechanism 8 includes a plurality of vibrating disks 81 disposed on the frame 1 for providing new staples of different specifications, wherein each vibrating disk 81 is used for providing a new staple of one specification, respectively. The number of the vibration plates 81 may be set according to a specific specification type of the staple. In this embodiment, every feeding mechanism 8 is including four vibration dishes 81 that the interval set up side by side, and every vibration dish 81 is used for holding the bail of a specification, and consequently four kinds of different specifications's bail can be installed to binding module 33, and binding module 33 can select the new bail of corresponding specification from the discharge gate that corresponds vibration dish 81 according to the aperture in the bail hole on the graphite boat piece and install to improve the assembly precision, and promote the commonality of this equipment.
The aperture of the clamping nail hole of the graphite boat piece and the specification corresponding relation of the clamping nail can be set according to actual needs, and the aperture of the clamping nail hole can be a specific numerical value or a range value. In the present embodiment, the specification of each staple corresponds to one range of values of the aperture of the staple hole. For example: the diameter of the staple corresponding to the staple hole with the aperture of 6.00mm-6.05mm is 6.05 mm; when the visual inspection module 31 detects that the diameter of the staple hole is 6.02mm, the stapling module 33 selects a new staple having a diameter of 6.05mm from the vibration plate 81 of the feeding mechanism 8 on which the new staple having a diameter of 6.05mm is placed and fits into the staple hole.
Further, in an embodiment of the present invention, the step of controlling the stapling module to select a new staple with a corresponding specification in the feeding mechanism according to the aperture of the staple hole includes:
controlling the binding module to move to a target vibration disc position for providing a new binding staple with a corresponding specification according to the aperture of the binding staple hole;
and controlling the nailing module to select a new clamping nail with a corresponding specification from the target vibration disc.
After detecting the aperture of the staple hole on the graphite boat sheet according to the image acquired by the visual detection module 31 at the photographing position, the control device 4 determines a new staple with a corresponding specification according to the aperture, and controls the driving mechanism to drive the staple module 33 to move to the position of the target vibration disc for providing the new staple with the corresponding specification; meanwhile, the control device 4 controls the air claw driving mechanism 331 to drive the air claw 332 to move downwards to the discharge hole of the target vibration disc along the Z-axis direction, and further controls the air cylinder 3327 to drive the claw 3326 to close up, so as to realize the grabbing of a new staple at the discharge hole of the target vibration disc.
As an embodiment of the present invention, the step of controlling the stapling module to select a new staple with a corresponding specification from the target vibration tray includes:
controlling a visual detection module to acquire an image of a new clamp nail in the target vibration disc;
judging whether the current specification of a new clamping nail in the target vibration disc determined according to the image collected by the visual detection module is in accordance with the corresponding specification;
if so, controlling the nailing module to select a new clamping nail with a corresponding specification from the target vibration disc.
Before the step of selecting the new staples in the target vibration tray, the control device 4 controls the visual detection module 31 to acquire images of the new staples in the target vibration tray, and simultaneously the control device 4 detects the current specification of the currently selected new staples according to the images acquired by the visual detection module 31 and judges whether the current specification of the currently selected new staples is consistent with the corresponding specification of the staple holes, so that the problem that graphite boat sheets are damaged or the staples are not fixed stably due to the fact that the staples of different specifications are mixed in the vibration tray 81 and the mixed new staples are directly nailed in the staple holes is solved. Correspondingly, when the control device 4 detects that the current specification of the new staples in the target vibration tray determined according to the image collected by the visual detection module 31 is in accordance with the corresponding specification, the stapling module 33 is controlled to select the new staples with the corresponding specification from the target vibration tray.
Furthermore, the step of controlling the stapling module to select a new staple with a corresponding specification from the target vibration tray further includes:
and when the current specification of the new staple in the target vibration disc determined according to the image acquired by the visual detection module is judged to be not in accordance with the corresponding specification, controlling the staple module to stop selecting the new staple and give an alarm, or controlling the staple module to select the new staple and transfer the new staple into the storage box.
