CN113560857A

CN113560857A - Graphite boat piece staple bolt installation equipment and control method thereof

Info

Publication number: CN113560857A
Application number: CN202110844534.2A
Authority: CN
Inventors: 潘健; 许凤新; 殷文杰; 郭良伟; 曹利运; 刘月良; 金俊强; 岳胜斌; 殷科平; 陈刚
Original assignee: Zhejiang Aiko Solar Energy Technology Co Ltd; Guangdong Aiko Technology Co Ltd; Tianjin Aiko Solar Energy Technology Co Ltd; Zhuhai Fushan Aixu Solar Energy Technology Co Ltd
Current assignee: Zhejiang Aiko Solar Energy Technology Co Ltd; Guangdong Aiko Technology Co Ltd; Tianjin Aiko Solar Energy Technology Co Ltd; Zhuhai Fushan Aixu Solar Energy Technology Co Ltd
Priority date: 2021-07-26
Filing date: 2021-07-26
Publication date: 2021-10-29

Abstract

The invention is suitable for the technical field of graphite boat sheet staple bolt installation, and provides graphite boat sheet staple bolt installation equipment and a control method thereof, wherein the graphite boat sheet staple bolt installation equipment comprises: a frame; the nail dismounting platform is arranged on the rack; the nail dismounting and mounting device is arranged on the rack and comprises a visual detection module and a nail mounting module; and the control device is respectively connected with the visual detection module and the binding module and used for controlling the binding module to install the new clamping nail matched with the clamping nail hole into the corresponding clamping nail hole according to the position and the aperture of the clamping nail hole on the graphite boat sheet detected by the visual detection module. The graphite boat sheet staple bolt installation equipment provided by the invention can realize automatic installation of the graphite boat sheet staple bolt, can reduce the labor intensity and labor cost, improves the staple bolt installation efficiency, can install the staple bolt with the corresponding specification according to the aperture of the staple bolt hole, can improve the assembly precision of the staple bolt, and has good universality.

Description

Graphite boat piece staple bolt installation equipment and control method thereof

Technical Field

The invention relates to the technical field of replacement of graphite boat sheet staple bolts, in particular to graphite boat sheet staple bolt installation equipment and a control method thereof.

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 in the staple bolt hole on the graphite boat piece is probably different, therefore the bail has multiple size specification, and during the bail of artifical installation graphite boat piece, be difficult to accurately judge the aperture in staple bolt hole through the manual work to the bail of selection corresponding specification easily appears the bail and does not match with the bail hole and leads to the graphite boat piece to damage or the fixed unstable problem of bail, and bail assembly precision is low.

Disclosure of Invention

The invention provides a graphite boat piece staple bolt mounting device, and aims to solve the problems that in the prior art, a staple bolt for manually mounting a graphite boat piece is high in labor intensity, high in required labor cost, low in staple bolt mounting efficiency and low in staple bolt assembling precision.

The present invention is achieved as such, and provides a graphite boat piece staple bolt mounting apparatus, comprising:

a frame;

the screw disassembling and assembling platform is arranged on the rack and used for placing the graphite boat piece;

the screw disassembling and assembling device is arranged on the rack and comprises a visual detection module and a screw assembling module which are arranged above the screw disassembling and assembling platform, the visual detection module is used for detecting the position and the aperture of a screw clamping hole in the graphite boat piece, and the screw assembling module is used for installing a new screw matched with the screw clamping hole into the corresponding screw clamping hole;

and the control device is respectively connected with the visual detection module and the binding module and is used for controlling the binding module to install a new clamping nail matched with the clamping nail hole into the corresponding clamping nail hole according to the position and the aperture of the clamping nail hole on the graphite boat sheet detected by the visual detection module.

Preferably, the screw mounting and dismounting platform is provided with a through hole corresponding to the screw clamping hole on the graphite boat sheet; the nail dismounting and mounting device also comprises a nail dismounting module which is connected with the control device and is used for dismounting the old nail on the graphite boat sheet; the visual detection module is also used for detecting the position of an old staple on a graphite boat sheet of the staple disassembling platform, and the control device is also used for controlling the staple disassembling module to disassemble the old staple on the graphite boat sheet according to the position of the old staple on the graphite boat sheet detected by the visual detection module.

Preferably, the device for assembling and disassembling nails comprises a driving mechanism connected with the control device, and the driving mechanism is used for driving the visual detection module, the module for assembling nails and the module for assembling nails to move to the positions above the through holes.

Preferably, the drive mechanism includes:

the first driving assembly is arranged on the rack and connected with the control device;

the upper moving seat is connected with the first driving assembly;

the visual detection module, the nail dismounting module and the nail installing module are integrally arranged on the upper moving seat and are connected with the second driving assembly; the first driving component can drive the upper moving seat to drive the visual detection module, the nail dismounting module and the nail mounting module to synchronously move along the Y-axis direction, and the second driving component can drive the visual detection module, the nail dismounting module and the nail mounting module to synchronously move along the X-axis direction.

Preferably, first drive assembly is linear electric motor, linear electric motor including be fixed in the frame and along the guide rail that the Y axle direction set up and the activity set up in the slider of guide rail, the slider with it connects to go up the sliding seat, the slider passes through it drives to go up the sliding seat the second drive assembly moves along the Y axle direction.

Preferably, the staple installing module comprises an air claw driving assembly fixedly connected with the visual detection module, and an air claw connected with the air claw driving assembly and used for clamping a new staple, and the control device is connected with the air claw driving assembly and used for controlling the air claw driving assembly to drive the air claw to move up and down along the Z-axis direction, so that the air claw installs the new staple into the corresponding staple hole.

Preferably, the gas claw comprises an installation seat, at least two claws movably arranged on the installation seat and forming a clamping space at intervals, and a cylinder which is in driving connection with the claws and is used for driving the claws to mutually open or close, and the gas claw driving assembly is connected with the installation seat or the cylinder.

Preferably, the gas claw still including set up in reference column in the centre gripping space, the one end of reference column is fixed in the mount pad, the other end be used for when the bail is got to cleft hand clamp the bail carries out the butt spacing.

Preferably, the nail dismounting module comprises a jacking column driving assembly fixedly connected with the nail mounting module and a jacking column connected with the jacking column driving assembly, and the jacking column driving assembly is connected with the control device and used for driving the jacking column to move up and down along the Z-axis direction.

Preferably, the stud removing device further includes:

set up in dismouting nail platform below, be used for collecting the useless nail of old bail and collect the module, the below of dismouting nail platform be provided with the seat that moves down that first drive assembly connects, the seat that moves down is provided with third drive assembly, useless nail collect the module with third drive assembly connects, third drive assembly can drive useless nail is collected the module and is in the below of dismouting nail platform is along X axle direction motion, so that useless nail is collected the module and is moved the below of tearing the nail module.

Preferably, the device also comprises a containing box arranged on the rack; the useless nail collection module includes:

the collecting cylinder is used for collecting the old staple bolts, a feeding port is formed in the top of the collecting cylinder, and a discharging port is formed in the bottom of the collecting cylinder;

the baffle is movably arranged at the discharge hole; and

the baffle driving assembly is connected with the control device and can drive the baffle to move so as to open or close the discharge hole, and the third driving assembly can drive the collecting cylinder to move above the containing box along the X-axis direction.

Preferably, the visual detection module comprises a CCD camera fixedly connected with the stapling module; the nail dismounting and mounting device also comprises a light source component which is arranged below the nail dismounting and mounting platform and is connected with the third driving component, and the third driving component can drive the light source component to move along the X-axis direction; the control device can control the first driving assembly, the second driving assembly and the third driving assembly to drive, so that the light source assembly and the CCD camera respectively move to the upper part and the lower part of the through hole.

Preferably, the stud removing device further includes:

set up in dismouting nail platform below and be used for detecting the pressure detection module of the pressure of new bail, the pressure detection module with controlling means links to each other, third drive assembly with the pressure detection module is connected, third drive assembly can drive the pressure detection module moves to the below of binding module, controlling means is used for the pressure detection module is controlled when detecting the pressure of new bail the binding module stops to push down new bail.

Preferably, the pressure detection module includes:

a support connected to the third drive assembly;

the pressure sensor is arranged on the supporting piece and is connected with the control device;

the third driving assembly can drive the supporting piece, the ejector rod and the pressure sensor to synchronously move along the X-axis direction below the nail dismounting platform, so that the ejector rod can move to the position right below the nail mounting module.

Preferably, the pressure detection module further includes:

and the fourth driving component is connected with the third driving component, the supporting piece is connected with the third driving component through the fourth driving component, and the fourth driving component can drive the supporting piece to move up and down along the Z-axis direction.

Preferably, the method further comprises the following steps:

set up in the frame, be used for providing the feeding mechanism of the new bail of different specifications, actuating mechanism can drive the binding module removes feeding mechanism selects the new bail of corresponding specification and will new bail is adorned into correspondingly downthehole the bail.

Preferably, the feeding mechanism comprises:

the vibration discs are arranged on the rack, and each vibration disc is used for providing a new staple of one specification; the driving mechanism can drive the stapling module to move to the corresponding vibrating disc to select a new staple with a corresponding specification and load the new staple into the corresponding staple hole.

Preferably, the graphite boat picking device further comprises a picking device arranged on the rack, and the picking device is connected with the control device and used for picking and placing the graphite boat piece on the screw disassembling and assembling platform.

Preferably, the taking and placing device comprises:

the three-axis linkage mechanism is arranged on the rack and connected with the control device;

set up in sucking disc subassembly on the triaxial linkage mechanism, the sucking disc subassembly passes through the pipeline and links to each other with the vacuum pump, the vacuum pump with controlling means links to each other, triaxial linkage mechanism can drive sucking disc subassembly is along X axle direction, Y axle direction and Z axle direction motion.

Preferably, the triaxial linkage mechanism include respectively with Y axle electric jar, X axle electric jar and Z axle electric jar that controlling means links to each other, Y axle electric jar is fixed in the frame, Y axle electric jar with X axle electric jar is connected and can drive X axle electric jar moves about along the Y axle direction, X axle electric jar with Z axle electric jar is connected and can drive Z axle electric jar moves along the X axle direction back-and-forth movement, Z axle electric jar with the sucking disc subassembly is connected and can drive sucking disc subassembly reciprocates along the Z axle direction.

Preferably, the sucking disc subassembly includes the support, set up in on the support and through the pipeline with vacuum pump connection's a plurality of sucking discs, the support with the triaxial linkage mechanism is connected.

Preferably, the rack is provided with two nail dismounting platforms which are arranged at intervals, and each nail dismounting platform is correspondingly provided with one nail dismounting device.

Preferably, each nail dismounting platform comprises a nail dismounting positioning plate and a nail mounting positioning plate which are arranged at intervals along the Y-axis direction; the taking and placing device is also used for transferring the graphite boat piece on the nail dismounting positioning plate to the nail mounting positioning plate;

every of the nail dismounting and mounting device the visual detection module, the nail dismounting module and the nail mounting module can move to the position above the nail dismounting and mounting positioning plate or the position above the nail mounting positioning plate corresponding to the nail dismounting and mounting platform along the Y-axis direction.

Preferably, the method further comprises the following steps:

the device comprises a feeding station and a discharging station which are arranged on the frame, wherein the taking and placing device is used for taking the graphite boat piece of the staple to be replaced, which is placed on the feeding station, to the staple disassembling positioning plate and taking the graphite boat piece of the staple replacing completion on the staple disassembling positioning plate out and placing the graphite boat piece at the discharging station.

Preferably, a reserved station is further arranged on the frame, the visual detection module is further used for detecting whether the graphite boat piece on the screw disassembling and assembling platform is damaged, and the taking and placing device is further used for placing the damaged graphite boat piece on the reserved station.

The invention also provides a control method of the graphite boat sheet staple bolt installation equipment, which is applied to the graphite boat sheet staple bolt installation equipment and comprises the following steps:

the control device detects the position and the aperture of a clamping nail hole of the graphite boat piece placed on the screw disassembling and assembling platform through the visual detection module;

and the control device controls the stapling module to install the new staples matched with the staple holes into the corresponding staple holes according to the positions and the apertures of the staple holes until all the staple holes on the graphite boat piece complete the installation of the new staples.

Preferably, the control device further comprises, before the step of detecting the position and the diameter of the chuck pin hole of the graphite boat piece placed on the staple mounting and dismounting platform by the visual detection module:

the control device detects the position of an old staple on the graphite boat piece on the staple mounting and dismounting platform through the visual detection module;

and the control device controls the nail disassembling module to disassemble the old clamping nails on the graphite boat sheet according to the positions of the old clamping nails until all the old clamping nails on the graphite boat sheet are disassembled.

Preferably, the step of detecting the position and the hole diameter of the clamping nail hole of the graphite boat piece placed on the assembling and disassembling nail platform by the control device through the visual detection module specifically comprises:

the control device drives the visual detection module to move above the dismounting and mounting nail platform to a position above the nail clamping hole on the graphite boat sheet by controlling a driving mechanism so as to detect the position and the aperture of the nail clamping hole on the graphite boat sheet; and/or the presence of a gas in the gas,

the controlling means according to the position and the aperture in staple hole, control the binding module will adapt the new staple installation in staple hole to corresponding the downthehole step of staple specifically includes:

the control device controls the binding module to move to the feeding mechanism according to the position and the aperture of the binding hole to select a binding staple with a corresponding specification, and controls the binding module to move to the position of the binding hole to bind the new binding staple into the binding hole; and/or the presence of a gas in the gas,

the step that the control device detects the position of the old staple on the graphite boat piece on the staple disassembling and assembling platform through the visual detection module specifically comprises the following steps:

the control device drives the visual detection module to move above the dismounting nail platform to the position above each old staple on the graphite boat sheet by controlling the driving mechanism so as to detect the position of the old staple on the graphite boat sheet; and/or the presence of a gas in the gas,

the step of controlling the old staple bolt disassembling module to disassemble the old staple bolt on the graphite boat sheet by the control device according to the position of the old staple bolt specifically comprises the following steps:

the control device controls the driving mechanism to drive the staple removing module to move to the position above the old staple according to the position of the old staple so as to remove the old staple.

Preferably, the step of installing the new clip adapted to the clip hole into the corresponding clip hole by the stapling module specifically includes:

through the pressure of pressure detection module real-time detection new bail, work as the pressure detection module detects when the pressure of new bail, controlling means control the binding module stops to push down new bail.

Preferably, the step of controlling the staple removing module to remove the old staple from the graphite boat piece by the control device according to the position of the old staple further comprises:

the control device controls the driving mechanism to drive the waste nail collecting module to move below the nail disassembling and assembling platform to the position below the nail disassembling and assembling module so as to collect the old staple nails disassembled from the nail disassembling and assembling module.

Preferably, before the step of detecting the position of the old staple on the graphite boat piece on the staple mounting and dismounting platform by the visual detection module, the control device further comprises:

the control device controls the taking and placing device to place the graphite boat piece of the staple bolt to be replaced on the staple disassembling platform;

the control device controls the binding module to install the new staple matched with the staple hole into the corresponding staple hole according to the position and the aperture of the staple hole detected by the visual detection module until all the staple holes on the graphite boat sheet complete the installation of the new staple, and the control device further comprises:

the control device controls the taking and placing device to place the graphite boat piece which is installed by the staple on the staple disassembling and assembling platform at a blanking station.

Preferably, the number of the nail dismounting and mounting platforms is two, each nail dismounting and mounting platform is correspondingly provided with one nail dismounting and mounting device, and each nail dismounting and mounting device is respectively corresponding to the nail dismounting and mounting platform for dismounting the staple on the graphite boat.

Preferably, each nail dismounting and mounting platform comprises a nail dismounting and mounting positioning plate and a nail mounting and mounting positioning plate which are arranged at intervals, and the control device can control the taking and placing device to transfer the graphite boat piece on the nail dismounting and mounting positioning plate, which is subjected to the old nail dismounting, to the nail mounting and mounting positioning plate;

the step that the control device controls the taking and placing device to place the graphite boat piece of the feeding station, of which the staple is to be replaced, on the disassembling and assembling nail platform specifically comprises the following steps: the control device controls the taking and placing device to place the graphite boat piece of the staple bolt to be replaced on the staple disassembling positioning plate;

the step of controlling the taking and placing device to place the graphite boat piece which is installed by the staple on the staple disassembling platform at the blanking station by the control device specifically comprises the following steps: the control device controls the taking and placing device to place the graphite boat piece on the binding positioning plate after the binding clip is installed at the blanking station.

The graphite boat piece staple bolt mounting equipment provided by the invention has the following technical effects:

through the arrangement of the dismounting and mounting nail platform, the visual detection module and the mounting module, the control device detects the position and the aperture of the nail clamping hole of the graphite boat sheet placed on the dismounting and mounting nail platform through the visual detection module, and controls the mounting module to mount a new nail with a corresponding specification into the corresponding nail clamping hole according to the position and the aperture of the nail clamping hole, so that the automatic mounting of the nail clamping of the graphite boat sheet is realized, the manual nail clamping mounting mode is replaced, the manual labor intensity and the labor cost can be reduced, and the nail clamping mounting efficiency is greatly improved; and, detect the aperture in the bail hole of graphite boat piece through the visual detection module, controlling means can be according to the aperture control binding module in bail hole and will correspond the new bail dress of specification into the bail hole, the bail that corresponds the specification can be installed according to the aperture in bail hole on the graphite boat in a flexible way like this, avoid the bail to mismatch with the bail hole and lead to graphite boat piece to damage or the fixed unstable problem of bail, thereby ensure the assembly precision of bail, and the bail of multiple specification can be installed to this graphite boat piece bail erection equipment, can the graphite boat piece in the bail hole that has different apertures of self-adaptation, degree of automation is high, and the commonality can be good.

Drawings

Fig. 1 is a schematic view of the whole structure of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 2 is a schematic view of a partial structure of a graphite boat blade staple mounting device according to an embodiment of the present invention;

FIG. 3 is a top view of the structure shown in FIG. 2;

fig. 4 is a side view of a partial structure of a graphite boat blade staple mounting apparatus according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a staple dismounting positioning plate or a staple mounting positioning plate of a staple dismounting platform of graphite boat blade staple mounting equipment according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a part of a staple mounting and dismounting device of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 7 is another schematic structural view of a part of a staple mounting and dismounting device of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 8 is a schematic structural view of another part of a dismounting and mounting device of a graphite boat blade staple mounting device according to an embodiment of the invention;

fig. 9 is a schematic structural view of an air claw in a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 10 is a schematic structural view illustrating clamping of a staple by an air gripper in a graphite boat blade staple mounting apparatus according to an embodiment of the present invention;

fig. 11 is a perspective structural view of a taking and placing device of a graphite boat staple mounting device according to an embodiment of the present invention;

fig. 12 is a schematic structural view of a pick-and-place device of a graphite boat staple mounting apparatus according to an embodiment of the present invention;

fig. 13 is a partial structural schematic view of a pick-and-place device of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 14 is a flowchart of a control method of a graphite boat blade staple mounting apparatus 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.

According to the graphite boat sheet staple bolt installation equipment provided by the invention, the dismounting and mounting platform, the visual detection module and the mounting module are arranged, the control device detects the position and the aperture of the staple bolt hole of the graphite boat sheet placed on the dismounting and mounting platform through the visual detection module, and the control device controls the mounting module to install the new staple bolt with the corresponding specification into the corresponding staple bolt hole according to the position and the aperture of the staple bolt hole, so that the automatic installation of the graphite boat sheet staple bolt is realized, the manual staple bolt installation mode is replaced, the manual labor intensity and the labor cost can be reduced, and the staple bolt installation efficiency is greatly improved; and, detect the aperture in the bail hole of graphite boat piece through the visual detection module, controlling means can be according to the aperture control binding module in bail hole and will correspond the new bail dress of specification into the bail hole, the bail that corresponds the specification can be installed according to the aperture in bail hole on the graphite boat in a flexible way like this, avoid the bail to mismatch with the bail hole and lead to graphite boat piece to damage or the fixed unstable problem of bail, thereby ensure the assembly precision of bail, and the bail of multiple specification can be installed to this graphite boat piece bail erection equipment, can the graphite boat piece in the bail hole that has different apertures of self-adaptation, degree of automation is high, and the commonality can be good.