When the control device 4 judges that the current specification of the new staple in the target vibration tray determined according to the image acquired by the visual detection module 31 is not in accordance with the corresponding specification, the control device 4 can process the new staple in the target vibration tray in multiple ways, wherein the first way is that the control device 4 controls the staple module 33 to stop selecting the new staple and give an alarm, and at the moment, a worker can correspondingly discard the new staple in the target vibration tray according to the alarm information and control the graphite boat sheet staple replacing equipment to continue to resume working, so that the control device 4 continues to control the visual detection module 31 to acquire the image of the new staple in the target vibration tray; and judges whether the current specification of the new staple in the target vibration disk determined according to the image collected by the visual detection module 31 is in accordance with the corresponding specification; and controlling the binding module 33 to select a new card nail with a corresponding specification from the target vibration disc until the matching is judged. The second way is that the control device 4 controls the cylinder 3327 in the stapling module 33 to drive the claw 3326 to close and grab a new staple, and controls the driving mechanism to drive the stapling module 33 to move to the storage box 10, at this time, the control device 4 controls the cylinder 3327 in the stapling module 33 to drive the claw 3326 to release the clamping of the new staple, so that the new staple is transferred to the storage box 10, and further, the control device 4 controls the driving mechanism to drive the stapling module 33 to move to the target vibration disk position providing the new staple with the corresponding specification again, and the above operations are repeated until the stapling module 33 is controlled to select the new staple with the corresponding specification in the target vibration disk.
As an embodiment of the present invention, the step of controlling the stapling module 33 to gradually load the selected new staples with the corresponding specifications into the staple holes on the graphite boat piece specifically includes: the control device 4 controls the first driving assembly 34 and the second driving assembly 36 to work in coordination to drive the air claw 332 to move to a position right above the position of the staple hole, and the control device 4 controls the air claw driving mechanism 331 to drive the air claw 332 to move downwards along the Z-axis to press a new staple into the staple hole. When a new clamp nail is installed in place, the control device 4 controls the air claw driving mechanism 331 to stop driving the air claw 332 to move downwards, and the control device 4 controls the air cylinder 3327 to drive the air claw 332 to open so that the claw 3326 of the air claw 332 releases clamping of the clamp nail; the control device 4 controls the air claw driving mechanism 331 to drive the air claw 332 to move upwards for resetting; the corresponding control device 4 controls the driving mechanism to drive the visual detection module 31 to move to the position above the second staple hole for image acquisition, and completes the installation of the second staple according to the process, and the process is repeated until new staples are installed in all the staple holes on the graphite boat sheet.
Further, in an embodiment of the present invention, the staple removing device 3 further includes a pressure detection module 37 movably disposed below the staple removing platform 2 and configured to detect a pressure of the staple, the pressure detection module 37 is connected to the control device 4, the third driving module 38 is connected to the pressure detection module 37, the third driving module 38 can drive the pressure detection module 37 to move below the staple module 33, and the control device 4 is configured to control the staple module 33 to stop pressing the staple when the pressure detection module 37 detects that the pressure reaches a preset pressure value. Specifically, the pressure detection module 37 is fixedly connected with the collection cylinder 351 of the waste nail collection module 35.
As an embodiment of the present invention, the step of controlling the binding module to load the new staple into the staple hole of the graphite boat sheet according to the position of the staple hole comprises:
controlling the binding module to gradually load the selected new clamping nail with the corresponding specification into the clamping nail hole on the graphite boat piece;
and acquiring a pressure value detected by a pressure detection module arranged below the graphite boat piece, and controlling the nailing module to stop nailing until the detected pressure value reaches a preset pressure value.
In this embodiment, when the stapling module 33 installs a new staple, the control device 4 controls the driving mechanism to drive the pressure detection module 37 to move to the lower part of the staple hole of the graphite boat piece along the X-axis direction and the Y-axis direction, when the stapling module 33 presses the new staple to a preset position, the new staple is considered to be installed in place, and at this time, the pressure detection module 37 abuts against the new staple and the detection pressure reaches a preset pressure value. Therefore, when the pressure detection module 37 detects that the pressure reaches the preset pressure value, the control device 4 controls the pneumatic claw driving mechanism 331 of the stapling module 33 to stop driving the pneumatic claw 332 to press down the staple, so as to avoid the excessively deep installation of the staple, thereby ensuring the installation accuracy of the staple.
Referring to fig. 8, as an embodiment of the present invention, the pressure detecting module 37 includes:
a support 371 connected to the third driving assembly 38;
a pressure sensor 372 arranged on the support 371, the pressure sensor 372 being connected to the control device 4;
the supporting member 371, the push rod 373 and the pressure sensor 372 are disposed on the pressure sensor 372, and the third driving component 38 can drive the supporting member 371, the push rod 373 and the pressure sensor 372 to move along the X-axis direction under the staple mounting and dismounting platform 2 synchronously, so that the push rod 373 can move right under the staple mounting module 33.