Referring to fig. 1 to 8, an embodiment of the present invention provides a graphite boat blade staple mounting apparatus, including:

a frame 1;

the screw disassembling and assembling platform 2 is arranged on the frame 1 and used for placing the graphite boat piece;

the screw dismounting and mounting device 3 is arranged on the frame 1, the screw dismounting and mounting device 3 comprises a visual detection module 31 and a screw mounting module 33 which are arranged above the screw dismounting and mounting platform 2, the visual detection module 31 is used for detecting the position and the aperture of a screw clamping hole of the graphite boat piece, and the screw mounting module 33 is used for respectively mounting new screws adapted to the screw clamping hole into the corresponding screw clamping holes;

and the control device 4 is respectively connected with the visual detection module 31 and the binding module 33 and is used for controlling the binding module 33 to install the new clamping nail matched with the clamping nail hole into the corresponding clamping nail hole according to the position and the hole diameter of the clamping nail hole on the graphite boat sheet detected by the visual detection module 31.

As an embodiment of the invention, the frame 1 comprises a base 11 and a frame 12 supported on the base 11, and the staple mounting platform 2 is supported on the base 11 and is positioned below the frame 12.

In this embodiment, the nail mounting and dismounting platform 2 and the nail mounting and dismounting device 3 are respectively supported and arranged on the base 11. Preferably, the base 11 includes a first frame 111 and a second frame 112 that are separately disposed, and the first frame 111 and the second frame 112 are detachably connected to facilitate the assembly and disassembly of the apparatus.

In this embodiment, the first frame 111 and the second frame 112 are detachably connected by screws. When the equipment needs to be transported or transported, the base 11 can be disassembled into the first rack 111 and the second rack 112, which facilitates the transportation and transportation of the rack 1. Besides this embodiment, the housing 11 may be an integral structure.

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 control device 4 of the graphite boat sheet staple mounting device detects the position and the aperture of the staple hole of the graphite boat sheet placed on the staple mounting and dismounting platform 2 through the visual detection module 31, the staple module 33 mounts the new staple with the corresponding specification into the corresponding staple hole according to the position and the aperture of the staple hole, so as to realize the automatic mounting of the graphite boat sheet staple, replace the manual staple mounting mode, reduce the labor intensity and the labor cost, greatly improve the staple mounting efficiency, mount the staple with the corresponding specification according to the actual aperture of the staple hole, and ensure the staple mounting precision.

Referring to fig. 5, as an embodiment of the present invention, the nail mounting/dismounting platform 2 is provided with through holes 202 corresponding to the clamping holes on the graphite boat sheet; the nail dismounting and mounting device 3 also comprises a nail dismounting module 32 which is connected with the control device 4 and used for dismounting the old nail on the graphite boat sheet; the visual detection module 31 is also used for detecting the position of the old staple on the graphite boat sheet of the staple disassembling platform 1, and the control device 4 is also used for controlling the staple disassembling module 32 to disassemble the old staple on the graphite boat sheet according to the position of the old staple on the graphite boat sheet detected by the visual detection module 31. Wherein, old staple means the staple bolt that needs to be dismantled down and change on the graphite boat piece, and new staple bolt means the staple bolt that needs to install in the staple bolt hole of graphite boat piece.

In this embodiment, when the graphite boat sheet with the staples to be replaced is placed on the staple mounting and dismounting platform 2, the staple holes on the graphite boat sheet correspond to the through holes 202 on the staple mounting and dismounting platform 2 one by one, and since the staple holes on the graphite boat sheet are at the same positions as the staples, that is, the old staples on the graphite boat sheet correspond to the through holes 202 on the staple mounting and dismounting platform 2 one by one. Control device 4 detects the position of placing the old bail on the graphite boat piece of dismouting nail platform 2 through visual detection module 31, control device 4 is again according to the position of old bail on the graphite boat piece that visual detection module 31 detected, control dismouting nail module 32 is dismantled the old bail on the graphite boat piece, so that old bail drops from through-hole 202 on dismouting nail platform 2, realize the dismantlement of the old bail on the graphite boat piece, replace the mode of artifical dismantlement bail, thereby this equipment can realize that bail dismantles and the installation on the graphite boat piece simultaneously, and then can realize the automatic change of bail on the graphite boat piece, can further reduce artifical intensity of labour and human cost, and promoted the efficiency that the bail was changed greatly.

In the embodiment of the present invention, the control device 4 is specifically a PLC controller, and the control device 4 is disposed at one end of the frame 12 of the rack 1.

As an embodiment of the present invention, the graphite boat piece staple mounting apparatus further comprises:

and the taking and placing device 5 is arranged on the frame 1, and the taking and placing device 5 is connected with the control device 4 and is used for taking and placing the graphite boat piece on the screw disassembling and assembling platform 2.

In this embodiment, get and put device 5 and get to dismouting nail platform 2 on the graphite boat piece that will treat to change the bail, treat that dismouting nail device 3 is complete the change back with the bail of the graphite boat piece on dismouting nail platform 2, get and put device 5 and take out the graphite boat piece on dismouting nail platform 2 from dismouting nail platform 2 to need not the manual work and get and put graphite boat piece on dismouting nail platform 2, can realize unloading in the automation of graphite boat piece, promote the degree of automation of this equipment greatly.

As an embodiment of the invention, the graphite boat staple mounting equipment further comprises a feeding station 6 and a blanking station 7 which are arranged on the frame 1, wherein the taking and placing device 5 is used for taking the graphite boat piece of the staple to be replaced, which is placed on the feeding station 6, to the staple disassembling and assembling platform 2, so that the staple disassembling and assembling device 3 is used for replacing the staple on the graphite boat piece, and is used for taking out the graphite boat piece of which the staple is replaced and placing the graphite boat piece on the blanking station 7.

In this embodiment, the feeding station 6 is used for placing the graphite boat piece of the staple to be replaced, and the discharging station 7 is used for placing the graphite boat piece of which the replacement of the staple is completed. Preferably, material loading station 6 and unloading station 7 set up in same one side of frame 1, and 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 like this in same one side of frame 1, makes things convenient for staff's operation.

In the embodiment, a worker places a graphite boat piece of an attachment clip to be replaced on a feeding station 6, a taking and placing device 5 takes the graphite boat piece placed on the feeding station 6 to a screw disassembling and assembling platform 2, after a screw disassembling and assembling device 3 completely replaces the attachment clips on the graphite boat piece on the screw disassembling and assembling platform 2, the taking and placing device 5 takes the graphite boat piece on the screw disassembling and assembling platform 2 to a blanking station 7, so that automatic feeding and blanking of the graphite boat piece can be realized, the worker can directly take the graphite boat piece of which the attachment clip is replaced from the blanking station 7, the whole process only needs the worker to place the graphite boat piece of which the attachment clip is to be replaced on the feeding station 6 and take the graphite boat piece of which the attachment clip 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.

As an embodiment of the present invention, the staple removing device 3 includes a driving mechanism (not numbered) connected to the control device 4 for driving the vision inspection module 31, the staple removing module 32, and the stapling module 33 to move to a position above each through hole 202 of the graphite boat sheet.

In this embodiment, the visual detection module 31, the staple removing module 32 and the staple installing module 33 are driven by the driving mechanism, so that the visual detection module 31, the staple removing module 32 and the staple installing module 33 can move to the position above each through hole 202 of the staple removing platform 2, and the visual detection module 31, the staple removing module 32 and the staple installing module 33 can move to the position above each staple hole of the graphite boat sheet, so that the visual detection module 31 can move to the position above each old staple before the old staple on the graphite boat is removed to accurately identify the position of the old staple on the graphite boat sheet, and the staple removing module 32 can move to the position above each old staple, so that the staple removing module 32 can accurately remove the old staple on the graphite boat sheet; meanwhile, after the old staple on the graphite boat is disassembled, the visual detection module 31 can move to the position above each staple hole so as to accurately identify the position and the aperture of the staple hole on the graphite boat sheet, and the stapling module 33 can move to the position above each staple hole, so that the stapling module 33 can accurately install the staple with the corresponding specification in the staple hole on the graphite boat sheet.

Referring to fig. 6 to 8, as an embodiment of the present invention, a driving mechanism includes:

a first driving assembly 34 arranged on the frame 1 and connected with the control device 4;

an upper moving seat 39 connected to the first driving assembly 34;

the second driving assembly 36 is arranged on the upper moving seat 39 and connected with the control device 4, and the visual 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.

In this embodiment, the control device 4 controls the first driving component 34 and the second driving component 36 to work in coordination, so that the visual detection module 31, the staple removing module 32 and the staple installing module 33 can flexibly move to any position above the staple removing and installing platform 2 along the Y-axis direction and the X-axis direction, thereby improving the identification precision of the visual detection module 31, and improving the staple removing precision of the staple removing module 32 and the staple installing precision of the staple installing module 33.

In this embodiment, the first driving assembly 34 is a linear motor, the linear motor includes a guide rail 341 fixed on the frame 1 and arranged along the Y-axis direction, and a slider 342 movably arranged on the guide rail, the slider 342 is connected with the upper moving seat 39, and the slider 342 drives the second driving assembly 36 to move along the Y-axis direction through the upper moving seat 39, so that the visual detection module 31, the nail removing module 32, and the nail installing module 33 synchronously move along the Y-axis direction.

In this embodiment, the second driving assembly 36 is embodied as an electric cylinder fixed to the upper moving seat 39. At least one of the vision detecting module 31, the nail removing module 32 and the nail installing module 33 is connected to the first driving module 34, so that the first driving module 34 can drive the vision detecting module 31, the nail removing module 32 and the nail installing module 33 to move back and forth along the X-axis direction synchronously. In this embodiment, the staple removing module 32 is connected to the first driving assembly 34.

In this embodiment, the visual detection module 31, tear nail module 32 and binding module 33 and can move along the X-axis direction synchronously, and the visual detection module 31, tear nail module 32 and binding module 33 and can move along the Y-axis direction synchronously, so the visual detection module 31, tear nail module 32 and binding module 33 and can share the first driving component 34 along the movement of the Y-axis direction, the visual detection module 31, tear nail module 32 and binding module 33 and can share the second driving component 36 along the movement of the X-axis direction, thereby the production cost can be reduced, and the structure is more compact. In addition to this embodiment, the vision detecting module 31, the nail removing module 32, and the nail installing module 33 may be separately provided, and a driving device is separately provided to drive the vision detecting module 31, the nail removing module 32, and the nail installing module 33 to move along the X-axis direction and the Y-axis direction, respectively.

In the embodiment of the invention, when the device is used for dismounting nails, the visual detection module 31 is used for detecting the positions of old staples of the graphite boat sheets on the nail dismounting platform 2, the visual detection module 31 can firstly identify the position of one of the old staples, and then the nail dismounting module 32 is used for dismounting the old staple, namely, the old staple is dismounted while identifying the position of the old staple, so that the efficiency of dismounting the staple is improved; or the visual detection module 31 can identify the positions of all the old staples on the graphite boat sheet at the same time, and then the staple removing module 32 can sequentially remove all the old staples.

When the equipment is used for binding, the position and the aperture of the staple hole of the graphite boat sheet on the binding and binding platform 2 are firstly detected by the visual detection module 31, the position and the aperture of one staple hole can be firstly identified by the visual detection module 31, and then a new staple with a corresponding specification is installed in the staple hole by the binding module 33, namely, the installation efficiency of the staple is improved by identifying the position and the aperture of the staple hole and installing the new staple at the same time; alternatively, the visual inspection module 31 may first identify the positions and the diameters of all the staple holes on the graphite boat, and then the stapling module 33 may sequentially install new staples of corresponding specifications in each staple hole.

Referring again to fig. 1 to 3, as an embodiment of the present invention, the graphite boat blade staple mounting apparatus further includes:

the feeding mechanism 8 is arranged on the frame 1 and used for providing new staples with different specifications, and the driving mechanism can drive the stapling module 33 to move to the feeding mechanism 8 to select new staples with corresponding specifications and load the new staples into corresponding staple holes.

In this embodiment, the feeding mechanism 8 can provide new staples of different specifications, so that the stapling module 33 can select new staples of corresponding specifications according to the aperture of the staple holes. When the stapling module 33 is installing a new staple, 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 installs the new staple into the corresponding staple hole. Besides this embodiment, the feeding mechanism 8 can also be disposed on the stapling module 33, and the stapling module 33 does not need to move to select a new staple.

As an embodiment of the present invention, the feeding mechanism 8 includes:

a plurality of vibration plates 81 are provided on the frame 1, and each vibration plate 81 is used to provide a new staple of one specification.

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 the bail of four kinds of different specifications can be installed to binding module 33 like this, and binding module 33 can select the bail that corresponds the 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 a specific numerical value of the staple hole aperture. For example: the diameter of the staple corresponding to the staple hole with the aperture of 6.00mm is 6.01 mm; the diameter of the staple corresponding to the staple hole with the aperture of 6.01mm is 6.02 mm; the diameter of the staple corresponding to the staple hole with the aperture of 6.02mm is 6.03 mm; the diameter of the staple corresponding to the staple hole with the diameter of 6.03mm is 6.04 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 6.03mm from the vibration plate 81 of the feeding mechanism 8 on which the new staple having a diameter of 6.03mm is placed and fits into the staple hole.

Referring to fig. 8, as an embodiment of the present invention, the staple removing module 32 includes a top post driving assembly 321 fixedly connected to the staple installing module 33, and a top post 322 connected to the top post driving assembly 321, wherein the top post driving assembly 321 is connected to the control device 4 and is used for driving the top post 322 to move up and down along the Z-axis direction.

In this embodiment, the ejection rod driving component 321 is connected to the second driving component 36, so that the second driving component 36 drives the vision detecting module 31, the nail removing module 32 and the nail installing module 33 to move synchronously along the X-axis direction, and the first driving component 34 can 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, thereby moving the ejection rod 322 along the X-axis direction, the Y-axis direction and the Z-axis direction.

In this embodiment, the top pillar driving assembly 321 is an air cylinder, which is convenient for controlling the driving force of the top pillar driving assembly 321 and for detaching the old staple on the graphite boat piece from the top pillar 322. When the old staple on the graphite boat piece is disassembled, the control device 4 controls the first driving assembly 34 and the second driving assembly 36 to work so as to drive the ejection column 322 of the staple disassembling module 32 to move to the position above the old staple on the graphite boat piece along the X-axis direction and the Y-axis direction, the ejection column driving assembly 321 drives the ejection column 322 to move downwards along the Z-axis direction, the old staple is disassembled from the graphite boat piece and drops from the through hole 20 on the staple disassembling platform 2, the old staple is disassembled, the actions are repeated so as to realize the disassembly of the next old staple until all the old staples on the graphite boat piece are disassembled.

As an embodiment of the present invention, the nail removing module 32 further includes a fixing base 323 fixedly connected to the second driving assembly 36, the support post driving assembly 321 is fixed on the fixing base 323, and the second driving assembly 36 drives the nail removing module 32, the nail installing module 33 and the visual inspection module 31 to move synchronously along the X-axis direction through the fixing base 323.

As an embodiment of the present invention, the stapling module 33 includes an air gripper driving component 331 fixedly connected to the visual inspection module 31, an air gripper 332 connected to the air gripper driving component 331 and configured to grip a new staple, and the control device 4 is connected to the air gripper driving component 331 and configured to control the air gripper driving component 331 to drive the air gripper 332 to move up and down along the Z-axis direction, so that the air gripper 332 mounts the new staple into a corresponding staple hole. The pneumatic claw driving component 331 is an electric cylinder, so that the downward pressure of the pneumatic claw 332 for installing the new clamping nail into the clamping nail hole on the graphite boat piece can be conveniently controlled, and the output torque force can be conveniently controlled.

In this embodiment, when a new staple is installed on a graphite boat, the control device 4 controls the first driving assembly 34 and the second driving assembly 36 to operate to drive the gas claw 332 of the stapling module 33 to move to the feeding mechanism 8 along the X-axis direction and the Y-axis direction, so that the gas claw 332 clamps a new staple of a corresponding specification on the feeding mechanism 8, the control device 4 controls the first driving assembly 34 and the second driving assembly 36 to drive the gas claw 332 of the stapling module 33 to move to a position above a position of a staple hole on the graphite boat, the gas claw driving assembly 331 drives the gas claw 332 to move downward along the Z-axis direction, and presses the new staple on the gas claw 332 into the staple hole, so as to implement installation of the new staple, and thus, the above operations are repeated, so as to implement installation of the new staple in a next staple hole, until new staples are installed in all the staple holes on the graphite boat.

As an embodiment of the present invention, the stapling module 33 includes a connecting seat 333, the pneumatic claw driving component 331 is connected to the pneumatic claw 332 through the connecting seat 333, and the pneumatic claw driving component 331 drives the pneumatic claw 332 to move up and down along the Z-axis direction by driving the connecting seat 333.

Referring to fig. 9 and 10 in combination, as an embodiment of the present invention, the air gripper 322 includes an installation seat 3225, at least two gripper hands 3226 movably disposed on the installation seat 3225 and spaced to form a clamping space, and an air cylinder 3227 for driving the gripper hands 3226 to open or close each other, and the air gripper driving component 331 is connected to the installation seat 3225 or the air cylinder 3227. Among them, the number of the claws 3226 shown in fig. 9 and 10 is three.

In an embodiment of the present invention, the air gripper 322 further includes a positioning column 3288 disposed in the clamping space, one end of the positioning column 3288 is fixed to the mounting seat 3225, and the other end is used for abutting and limiting the staple when the gripper 3226 grips the staple.

In this embodiment, the positioning column 3288 is disposed inside the claw 3226, so that when the claw 3226 grips the staple 200, the upper surface of the staple 200 contacts with the positioning column 3288 to position the staple, prevent the staple from skewing in the claw 3226, ensure that the staple is kept in a vertical state in the claw 3226, and prevent the staple from skewing in the loading process; in addition, when the staple module 33 mounts the staple, when the claw 3226 presses down the staple into the staple hole, the positioning column 3288 provides a vertically downward pressure to the staple, so that the staple can be vertically pressed into the staple hole, thereby further preventing the staple from being mounted askew and ensuring the mounting accuracy of the staple. Preferably, the positioning column 3288 is in threaded connection with the mounting seat 3225, so that the height of the positioning column 3288 in the claw 3226 can be conveniently adjusted, the height of the positioning column 3288 can be conveniently adjusted according to staples with different lengths, and the universality is good.

Referring to fig. 1-3, as an embodiment of the present invention, two nail dismounting platforms 2 are disposed on a frame 1, and each nail dismounting platform 2 is correspondingly provided with a nail dismounting device 3, so that each nail dismounting device 3 performs dismounting and mounting of a graphite boat sheet staple on the corresponding nail dismounting 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 erection 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 removing platform 2 includes staple removing positioning plates 21 and staple mounting positioning plates 22 arranged at intervals in the Y-axis direction; the taking and placing device 4 is also used for transferring the graphite boat piece on the nail dismounting positioning plate 21 to the nail mounting positioning plate 22;

the vision inspection module 31, the staple removing module 32 and the staple module 33 of each staple removing device 3 can move to the upper part of the staple removing positioning plate 21 or the staple positioning plate 22 of the corresponding staple removing platform 2 along the Y-axis direction. Wherein, one side of each binding positioning plate 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 locating plate 21 and be used for placing the graphite boat piece of treating the change bail, and two binding locating plates 22 are used for placing the graphite boat piece that has accomplished the bail and has dismantled, can utilize two to tear open and nail locating plate 21 like this and dismantle the bail, utilize two binding locating plates 22 to install the bail, two tear open and nail locating plate 21 and can tear the nail work simultaneously open, two binding locating plates 22 are used for carrying out the binding work simultaneously, can promote the dismouting efficiency of graphite boat piece bail greatly. Moreover, the rivet detaching positioning plate 21 or the rivet installing positioning plate 22 of each rivet detaching platform 2 share the same visual detection module 31, the rivet detaching module 32 and the rivet installing module 33, so that the production cost can be greatly reduced, and the structure is more compact. Except this embodiment, tear nail locating plate 21 or binding locating plate 22 and can also set up in same position, need not to tear nail locating plate 21 or binding locating plate 22 separately in the different positions setting respectively like this, carry out the dismantlement and the installation of bail in same position, can reduce the overall dimension of equipment.