In this embodiment, when the stapling module 33 presses down to install a new staple in place, the bottom surface of the new staple just contacts with the ejector rod 373, and at this time, the pressure sensor 372 detects that the pressure reaches a preset pressure value, and at this time, it is considered that the new staple is installed in place.
As an embodiment of the present invention, the pressure detection module 37 further includes:
and a fourth driving unit 374 connected to the third driving unit 38, wherein the support 371 is connected to the third driving unit 38 via the fourth driving unit 374, and the fourth driving unit 374 can drive the support 371 to move up and down along the Z-axis direction. In the present embodiment, the fourth drive assembly 374 is embodied as an electric cylinder.
In this embodiment, the fourth driving component 374 drives the supporting member 371 to move up and down along the Z-axis direction, so that the supporting member 371 drives the push rod 373 and the pressure sensor to synchronously move up and down along the Z-axis direction, thereby preventing the push rod 373 from moving and interfering with other components in the moving process of the pressure detection module 37; moreover, the rising height of the ejector rod 373 can be flexibly adjusted according to graphite boat pieces with different thicknesses, so that the height of the ejector rod 373 can be adjusted, the graphite boat pieces with different thicknesses can be self-adapted, and the general performance can be improved.
The elevation of the lift pin 373 corresponds to the graphite boat pieces with different thicknesses, the control device 4 stores the correspondence between the elevation of the lift pin 373 and the graphite boat pieces in advance, and the correspondence between the elevation of the lift pin 373 and the graphite boat pieces can be set according to practical applications. This equipment is changed to graphite boat piece bail before changing the bail to graphite boat piece, the user sets up the thickness specification of graphite boat piece through controlling means 4, and binding module 33 is before installing new bail like this, and controlling means 4 can control fourth drive subassembly 374 and drive ejector pin 373 and rise to the height that corresponds, makes binding module 33 at the new bail in-process of installation, and the bottom surface of new bail just can detect new bail installation with ejector pin 373 contact and target in place. Specifically, the fourth driving assembly 374 is fixed on the collecting cylinder 351, so that the pressure detecting module 37 can move along the Y-axis direction synchronously with the collecting cylinder 351, and the pressure detecting module 37 can move back and forth along the X-axis direction synchronously with the collecting cylinder 351, thus a driving device is not required to be separately arranged to drive the pressure detecting module 37 to move along the Y-axis direction and along the X-axis direction.
It should be understood that, in other embodiments of the present invention, the staple removing device 3 may also replace the pressure detecting module 37 with a detecting module composed of other sensors, for example, the detecting module composed of distance sensors detects the distance between the bottom surface of the new staple and the detecting module, and when the new staple is completely stapled and the distance between the bottom surface of the new staple and the detecting module reaches the preset distance value, the control device 4 correspondingly controls the stapling module 33 to stop stapling.
In the embodiment of the invention, when the stapling operation is performed, the control device 4 can control the visual detection module 31 to collect the image of the position and the aperture of one of the staple holes, and then control the stapling module 33 to install a new staple of a corresponding specification at the position of the staple hole, that is, through the position and the aperture of the staple hole on one side, the installation of the new staple is performed at the same time, so as to improve the staple installation efficiency; the control device 4 can also control the visual detection module 31 to collect the position and aperture images of all the staple holes on the graphite boat sheet, and then control the staple module 33 to install new staples with corresponding specifications in each staple hole in sequence.
Step S40, controlling the taking and placing device to take and place the graphite boat piece which is arranged on the nail dismounting and mounting platform and completes the nailing, and transferring the graphite boat piece to the blanking station;
in an embodiment of the present invention, when the control device 4 controls the stapling module 33 to staple all staple holes on the graphite boat, the control device controls the pick-and-place device 5 to pick and place the graphite boat which is placed on the staple mounting and dismounting platform 2 and is subjected to stapling, and transfer the graphite boat to the blanking station 7.
In this embodiment, the staff will treat that the graphite boat piece of change bail is placed on material loading station 6, get to put device 5 and get to dismouting nail platform 2 on placing the graphite boat piece of material loading station 6, treat that dismouting nail device 3 is the whole backs of accomplishing of the bail on the graphite boat piece on dismouting nail platform 2, get to put device 5 and get to unloading station 7 with the graphite boat piece on dismouting nail platform 2, thereby need not the manual work and get on dismouting nail platform 2 and put graphite boat piece, can realize the unloading in the automation of graphite boat piece, promote the degree of automation of this equipment greatly. Meanwhile, the worker can directly take away the graphite boat piece of which the staple bolt is replaced from the blanking station 7, the whole process only needs the worker to place the graphite boat piece of which the staple bolt is to be replaced on the feeding station 6 and take away the graphite boat piece of which the staple bolt is replaced from the blanking station 7, and the automatic degree is high; moreover, as the taking and placing device 5 is used for automatically taking and placing the graphite boat pieces, a user can place a plurality of stacked graphite boat pieces at one time at the feeding station 6 every time, and does not need to continuously place the graphite boat pieces by workers; moreover, the staff can wait that the unloading station 7 stacks a plurality of graphite boat pieces of changing the bail and just get, can reduce staff's intensity of labour.