In the embodiment, as the taking and placing device 5 is adopted to take and place the graphite boat piece, the graphite boat piece can be taken and placed at will on the arbitrary dismounting and mounting platform 2, and thus when any one of the two dismounting and mounting positioning plates 21 is in a free state, the taking and placing device 5 can move the graphite boat piece to the dismounting and mounting positioning plate 21 to dismount the staple; when an idle state appears in any one of the two binding positioning plates 22, the taking and placing device 5 can move the graphite boat sheet to the binding positioning plate 22 to install the staple, so that the coordination work of double stations can be realized, the waiting time in the feeding process of the graphite boat sheet can be saved, and the replacement efficiency of the graphite boat sheet staple 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 taking and placing device 5 takes the graphite boat piece manually placed on the feeding station 6 to the nail dismounting positioning plate 21, the control device 4 controls the driving mechanism of the nail dismounting device 3 to drive the visual detection module 31 and the nail dismounting module 32 to move above the nail dismounting positioning plate 21, the control device 4 identifies the position of an old nail of the graphite boat piece on the nail dismounting positioning plate 21 through the visual detection module 31, and the control device 4 controls the nail dismounting module 32 to dismount the old nail of the graphite boat piece on the nail dismounting positioning plate 21; after all old staples on the graphite boat piece are disassembled, the taking and placing device 5 takes the graphite boat piece on the disassembling and nailing positioning plate 21 to the nailing positioning plate 22, the control device 4 controls the driving mechanism to drive the visual detection module 31 and the nailing module 33 to synchronously move above the nailing positioning plate 22 respectively, the control device 4 identifies the position and the aperture of the staple hole of the graphite boat piece on the nailing positioning plate 22 through the visual detection module 31, the control device 4 controls the nailing module 33 to load a new staple with a corresponding specification into the staple hole of the graphite boat piece on the nailing positioning plate 22, thereby accomplish the change of the bail of graphite boat piece, treat that the bail of graphite boat piece is whole to be changed the back, get the graphite boat piece that the completion bail was changed on the device 5 of putting will binding locating plate 22 and get to unloading station 7, so constantly repeat above-mentioned process, carry out the change of next graphite boat piece bail.

Referring to fig. 5, as an embodiment of the present invention, a negative pressure cavity (not shown) is disposed inside the nail mounting/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/dismounting platform 2, and the graphite boat piece is sucked on the nail mounting/dismounting platform 2 through the suction holes 201. The structure of the staple removing positioning plate 21 and the staple installing positioning plate 22 is completely the same. Specifically, the upper surfaces of the nail removing positioning plate 21 and the nail installing positioning plate 22 are respectively provided with a plurality of adsorption holes 201 communicated with the negative pressure cavity. 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; 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. Specifically, the nail dismounting positioning plate 21 and the nail mounting positioning plate 22 are used for adsorbing and fixing the graphite boat piece through the plurality of adsorption holes 201, so that the graphite boat piece is positioned; moreover, the graphite boat pieces are adsorbed and fixed by the adsorption holes 201, so that the graphite boat pieces can be attached to the disassembling and assembling nail platform 2 as far as possible, the bottom surfaces of the graphite boat pieces are kept flat, the problem that the installation depth of the clamp nails is inconsistent due to inconsistent flatness of the bottom surfaces of the graphite boat pieces is avoided, and the installation precision of the clamp nails is further ensured. 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.

Referring to fig. 5 again, as an embodiment of the present invention, the staple removing device 3 further includes:

locate dismouting nail platform 2 below, a useless nail collection module 35 for collecting old bail, the below of dismouting nail platform 2 is provided with the lower seat 30 that moves that is connected with first drive assembly 34, it is provided with third drive assembly 38 to move down seat 30, useless nail collection module 35 is connected with third drive assembly 38, third drive assembly 38 can drive useless nail and collect module 35 and follow the X axle direction motion in the below of dismouting nail platform 2, so that useless nail collection module 35 moves the below of nail removal module 32. The third driving assembly 38 is an electric cylinder.

In this embodiment, useless nail is collected module 35 and can be followed every staple hole below that X axle direction and Y axle direction moved graphite boat piece, like this useless nail is collected module 35 when the nail is torn open to nail module 32, useless nail is collected module 35 and can be removed the below of tearing open nail module 32, tear nail module 32 and follow the staple hole back of tearing open old staple, old staple directly falls in useless nail and collects module 35, realize accomodating temporarily of old staple, be convenient for the recycle of old staple.

In this embodiment, the third driving component 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 component 34 can drive the lower moving seat 30 to move along the Y-axis direction together with the waste nail collecting module 35, the vision detecting module 31, the nail removing module 32 and the nail installing module 33, so as to realize the movement of the waste nail collecting module 35 along the X-axis direction and the Y-axis direction.

In this embodiment, the waste nail collecting module 35, the visual inspection module 31, the nail removing module 32 and the nail installing module 33 share the first driving assembly 34, so that the waste nail collecting module 35, the visual inspection module 31, the nail removing module 32 and the nail installing module 33 can synchronously move along the Y-axis direction; utilize third drive assembly 38 can drive useless nail and collect module 35 and can follow X axle direction back-and-forth movement, the nimble removal that module 35 position was collected to useless nail of being convenient for, tear nail module 32 open the nail during operation, useless nail is collected module 35 and can be followed Y axle direction and X axle direction and move to tear nail module 32 under in a flexible way, the collection of the old bail of being convenient for. In addition, 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 mounting 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 assembly 353 connected with the baffle 352, wherein the baffle driving assembly 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 this embodiment, the collecting cylinder 351 is used for temporarily collecting old staples, and when the staple removing module 32 removes staples, the old staples drop from the through holes 202 on the staple removing platform 2 and fall into the collecting cylinder 351 from the feeding port 3511 of the collecting cylinder 351. After the old staple bolt in the surge drum 351 is collected to full, controlling means 4 control third drive assembly 38 drive surge drum 351 moves to containing box 10 top along the X axle direction, baffle drive assembly 353 redrives baffle 352 motion in order to open the discharge gate, so that the old staple bolt in the surge drum 351 all falls into containing box 10, after the old staple bolt in surge drum 351 all falls into containing box 10, baffle drive assembly 353 redrives baffle 352 motion in order to close the discharge gate, in order to continue to carry out the function that collecting drum 351 collected old staple bolt temporarily, thereby can realize in the containing box is collected to full-automatic recovery and the unity of old staple bolt, degree of automation is high. The baffle driving assembly 353 is an air cylinder. 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 in the collection 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 at the upper end of the collection 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.

As an embodiment of the present invention, the vision detecting module 31 includes a CCD camera 311 fixedly connected to the nailing module 33, the nail dismounting device 3 further includes a light source assembly 9 disposed below the nail dismounting platform 2 and connected to the third driving assembly 38, and the third driving assembly 38 can drive the light source assembly 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 to drive, so that the light source assembly 9 and the CCD camera 311 move above and below the through hole 202, respectively.

Specifically, the nail removing positioning plate 21 and the nail installing positioning plate 22 are respectively provided with through holes 202 corresponding to the nail holes on the graphite boat piece. When the graphite boat piece of the old staple to be disassembled is placed on the staple disassembling positioning plate 21, the positions of the old staple on the graphite boat piece correspond to the through holes 202 on the staple disassembling positioning plate 21 one by one; when the graphite boat piece to be mounted with the new staple is placed on the staple positioning plate 22, the positions of the staple holes on the graphite boat piece correspond to the through holes 202 on the staple positioning plate 22 one by one.

In this embodiment, before the old staple bolt placed on the graphite boat piece of the staple bolt detaching positioning plate 21 is detached, the control device 4 photographs the graphite boat piece through the CCD camera 311, and processes the image of the graphite boat piece to obtain the position of the old staple bolt of the graphite boat piece in the image, so that the coordinate position of the old staple bolt can be obtained, the control device 4 can control the staple bolt detaching module 32 to move to the coordinate position corresponding to the staple bolt, and the old staple bolt is detached from the staple bolt hole. When a staple is installed in a staple hole in a graphite boat sheet, light emitted by the light source assembly 9 penetrates through the through hole 202 in the staple positioning plate 22, a light spot is formed at the position of the staple hole in the graphite boat sheet, the control device 4 photographs the graphite boat sheet through the CCD camera 311, and the image of the graphite boat sheet is processed, so that the coordinate position and the aperture of the staple hole can be obtained, the control device 4 controls the staple module 33 to clamp a new staple with a corresponding specification from the corresponding vibrating disc 81 of the feeding mechanism 8, and the staple module 33 is controlled to move to the position of the staple hole to install the new staple.

Specifically, the CCD camera 311 is connected with the stapling module 33 into a whole, the CCD camera 311, the stapling module 32 and the stapling module 33 synchronously move along the X-axis direction and the Y-axis direction, so that the CCD camera 311, the stapling module 32 and the stapling module 33 synchronously move to any position along the X-axis direction and the Y-axis direction to photograph and identify each old staple and staple hole on the graphite boat sheet, and the CCD camera 311, the stapling module 32 and the stapling module 33 share a driving device in the X-axis direction and the Y-axis direction, without separately arranging a driving device for driving the same in the X-axis direction and the Y-axis direction.

In this embodiment, the CCD camera 311, when the nail removing module 32 and the binding module 33 move to the top of the nail removing positioning plate 21 along the Y axis, the light source assembly 9 moves to the bottom of the nail removing positioning plate 21 along the Y axis synchronously, the CCD camera 311, when the nail removing module 32 and the binding module 33 move to the top of the binding positioning plate 22 along the Y axis, the light source assembly 9 moves to the bottom of the binding positioning plate 22 along the Y axis synchronously, when the binding is removed from the nail removing positioning plate 21 and the binding positioning plate 22, the light source assembly 9 and the visual detection module 31 are both utilized.

Referring to fig. 7, as an embodiment of the present invention, the light source assembly 9 includes a light source fixing plate 91, a light source 92 fixed on the light source fixing plate 91, and a light source driving mechanism 93 connected to the third driving assembly 38, wherein the light source driving mechanism 93 is connected to the light source fixing plate 91 and can drive the light source 92 to move up and down along the Z-axis.

The light source driving mechanism 93 is specifically a pneumatic cylinder. When the CCD camera 311 takes a picture of the graphite boat piece on the staple positioning plate 22, the control device 4 controls the light source driving mechanism 93 to drive the light source fixing plate 91 to drive the light source 92 to move upwards along the Z-axis to approach the staple mounting and dismounting platform 2 as much as possible, so that the light spot of the staple hole is more obvious, the light spot brightness of the staple hole can be highlighted, and the image recognition accuracy is improved; meanwhile, when the CCD camera 311 does not need to photograph the graphite boat, the light source driving mechanism 93 may drive the light source 92 to move in place in the Z-axis direction, so as to avoid the light source 92 from moving and interfering with the stapling positioning plate 22 or the stapling positioning plate 21 in the moving process.

Specifically, since the position of each through hole 202 on each screw mounting and dismounting platform 2 is fixed, the center position of each through hole 202 corresponds to a fixed reference position in advance, before the old staples of the graphite boat sheet placed on the screw mounting and dismounting positioning plate 21 are dismounted, the control device 4 moves to the reference positions of the through holes 202 through the visual detection module 31 and photographs the graphite boat sheet through the visual detection module 31, and the control device 4 processes the image of the graphite boat sheet to obtain the offset of the old staples of the graphite boat sheet on the X axis and the Y axis relative to the reference positions, so that the coordinate positions of the old staples can be calculated, and thus, each old staple position of the graphite boat sheet can be detected in sequence by adopting the same method.

When a new staple is installed in a staple hole in a graphite boat sheet, light emitted by a light source assembly 9 penetrates through a through hole 202 in a staple positioning plate 22, an aperture is formed in the position of the staple hole in the graphite boat sheet, a control device 4 moves to a reference position through a visual detection module 31 and photographs the graphite boat sheet through the visual detection module 31, an image collected by the visual detection module 31 is specifically an aperture in the middle and black outside, the control device can fit a black-white boundary of the edge of the image into a circle through color, contrast and other parameters of the collected image according to image processing software, the coverage of the circle is determined and the pixel diameter of the circle is obtained through measurement, the pixel unit of the measured diameter of the circle in the image is converted into an actual physical unit of the staple hole, and the aperture of the staple hole is determined.

Meanwhile, the control device 4 processes the image of the graphite boat sheet, obtains pixel offset values of the center of the aperture and the reference position in the X-axis and Y-axis directions, and converts the pixel units of the pixel offset values measured in the image into physical units of actual offset of the staple holes, that is, determines offset distances of the staple holes on the X-axis and Y-axis with respect to the reference position, thereby determining the positions of the staple holes on the graphite boat sheet according to the reference position and the offset distances with respect to the reference position, and thus, each position of the staple holes on the graphite boat sheet can be sequentially detected by the same method.

As an embodiment of the present invention, the staple attaching and detaching device 3 further includes:

the activity sets up in dismouting nail platform 2 below and is used for detecting the pressure detection module 37 of new bail pressure, and pressure detection module 37 links to each other with controlling means 4, and third drive assembly 38 is connected with pressure detection module 37, and third drive assembly 38 can drive pressure detection module 37 and move the below of binding module 33, and controlling means 4 is used for controlling binding module 33 to stop pushing down new bail when pressure detection module 37 detects the pressure of new bail.

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 along the X-axis direction and the Y-axis direction, and when the stapling module 33 presses the new staple to a preset position, the staple is considered to be installed in place, and at this time, the pressure detection module 37 detects the pressure of the new staple. Therefore, when the pressure detecting module 37 detects the pressure of the new staple, the control device 4 controls the pneumatic claw driving unit 331 of the stapling module 33 to stop driving the pneumatic claw 332 to press down the new staple, thereby preventing the depth of the staple from being excessively deep, and ensuring the accuracy of the staple attachment.

Specifically, the pressure detection module 37 is fixedly connected with the collection cylinder 351 of the waste nail collection module 35. Because the pressure detection module 37 is connected with the useless nail collection module 35 to make the pressure detection module 37 and the useless nail collection module 35 synchronous along Y axle direction synchronous motion, with the first drive assembly 34 of sharing, and the pressure detection module 37 and useless nail collection module 35 synchronous along X axle direction synchronous motion, with the third drive assembly 38 of sharing, greatly reduced manufacturing cost, and simplified control. In addition, the pressure detection module 37 may also be provided with a separate driving device to drive the movement along the Y-axis direction and the X-axis direction.

Referring to fig. 7, 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 is greater than the preset value, and at this time, it is determined that the new staple is installed in place.

As an embodiment of the present invention, the pressure detection module 37 further includes:

a fourth drive assembly 374 coupled to third drive assembly 38, wherein the support is coupled to third drive assembly 38 via fourth drive assembly 374, and wherein fourth drive assembly 374 is adapted to drive the support up and down in 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 372 to move up and down along the Z-axis direction synchronously, thereby preventing the push rod 373 from moving and interfering with other components in the moving process of the pressure detection module 37; moreover, because the flatness of the bottom surfaces of the graphite boat pieces of different models is different, the staple bolts of the graphite boat pieces of different models have different extending lengths, so that the rising height of the ejector rod 373 can be flexibly adjusted according to the graphite boat pieces of different models, the height of the ejector rod 373 can be adjusted, the graphite boat pieces of different models can be self-adapted, and the general performance can be improved.

The rising height of the ejector rod 373 corresponds to different types of graphite boat pieces, the control device 4 prestores the corresponding relationship between the rising height of the ejector rod 373 and the graphite boat pieces, and the corresponding relationship between the rising height of the ejector rod 373 and the graphite boat pieces can be set according to practical application. This graphite boat piece bail erection equipment is before changing the bail to graphite boat piece, and the user sets up the model 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.

As an embodiment of the present invention, a reserved station 15 is further disposed on the frame 1, the visual inspection module 31 is further configured to identify whether the graphite boat piece on the screw mounting and dismounting platform 2 is damaged, and the pick-and-place device 5 is further configured to place the damaged graphite boat piece on the reserved station 15.

In this embodiment, after nail dismounting module 32 finishes the bail and dismantles, before new bail is installed to binding module 33, shoot graphite boat piece through visual detection module 31, handle through the image to graphite boat piece like this, can discern whether damage appears in the staple hole, when visual detection module 31 discerns the staple hole and appears damaging, judge that damage appears in graphite boat piece, controlling means 4 control is got and is put device 5 and take out the graphite boat piece that damages from binding locating plate 21 or binding locating plate 22 and place on reserving the station, can avoid installing new staple at the graphite boat piece that damages like this, the staff can take out the graphite boat piece that damages from reserving the station, the intelligent degree and the work efficiency of equipment have been promoted greatly.

Referring to fig. 11 to fig. 13, as an embodiment of the present invention, the pick-and-place device 5 includes:

a three-axis linkage mechanism 51 arranged on the frame 1 and connected with the control device 4;

the sucker component 52 is arranged on the three-axis linkage mechanism 51, the sucker component 52 is connected with a vacuum pump (not shown) through a pipeline, the vacuum pump is connected with the control device 4, and the three-axis linkage mechanism 51 can drive the sucker component 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 conveniently pick and place the graphite boat piece at a freely moving position on the frame 1; 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.

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 bracket 521, and a plurality of suction cups 522 disposed on the bracket 521 and connected to the vacuum pump through a pipeline, wherein the bracket 521 is connected to the three-axis linkage mechanism 51. Specifically, the bracket 521 is connected to the Z-axis electric cylinder 513. Wherein, the sucker component 52 adsorbs the graphite boat piece through the plurality of suckers 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 sucking discs 522 form the negative pressure, when a plurality of sucking discs 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 the back to the position along the Z axle direction, controlling means 4 control vacuum pump stop work, graphite boat piece breaks away from with a plurality of sucking discs 522 this moment, thereby accomplish sucking disc subassembly 52 and put the action of graphite boat piece.

The frame 12 includes at least one cross bar 121 disposed along the Y-axis direction, and the Y-axis electric cylinder 511 is fixed to the cross bar 121 and can drive the X-axis electric cylinder 52 to move along the Y-axis direction. The feeding station 6 and the discharging station 7 are supported on the same side of the machine base 11.

As an embodiment of the present invention, the number of the Y-axis electric cylinders 51 and the X-axis electric cylinders 52 is two, and the two Y-axis electric cylinders 51 drive the two X-axis electric cylinders 52 to move along the Y-axis direction simultaneously, so that the chuck assembly 52 moves more stably.