It should be noted that the nail dismounting platform 2 can be integrated or separated, and when the nail dismounting platform 2 is integrated, the steps S20 and S30 are both implemented on the nail dismounting platform 2; when the staple mounting and dismounting platform 2 is arranged separately, in an embodiment of the present invention, as shown in fig. 2 to 4, the staple mounting and dismounting platform 2 includes a staple mounting platform 21 and a staple mounting platform 22;
in this case, the step S10 specifically includes:
the control is got and is put the device and absorb the graphite boat piece of locating on the material loading station to shift in proper order and place on tearing nail platform and binding platform. Wherein step S20 is completed on staple removing platform 21; step S30 is completed on the stapling station 22. Namely, the step of correspondingly disassembling the old staple on the graphite boat sheet by controlling the staple disassembling module is completed on the staple disassembling platform; and the control visual detection module detects the position of the staple bolt hole on the graphite boat sheet and the corresponding aperture, controls the binding module to select a new staple bolt with a corresponding specification in the feeding mechanism according to the aperture of the staple bolt hole, and controls the binding module to load the new staple bolt into the staple bolt hole on the graphite boat sheet according to the position of the staple bolt hole.
Further, as an embodiment of the invention, two nail dismounting and mounting platforms 2 are arranged on the frame 1, and each nail dismounting and mounting platform 2 is correspondingly provided with one nail dismounting and mounting device 3, so that each nail dismounting and mounting device 3 carries out dismounting and mounting of the graphite boat sheet staple on the corresponding nail dismounting and mounting platform 2. Wherein, every dismouting nail platform 2 corresponds sets up a feeding mechanism 8. In this embodiment, two dismouting nail platforms 2 symmetry set up in the both sides of the central axis of frame 1, and every dismouting nail device 3 carries out the change of graphite boat piece bail respectively at the dismouting nail platform 2 that corresponds, because two dismouting nail devices 3 that can carry out graphite boat piece bail simultaneously work to can promote the work efficiency of this graphite boat piece bail replacement equipment. Wherein, the structure of two dismouting nail platforms 2 is identical, and the structure of two dismouting nail device 3 is identical.
As an embodiment of the present invention, each staple mounting and dismounting platform 2 comprises a staple mounting platform 21 and a staple mounting platform 22 which are arranged at intervals along the Y-axis direction, and at this time, between the step S20 and the step S30, the control device 4 further controls the pick-and-place device 5 to be placed on the place where the graphite boat piece of the staple mounting platform 21 is transferred to the staple mounting platform 22;
the vision inspection module 31, the staple removing module 32 and the staple module 33 of each staple removing device 3 can move along the Y-axis direction to the position above the staple removing platform 21 or the staple installing platform 22 in the corresponding staple removing platform 2. Wherein, one side of each binding platform 22 is provided with a feeding mechanism 8, so that the binding module 33 has short motion stroke in taking the clamping nail and high nail taking efficiency.
In this embodiment, two are torn open and are nailed platform 21 and be used for placing the graphite boat piece of treating the change bail, and two binding platforms 22 are used for placing the graphite boat piece that has accomplished the bail and has dismantled, can utilize two to tear nail platform 21 open like this and dismantle the bail, utilize two binding platforms 22 to install the bail, and two are torn open and are nailed platform 21 and can be torn open the nail work simultaneously, and two binding platforms 22 can be simultaneously carried out the binding work, can promote the dismouting efficiency of bail in the graphite boat piece greatly. Moreover, the nail dismounting platform 21 and the nail installing platform 22 in each nail dismounting platform 2 share the same visual detection module 31, the nail dismounting module 32 and the nail installing module 33, so that the production cost can be greatly reduced, and the structure is more compact.