The graphite boat piece staple bolt mounting equipment provided by the invention has the following specific working process: the staff will treat to change the graphite boat piece of bail and place on material loading station 6, and controlling means 4 control is got and is put device 5 and will be placed the graphite boat piece of material loading station 6 and get to two dismouting nail locating plates 21 on the platform 2 in proper order on, and the process of carrying out dismouting bail on the dismouting nail platform 2 that every dismouting nail device 3 corresponds is the same. Specifically, when the graphite boat sheet is dismounted and mounted with the staple on the dismounting and mounting platform 2 corresponding to each dismounting and mounting device 3, the control device 4 controls the first driving assembly 34 and the second driving assembly 36 of each dismounting and mounting device 3 to work in coordination so as to drive the visual detection module 31 to move to the position above the graphite boat sheet on the dismounting and mounting positioning plate 21 along the X-axis direction and the Y-axis direction, the position of a first old staple on the graphite boat sheet is identified through the visual detection module 31, and then the control device 4 controls the first driving assembly 34 and the second driving assembly 36 to work in coordination so as to drive the dismounting and mounting module 32 to move to the position above the first old staple on the graphite boat sheet on the dismounting and mounting positioning plate 21 along the X-axis direction and the Y-axis direction; the control device 4 controls the third driving component 38 to drive the collecting cylinder 351 of the waste nail collecting module 35 to move to the position below the first old staple, then the control device 4 controls the ejection column driving component 321 to drive the ejection column 322 to move downwards along the Z axis so as to detach the first old staple from the staple hole, the old staple falls into the collecting cylinder 351, then the control device 4 controls the ejection column driving component 321 to drive the ejection column 322 to move upwards along the Z axis to the initial position, the process is repeated, and the next old staple is detached until all the old staples on the graphite boat piece are detached.

After all old staples of the graphite boat piece on the staple disassembling positioning plate 21 are disassembled, the control device 4 controls the pick-and-place device 5 to transfer the graphite boat piece from the staple disassembling positioning plate 21 to the staple assembling positioning plate 22, the control device 4 controls the first driving assembly 34 and the second driving assembly 36 to work in coordination so as to drive the visual detection module 31 to move to the position above a first staple hole on the graphite boat piece on the staple assembling positioning plate 22 along the X-axis direction and the Y-axis direction, and simultaneously the control device 4 controls the third driving assembly 38 to drive the light source assembly 9 to move to the position below the staple assembling positioning plate 22; the visual detection module 31 is used for photographing the graphite boat sheet on the binding positioning plate 22, the image of the graphite boat sheet is processed to obtain the coordinate position and the aperture of the staple hole, the control device 4 controls the third driving component 38 to drive the pressure detection module 37 to move to the lower part of the first staple hole, the control device 4 controls the fourth driving component 374 to drive the ejector rod 373 to move upwards to the lower part of the staple hole and have a preset height difference with the graphite boat sheet, the control device 4 controls the first driving component 34 and the second driving component 36 to work in coordination so as to drive the air claw 332 of the binding module 33 to clamp a new staple corresponding to the specification of the staple hole from the discharge port of the corresponding vibration disc 81 of the corresponding feeding mechanism 8, controls the first driving component 34 and the second driving component 36 to work in coordination so as to drive the air claw 332 to move to the position right above the staple hole, and the control device 4 controls the air claw driving component 331 to drive the air claw 332 to move the air claw 332 downwards along the Z axis, to press the new staple into the staple hole. When the pressure sensor 372 detects the downward pressure of a new staple, the new staple is considered to be installed in place, at this time, the control device 4 controls the air claw driving component 331 to stop driving the air claw 332 to move downwards, and the control device 4 controls the air cylinder 3227 to drive the air claw 332 to open, so that the claw hand 3226 of the air claw 332 releases the clamping of the staple; the control device 4 controls the air claw driving component 331 to drive the air claw 332 to move upwards for resetting, and the control device 4 controls the visual inspection module 31 to move to a position above the second staple hole, and completes the installation of the second staple according to the above process, and the above process is repeated until new staples are installed in all the staple holes on the graphite boat sheet.

After new staples are completely installed in the staple holes in the graphite boat piece on the stapling positioning plate 22, the control device 4 controls the pick-and-place device 5 to pick the graphite boat piece on the stapling positioning plate 22 to the blanking station 7, the control device 4 controls the pick-and-place device 5 to pick the graphite boat piece of which the staple is to be replaced from the feeding station 6 to the stapling positioning plate 21, the control device 4 controls the visual detection module 31, the staple removing module 32 and the stapling module 33 to synchronously move to the position above the stapling positioning plate 21, and carries out the staple removing work of the old staple of the next graphite boat piece according to the staple removing process, after the old staple on the graphite boat piece on the stapling positioning plate 21 is removed, the control device 4 controls the visual detection module 31, the staple removing module 32 and the staple removing module 33 to synchronously move to the position above the stapling positioning plate 22, and carries out the staple removing work of the next graphite boat piece according to the staple process, so every visual detection module 31, the module 32 and the module 33 of binding of tearing open of binding device 3 constantly on the locating plate 21 of tearing open the binding and bind locating plate 22 top round trip movement to the bail on the dismouting graphite boat piece realizes the automatic change of graphite boat piece bail.

Referring to fig. 14, an embodiment of the present invention further provides a method for controlling a graphite boat blade staple mounting apparatus in the above embodiment, including the following steps:

step S10, the control device 4 detects the position and the aperture of the clamping nail hole of the graphite boat piece placed on the nail dismounting platform 2 through the visual detection module 31;

as an embodiment of the present invention, the control device 4 controls the driving mechanism to drive the vision inspection module 31 to move above the nail mounting and dismounting platform 2 to a position above the nail holes on the graphite boat piece, so as to inspect the position and the hole diameter of the nail holes of the graphite boat piece.

In this step, the control device 4 drives the vision detection module 31 to move to the upper side of the graphite boat piece of the binding positioning plate 22 along the X-axis direction and the Y-axis direction by controlling the driving mechanism, photographs the graphite boat piece on the binding positioning plate 22 through the vision detection module 31, processes the image of the graphite boat piece, and obtains the coordinate position and the aperture of the binding hole.

In step S20, the control device 4 controls the stapling module 33 to install the new staples adapted to the staple holes into the corresponding staple holes according to the positions and the diameters of the staple holes until all the staple holes on the graphite boat sheet complete the installation of the new staples.

In this embodiment, the visual detection module 31 may detect the position and the aperture of one of the staple holes of the graphite boat sheet, and then the staple module 33 installs the corresponding staple in the staple hole, that is, the staple is installed while identifying the position and the aperture of the staple hole, so as to improve the staple installation efficiency; alternatively, the visual inspection module 31 may identify the positions and the diameters of all the staple holes on the graphite boat sheet, and then the stapling module 33 may sequentially install staples in each staple hole.

In this step, after the control device 4 obtains the coordinate position and the aperture of the staple hole through the visual detection module 31, the control device 4 controls the first driving component 34 and the second driving component 36 to work in coordination to drive the air claw 332 of the control stapling module 33 to move right above the position of the staple hole, the control device 4 controls the air claw driving component 331 to drive the air claw 332 to move downwards along the Z-axis to press a new staple into the staple hole, so as to realize the installation of the new staple, the control device 4 controls the air claw 332 to release the clamping of the staple, and controls the air claw driving component 331 to drive the air claw 332 to move upwards for resetting; the above process is repeated until new staples are installed in all the staple holes on the graphite boat piece.

As an embodiment of the present invention, the step of controlling, by the control device 4, the stapling module 33 to install the new staple adapted to the staple hole into the corresponding staple hole according to the position and the aperture of the staple hole specifically includes:

the control device 4 controls the staple module 33 to move to the feeding mechanism 8 to select the staples with the corresponding specifications according to the positions and the diameters of the staple holes, and controls the staple module 33 to move to the positions of the staple holes to load the staples into the staple holes.

Specifically, the control device 4 controls the first driving component 34 and the second driving component 36 to operate to drive the gas claw 332 of the stapling module 33 to move to the feeding mechanism 8 along the X-axis direction and the Y-axis direction, so that the gas claw 332 clamps a new staple of a corresponding specification on the feeding mechanism 8, the control device 4 controls the first driving component 34 and the second driving component 36 to drive, so that the gas claw 332 driving the stapling module 33 moves to a position above the position of the staple hole on the graphite boat sheet, the gas claw driving component 331 drives the gas claw 332 to move downward along the Z-axis direction, and the new staple on the gas claw 332 is pressed down into the staple hole, thereby realizing the installation of the new staple.

As an embodiment of the present invention, the step of installing the new staple adapted to the staple hole into the corresponding staple hole by the stapling module 22 specifically includes:

the pressure of the new staple is detected in real time by the pressure detecting module 37, and when the pressure detecting module 37 detects the pressure of the staple, the control device 4 controls the stapling module 33 to stop pressing the new staple.

In this embodiment, the pressure detection module 37 detects whether the new staple is installed in place in real time. Specifically, the pressure sensor 372 receives the initial pressure of the ejector rod 373 in the initial state, when the pressure sensor 372 of the pressure detection module 37 detects that the pressure is greater than the preset value, it is determined that the pressure sensor 372 receives the downward pressure of the new staple, it is determined that the new staple is installed in place at this time, and the control device 4 controls the pneumatic claw driving component 331 to stop driving the pneumatic claw 332 to press down the new staple, so that the installation accuracy of the staple can be ensured.

As an embodiment of the present invention, step S10 is preceded by:

step S5, the control device 4 detects the position of the old staple on the graphite boat sheet on the staple mounting and dismounting platform 2 through the visual detection module 31;

in step S6, the control device 4 controls the staple removing module 32 to remove the old staple from the graphite boat sheet according to the position of the old staple until all the old staples on the graphite boat sheet are removed.

As an embodiment of the present invention, step S5 specifically includes:

the control device 4 drives the visual detection module 31 to move to the position of the old staple on the graphite boat sheet above the staple dismounting platform 2 by controlling the driving mechanism so as to detect the position of the old staple on the graphite boat sheet.

In this step, the control device 4 drives the vision detection module 31 to move to the upper side of the graphite boat piece of the nail-detaching positioning plate 21 along the X-axis direction and the Y-axis direction by controlling the driving mechanism, photographs the graphite boat piece on the nail-detaching positioning plate 21 through the vision detection module 31, processes the image of the graphite boat piece, and acquires the positions of the old staples on the graphite boat piece.

In this step, the control device 4 photographs the graphite boat piece placed on the nail dismounting positioning plate 21 on the nail dismounting platform 2 through the visual detection module 31, and after the visual detection module 31 photographs the graphite boat piece, the control device 4 can acquire the coordinate position of the old staple on the graphite boat piece by processing the image of the graphite boat piece.