In the embodiment, as the taking and placing device 5 is adopted to take and place the graphite boat pieces, the graphite boat pieces can be taken and placed on any nail dismounting platform 2, and thus when any one of the two nail dismounting platforms 21 is in a free state, the taking and placing device 5 can transfer the graphite boat pieces to be subjected to nail dismounting in the feeding station 6 to the nail dismounting platform 21 for nail dismounting; when an idle state occurs in any one of the two binding platforms 22, the taking and placing device 5 can transfer the graphite boat piece with the nail removed by the nail removing in the nail removing platform 21 to the binding platform 22 for installing the nail, so that the coordination work of double stations can be realized, the waiting time in the graphite boat piece feeding process can be saved, and the replacement efficiency of the graphite boat piece nail can be greatly improved.
In this embodiment, the principle of the staple mounting and dismounting of each staple device 3 on the corresponding staple mounting and dismounting platform 2 is the same, and the following description will be given of the process of mounting and dismounting the staple on the corresponding staple mounting and dismounting platform 2 by using one staple mounting and dismounting device 3.
The control device 4 controls the pick-and-place device 5 to pick and place the graphite boat sheet manually placed at the feeding station 6 and transfer the graphite boat sheet to the nail dismounting platform 21, the control device 4 controls the driving mechanism in the nail dismounting device 3 to drive the visual detection module 31, the nail dismounting module 32 and the nail mounting module 33 to synchronously move to the position above the nail dismounting platform 21, the control device 4 controls the visual detection module 31 to acquire images of the graphite boat sheet on the nail dismounting platform 21 and detects and identifies the position of an old nail according to the acquired images, the control device 4 controls the nail dismounting module 32 to dismount the old nail of the graphite boat sheet on the nail dismounting platform 21 until the old nail on the graphite boat sheet is completely dismounted, the control device 4 controls the pick-and-place device 5 to transfer the graphite boat sheet on the nail dismounting platform 21 to the nail mounting platform 22, and the control device 4 controls the driving mechanism to drive the visual detection module 31, the nail dismounting module 32 and the nail mounting module 33 to synchronously move to the position above the nail mounting platform 22, the control device 4 controls the visual detection module 31 to collect images of the graphite boat piece on the binding platform 22, and detects and identifies the position and the aperture of the staple hole according to the collected images, the control device 4 controls the driving mechanism to drive the binding module 33 to select a new staple in the target vibrating tray corresponding to the aperture specification, and the new staple corresponding to the specification is loaded into the staple hole of the graphite boat piece on the binding platform 22, so that the replacement of the staple of the graphite boat piece is completed, until all the staples of the graphite boat piece are replaced, the control device 4 controls the taking and placing device 5 to take and place the graphite boat piece on the binding platform 22, which is completed with the replacement of the staple, and then the graphite boat piece is transferred to the blanking station 7, so that the processes are repeated continuously, and the replacement of the next graphite boat piece is performed.
In the actual use process of the graphite boat sheet, the design specifications of the aperture of the clamping nail holes in different graphite boat sheets are possibly different, and the clamping nail holes in the same graphite boat sheet are also likely to be worn to cause aperture enlargement after long-term use. Therefore, the graphite boat staple replacing method of the invention takes the graphite boat sheet with the staple to be replaced, which is placed in the feeding station 6, to the staple disassembling and assembling platform 2 by controlling the taking and placing device 5, controls the staple disassembling module 32 to disassemble each old staple on the graphite boat sheet, then detects each staple hole position and corresponding aperture of the graphite boat sheet according to the visual detection module 31, controls the staple assembling module 33 to select a new staple with corresponding specification in the feeding mechanism 8 according to each staple hole position and corresponding aperture, and respectively loads the new staple with corresponding specification of each staple hole into the corresponding staple hole, then controls the taking and placing device 5 to take the graphite boat sheet on the staple disassembling and assembling platform 2 to the feeding station 7, thereby realizing the automatic replacement of the graphite boat staple, replacing the mode of manually installing the staple, reducing the labor intensity and the labor cost, and greatly improving the efficiency of installing the staple, simultaneously according to the position in each staple hole and the new staple that aperture control binding module 33 corresponds the specification of each staple hole and packs into corresponding staple hole respectively, avoid staple bolt and staple bolt hole to mismatch and lead to the damage of graphite boat piece or the fixed unstable problem of staple bolt for can ensure the assembly precision of staple bolt, solve the installation effectiveness that the staple bolt of current artifical change graphite boat piece produced and hang down and the problem that the assembly precision is low. Meanwhile, the graphite boat piece does not need to be taken and placed on the disassembling and assembling nail platform 2 manually, automatic feeding and discharging of the graphite boat piece can be achieved, and the automation degree of the equipment is greatly improved. Meanwhile, the worker can directly take away the graphite boat piece of which the staple bolt is replaced from the blanking station 7, the whole process only needs the worker to place the graphite boat piece of which the staple bolt is to be replaced on the feeding station 6 and take away the graphite boat piece of which the staple bolt is replaced from the blanking station 7, and the automatic degree is high; moreover, as the taking and placing device 5 is used for automatically taking and placing the graphite boat pieces, a user can place a plurality of stacked graphite boat pieces at one time at the feeding station 6 every time, and does not need to continuously place the graphite boat pieces by workers; moreover, the staff can wait that the unloading station 7 stacks a plurality of graphite boat pieces of changing the bail and just get, can reduce staff's intensity of labour.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (15)
1. A graphite boat blade staple replacing method, which is characterized by comprising the following steps:
controlling a taking and placing device to take and place the graphite boat piece arranged on the feeding station and transferring the graphite boat piece on the screw disassembling and assembling platform;
controlling the nail removing module to correspondingly remove the old nail clamps on the graphite boat sheet until all the old nail clamps are removed;
the control visual detection module detects the position and the corresponding aperture of the staple hole on the graphite boat sheet, controls the binding module to select a new staple with a corresponding specification in the feeding mechanism according to the aperture of the staple hole, and controls the binding module to load the new staple into the staple hole on the graphite boat sheet according to the position of the staple hole until all the staple holes are bound;
and controlling the taking and placing device to take and place the graphite boat piece which is arranged on the nail dismounting and mounting platform and completes the nailing, and transferring and placing the graphite boat piece on the blanking station.
2. The graphite boat blade staple replacing method of claim 1, wherein the de-nailing platform comprises a de-nailing platform and a nailing platform;
the step that the control is got and is put the graphite boat piece of putting on the material loading station of putting to the transfer is placed on dismouting nail platform includes:
controlling a taking and placing device to take and place the graphite boat piece arranged on the feeding station, and sequentially transferring and placing the graphite boat piece on the nail dismounting platform and the nail installing platform;
the step of correspondingly disassembling the old staple on the graphite boat sheet by the control staple disassembling module is completed on the staple disassembling platform;
the control visual detection module detects the position of the staple bolt hole on the graphite boat sheet and the corresponding aperture, controls the binding module to select a new staple bolt with a corresponding specification in the feeding mechanism according to the aperture of the staple bolt hole, and controls the binding module to load the new staple bolt into the staple bolt hole on the graphite boat sheet according to the position of the staple bolt hole.
3. The graphite boat blade staple replacing method of claim 1, wherein the method further comprises:
and acquiring the target model of the graphite boat piece placed on the screw disassembling and assembling platform.
4. The graphite boat blade staple replacing method of claim 3, wherein the step of controlling the staple removing module to correspondingly remove the old staple from the graphite boat blade comprises the steps of:
determining the corresponding nail dismounting position according to the target model of the graphite boat piece;
and controlling the nail dismounting module to dismount the old clamping nail corresponding to the nail dismounting position.
5. The method for replacing a staple of a graphite boat piece as claimed in claim 3, wherein the step of controlling the visual inspection module to detect the position of the staple hole and the corresponding hole diameter on the graphite boat piece comprises:
determining a corresponding photographing position according to the target model of the graphite boat piece;
and detecting the position of the staple bolt hole on the graphite boat sheet and the corresponding aperture according to the image acquired by the visual detection module at the photographing position.
6. The graphite boat staple replacing method of claim 1, wherein the feeding mechanism comprises a plurality of vibrating disks for supplying new staples of different specifications;
the step of selecting the new staple of corresponding specification in the feeding mechanism according to the aperture control binding module in the staple hole includes:
controlling the binding module to move to a target vibration disc position for providing a new binding staple with a corresponding specification according to the aperture of the binding staple hole;
and controlling the nailing module to select a new clamping nail with a corresponding specification from the target vibration disc.
7. The graphite boat blade staple replacing method of claim 6, wherein the step of controlling the stapling module to select a new staple of a corresponding specification in the target vibratory pan comprises:
controlling a visual detection module to acquire an image of a new clamp nail in the target vibration disc;
judging whether the current specification of a new clamping nail in the target vibration disc determined according to the image collected by the visual detection module is in accordance with the corresponding specification;
if so, controlling the nailing module to select a new clamping nail with a corresponding specification from the target vibration disc.
8. The graphite boat blade staple replacing method of claim 7, wherein the step of controlling the stapling module to select a new staple of a corresponding specification in the target vibratory pan further comprises:
and when the current specification of the new staple in the target vibration disc determined according to the image acquired by the visual detection module is judged to be not in accordance with the corresponding specification, controlling the staple module to stop selecting the new staple and give an alarm, or controlling the staple module to select the new staple and transfer the new staple into the storage box.