In this embodiment, the visual detection module 31 may detect the position of one of the old staples, and then the staple removing module 32 removes the old staple after the position of the old staple is identified, that is, removes the old staple while identifying the position of the old staple, so as to improve the staple installation efficiency; alternatively, the visual inspection module 31 may identify the positions of all the old staples on the graphite boat, and then the staple removing module 32 may sequentially remove each old staple.

As an embodiment of the present invention, the step S6 specifically includes:

the control device 4 controls the driving mechanism to drive the staple removing module 32 to move to the position above the old staple according to the position of the old staple so as to remove the old staple.

As an embodiment of the present invention, before the step of the control device 4 controlling the staple removing module 32 to remove the old staples from the graphite boat sheet according to the positions of the staples, the method further comprises:

the control device 4 controls the driving mechanism to drive the waste nail collecting module 35 to move below the nail dismounting and mounting platform 2 to the lower part of the nail dismounting module 32 so as to collect the old nails dismounted by the nail dismounting module 32.

In this embodiment, after the control device 4 recognizes the position of the old staple on the graphite boat through the visual inspection module 31, the control device 4 controls the first driving module 34 and the second driving module 36 to work cooperatively to drive the ejection rod 322 of the staple removing module 32 to move to the position above the old staple along the X-axis direction and the Y-axis direction, meanwhile, the control device 4 controls the third driving module 38 to drive the collecting cylinder 351 of the waste staple collecting module 35 to move to the position below the old staple, then the control device 4 controls the ejection rod driving module 321 to drive the ejection rod 322 to move downward along the Z-axis direction to remove the old staple from the staple hole, the old staple falls into the collecting cylinder 351, the control device 4 controls the ejection rod driving module 321 to drive the ejection rod 322 to move upward along the Z-axis direction to the initial position again, and the above process is repeated until all the old staples on the graphite boat are removed.

As an embodiment of the present invention, step S5 is preceded by:

in step S1, the control device 4 controls the pick-and-place device 5 to place the graphite boat piece of the loading station, of which the staple is to be replaced, on the staple mounting and dismounting platform 2, so as to realize automatic loading of the graphite boat piece.

As an embodiment of the present invention, step S20 is followed by:

in step S30, the control device 4 controls the pick-and-place device 5 to place the graphite boat piece on the staple mounting and dismounting platform 2 at the blanking station 7.

According to one embodiment of the invention, the number of the nail dismounting and mounting platforms 2 is two, each nail dismounting and mounting platform 2 is correspondingly provided with one nail dismounting and mounting device 3, and each nail dismounting and mounting device 3 is used for dismounting and mounting the staples on the graphite boat on the corresponding nail dismounting and mounting platform 2. Because two can dismouting binding putting 3 can carry out the dismouting work of graphite boat piece bail simultaneously to can promote the work efficiency of this graphite boat piece bail erection equipment.

As an embodiment of the invention, each nail dismounting platform 2 comprises a nail dismounting positioning plate 21 and a nail mounting positioning plate 22 which are arranged at intervals, and the control device 4 can control the pick-and-place device 5 to transfer the graphite boat sheets on the nail dismounting positioning plate 21, which have finished dismounting old nails, to the nail mounting positioning plate 22;

the step of placing the graphite boat piece of the staple to be replaced of the feeding station 6 on the staple mounting and dismounting platform 2 by the control device 4 controlling the taking and placing device 5 specifically comprises: the control device 4 controls the taking and placing device 5 to place the graphite boat piece of the staple to be replaced at the feeding station on the staple removing positioning plate 21;

the step of placing the graphite boat piece which finishes the replacement of the staple on the staple disassembling platform 2 at the blanking station by the control device 4 controlling the taking and placing device 5 specifically comprises the following steps: the control device 4 controls the taking and placing device 5 to place the graphite boat piece on the staple positioning plate 21 after staple replacement at the blanking station 7.

In this embodiment, after the control device 4 controls the dismounting and mounting device 3 to complete the old clamping nail dismounting of the graphite boat piece on the dismounting and mounting positioning plate 21, the control device 4 controls the pick-and-place device 5 to transfer the graphite boat piece on the dismounting and mounting positioning plate 21, which has completed the old clamping nail dismounting, to the mounting and mounting positioning plate 22, so that the graphite boat piece on the dismounting and mounting positioning plate 21 is automatically transferred to the mounting and mounting positioning plate 21.

In this embodiment, the staff will treat to change the graphite boat piece of bail and place on material loading station 6, and controlling means 4 control is got and is put 5 and place the graphite boat piece of the bail of waiting to change of material loading station 6 on tearing nail locating plate 21 to realize the automatic feeding of graphite boat piece. After the staple bolts on the graphite boat piece on the staple positioning plate 22 are completely replaced by the staple disassembling and assembling device 3, the control device 4 controls the taking and placing device 5 to take the graphite boat piece on the staple positioning plate 22 to the blanking station 7, so that automatic feeding and discharging of the graphite boat piece can be realized, and the automation degree of the equipment is greatly improved.

According to the graphite boat sheet staple bolt installation equipment provided by the embodiment of the invention, the visual detection module and the staple module are arranged, the position and the aperture of the staple bolt hole of the graphite boat sheet on the staple bolt mounting and dismounting platform are detected by the visual detection module, the control device controls the staple module to install a new staple bolt with the staple bolt hole corresponding to the specification into the corresponding staple bolt hole according to the position and the aperture of the staple bolt hole, so that the automatic installation of the graphite boat sheet staple bolt is realized, the manual staple bolt installation mode is replaced, the manual labor intensity and the labor cost can be reduced, and the staple bolt installation efficiency is greatly improved; simultaneously, the staple module can be packed into corresponding bail hole respectively with the new staple that each bail hole corresponds the specification according to the position in each bail hole and aperture, avoids bail and bail hole to mismatch and leads to the damage of graphite boat piece or the fixed unstable problem of bail, can ensure the assembly precision of bail.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a graphite boat piece bail erection equipment which characterized in that includes:

a frame;

2. The graphite boat sheet staple mounting apparatus of claim 1, wherein the staple platform is provided with through holes corresponding to the staple holes on the graphite boat sheet; the nail dismounting and mounting device also comprises a nail dismounting module which is connected with the control device and is used for dismounting the old nail on the graphite boat sheet; the visual detection module is also used for detecting the position of an old staple on a graphite boat sheet of the staple disassembling platform, and the control device is also used for controlling the staple disassembling module to disassemble the old staple on the graphite boat sheet according to the position of the old staple on the graphite boat sheet detected by the visual detection module.

3. The graphite boat blade staple mounting apparatus of claim 2, wherein the staple removing device comprises a driving mechanism connected to the control device, the driving mechanism being used for driving the visual inspection module, the staple removing module and the staple removing module to move to a position above each through hole.

4. The graphite boat blade staple mounting apparatus of claim 3, wherein the driving mechanism comprises:

the upper moving seat is connected with the first driving assembly;

5. The graphite boat blade staple mounting apparatus of claim 4, wherein the first driving assembly is a linear motor, the linear motor comprises a guide rail fixed on the frame and arranged along the Y-axis direction, and a slide block movably arranged on the guide rail, the slide block is connected with the upper moving seat, and the slide block drives the second driving assembly to move along the Y-axis direction through the upper moving seat.

6. The graphite boat blade staple mounting apparatus of claim 1, wherein the staple mounting module comprises a pneumatic claw driving assembly fixedly connected with the visual inspection module, a pneumatic claw connected with the pneumatic claw driving assembly and used for clamping a new staple, and the control device is connected with the pneumatic claw driving assembly and used for controlling the pneumatic claw driving assembly to drive the pneumatic claw to move up and down along the Z-axis direction, so that the pneumatic claw mounts the new staple into the corresponding staple hole.

7. The graphite boat piece staple mounting device of claim 6, wherein the gas claw comprises a mounting seat, at least two claw hands movably arranged on the mounting seat and spaced to form a clamping space, and a cylinder in driving connection with the claw hands and used for driving the claw hands to open or close each other, and the gas claw driving assembly is connected with the mounting seat or the cylinder.

8. The graphite boat piece staple mounting device of claim 7, wherein the gas claw further comprises a positioning column disposed in the clamping space, one end of the positioning column is fixed to the mounting seat, and the other end of the positioning column is used for abutting and limiting the staple when the claw grips the staple.

9. The graphite boat blade staple mounting apparatus of claim 2, wherein the staple removing module comprises a top post driving assembly fixedly connected with the staple mounting module, and a top post connected with the top post driving assembly, and the top post driving assembly is connected with the control device and is used for driving the top post to move up and down along the Z-axis direction.

10. The graphite boat blade staple mounting apparatus of claim 4, wherein the de-tacking device further comprises:

11. The graphite boat blade staple mounting apparatus of claim 10, further comprising a receiving box provided on the frame; the useless nail collection module includes:

the baffle is movably arranged at the discharge hole; and

12. The graphite boat blade staple mounting apparatus of claim 4, wherein the visual inspection module comprises a CCD camera fixedly connected with the stapling module; the nail dismounting and mounting device also comprises a light source component which is arranged below the nail dismounting and mounting platform and is connected with the third driving component, and the third driving component can drive the light source component to move along the X-axis direction; the control device can control the first driving assembly, the second driving assembly and the third driving assembly to drive, so that the light source assembly and the CCD camera respectively move to the upper part and the lower part of the through hole.

13. The graphite boat blade staple mounting apparatus of claim 10, wherein the de-tacking device further comprises:

14. The graphite boat blade staple mounting apparatus of claim 13, wherein the pressure detection module comprises:

a support connected to the third drive assembly;

15. The graphite boat blade staple mounting apparatus of claim 13, wherein the pressure detection module further comprises:

16. The graphite boat blade staple mounting apparatus of claim 3, further comprising:

17. The graphite boat blade staple mounting apparatus of claim 16, wherein the feeding mechanism comprises:

18. The graphite boat blade staple mounting apparatus of claim 4, further comprising a pick-and-place device disposed on the frame, the pick-and-place