9. The method for replacing a staple of a graphite boat piece as claimed in claim 5, wherein the step of detecting the position of the staple hole and the corresponding hole diameter on the graphite boat piece from the image collected from the photographing position by the vision detection module comprises:
detecting and judging whether the defect degree of the graphite boat piece is greater than a preset threshold value according to the picture acquired by the photographing position through the visual detection module;
if so, controlling the taking and placing device to take and place the graphite boat piece arranged on the disassembling and assembling nail platform and transferring the graphite boat piece to a reserved station;
if not, detecting the position of the staple bolt hole on the graphite boat piece and the corresponding aperture according to the image collected by the visual detection module group at the photographing position.
10. The graphite boat blade staple replacing method of claim 1, wherein the step of controlling the staple module to load a new staple into the staple hole of the graphite boat blade according to the position of the staple hole comprises:
controlling the binding module to gradually load the selected new clamping nail with the corresponding specification into the clamping nail hole on the graphite boat piece;
and acquiring a pressure value detected by a pressure detection module arranged below the graphite boat piece, and controlling the nailing module to stop nailing until the detected pressure value reaches a preset pressure value.
11. The graphite boat blade staple replacing method of claim 1, wherein the step of controlling the staple module to correspondingly disassemble the old staple from the graphite boat blade comprises:
recording the quantity of the old staples collected currently in the waste staple collecting module corresponding to the staple removing module when the staples are removed, and judging whether the quantity of the old staples reaches a preset quantity;
if so, controlling the waste nail collecting module to transfer all the collected old nails into the containing box;
if not, controlling the nail removing module to correspondingly remove the old nail on the graphite boat sheet.
12. The method for replacing a staple of a graphite boat piece as claimed in claim 5, wherein the step of detecting the position of the staple hole and the corresponding hole diameter on the graphite boat piece from the image collected from the photographing position by the vision detection module comprises:
determining an offset value between the actual position of the staple hole and the reference position in the XY direction and the coverage range of the staple hole according to the image acquired by the visual detection module at the photographing position;
determining the position of a staple bolt hole on the graphite boat sheet according to the preset calibrated size, the preset photographing position and the preset deviation value of the acquired image by the visual detection module;
and determining the corresponding aperture of the clamping nail hole on the graphite boat sheet according to the preset calibrated size of the acquired image and the coverage range of the clamping nail hole by the visual detection module.
13. The graphite boat blade staple replacing method of claim 3, wherein the step of acquiring a target model of the graphite boat blade placed on the staple platform comprises:
acquiring a target model of the graphite boat piece input by a user; or
And matching the image detected and collected by the graphite boat piece according to the visual detection module to obtain the target model of the graphite boat piece.
14. The graphite boat staple replacing method of claim 4, wherein the step of controlling the staple removing module to remove the old staple corresponding to the staple removing position comprises the steps of:
detecting the staple position on the graphite boat sheet according to the image acquired by the staple removing position by the visual detection module group;
and controlling the staple removing module to remove the old staple corresponding to the position of the staple.
15. The graphite boat blade staple replacing method of claim 1, wherein the step of controlling the pick-and-place device to pick and place the graphite boat blade placed on the loading station and to transfer the graphite boat blade placed on the staple mounting and dismounting platform comprises:
controlling the pick-and-place device to move to a safe position along the Z-axis direction and move to a position corresponding to the feeding station along the XY-axis direction;
controlling the taking and placing device to move downwards along the Z-axis direction until a detection boat sheet sensor obtains a detection signal, and starting a vacuum chuck to suck the graphite boat sheet;
controlling the pick-and-place device to move to a safe position along the Z-axis direction and move to a position corresponding to the nail dismounting platform along the XY-axis direction;
controlling the pick-and-place device to move downwards along the Z-axis direction to the screw disassembling and assembling platform, and closing the vacuum chuck to stop sucking the graphite boat piece;
and controlling the taking and placing device to move to a safe position along the Z-axis direction, and transferring and placing the graphite boat piece on the feeding station onto the nail dismounting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110845899.7A CN113500378A (en) | 2021-07-26 | 2021-07-26 | Method for replacing graphite boat blade staple bolt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110845899.7A CN113500378A (en) | 2021-07-26 | 2021-07-26 | Method for replacing graphite boat blade staple bolt |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113500378A true CN113500378A (en) | 2021-10-15 |
Family
ID=78014586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110845899.7A Pending CN113500378A (en) | 2021-07-26 | 2021-07-26 | Method for replacing graphite boat blade staple bolt |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113500378A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114234827A (en) * | 2021-11-26 | 2022-03-25 | 深圳市艾特自动化有限公司 | Graphite boat whole boat detection system and detection method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1176392A (en) * | 1966-02-23 | 1970-01-01 | Technicon Corp | Automatic Analysis Apparatus |
| CN101008081A (en) * | 2007-01-29 | 2007-08-01 | 刘卓 | Graphite boat for silicon wafer production |
| CN108110083A (en) * | 2017-11-29 | 2018-06-01 | 江苏彩虹永能新能源有限公司 | A kind of graphite boat saturation process of solar cell |
| CN110682271A (en) * | 2019-09-03 | 2020-01-14 | 贵州航天电器股份有限公司 | Equipment and method for replacing pins of carriers in circular connector production line |
| CN112518663A (en) * | 2020-12-10 | 2021-03-19 | 深圳市艾特自动化有限公司 | Automatic graphite boat dismounting system and automatic dismounting method |
| CN113118763A (en) * | 2021-05-08 | 2021-07-16 | 常州市杰洋精密机械有限公司 | Full-automatic graphite boat stuck point automatic assembly machine |
-
2021
- 2021-07-26 CN CN202110845899.7A patent/CN113500378A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1176392A (en) * | 1966-02-23 | 1970-01-01 | Technicon Corp | Automatic Analysis Apparatus |
| CN101008081A (en) * | 2007-01-29 | 2007-08-01 | 刘卓 | Graphite boat for silicon wafer production |
| CN108110083A (en) * | 2017-11-29 | 2018-06-01 | 江苏彩虹永能新能源有限公司 | A kind of graphite boat saturation process of solar cell |
| CN110682271A (en) * | 2019-09-03 | 2020-01-14 | 贵州航天电器股份有限公司 | Equipment and method for replacing pins of carriers in circular connector production line |
| CN112518663A (en) * | 2020-12-10 | 2021-03-19 | 深圳市艾特自动化有限公司 | Automatic graphite boat dismounting system and automatic dismounting method |
| CN113118763A (en) * | 2021-05-08 | 2021-07-16 | 常州市杰洋精密机械有限公司 | Full-automatic graphite boat stuck point automatic assembly machine |
Non-Patent Citations (1)
| Title |
|---|
| 才家刚: "《电机轴承应用技术》", pages: 141 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114234827A (en) * | 2021-11-26 | 2022-03-25 | 深圳市艾特自动化有限公司 | Graphite boat whole boat detection system and detection method |
| CN114234827B (en) * | 2021-11-26 | 2024-03-29 | 深圳市艾特自动化有限公司 | Whole graphite boat detection system and detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020082507A1 (en) | Modular assembly production line | |
| CN110977399A (en) | Automatic press fitting equipment for oil pump copper bush | |
| CN210486789U (en) | Surface detection device | |
| CN210876353U (en) | Processing-oriented apparatus | |
| CN113500378A (en) | Method for replacing graphite boat blade staple bolt | |
| CN114850840B (en) | BBG fixes a position lamination equipment | |
| CN113510460A (en) | Method and device for replacing graphite boat blade staple bolt | |
| CN211759668U (en) | Automatic magnet assembling equipment | |
| CN215217507U (en) | Graphite boat piece bail erection equipment | |
| CN114551292A (en) | Sensor core pasting equipment | |
| CN111288056A (en) | Camera support equipment | |
| CN214150485U (en) | Integrated detection equipment | |
| CN210504612U (en) | Slicing device | |
| CN215404511U (en) | Graphite boat piece bail erection equipment | |
| CN215404510U (en) | Equipment is changed to graphite boat piece bail | |
| CN215919610U (en) | Graphite boat piece bail erection equipment | |
| CN215930794U (en) | Graphite boat piece bail erection equipment | |
| CN111153246A (en) | Plate end effector with thickness measuring mechanism and material picking method | |
| CN215766894U (en) | Graphite boat piece bail erection equipment | |
| CN215757607U (en) | Graphite boat piece bail erection equipment | |
| CN215788017U (en) | Binding module and graphite boat piece bail erection equipment | |
| CN109014813B (en) | Automatic assembling machine for case fan glue nails | |
| CN113560857A (en) | Graphite boat piece staple bolt installation equipment and control method thereof | |
| CN211917756U (en) | Lens assembling line | |
| CN216326250U (en) | Earphone tail sleeve assembling equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |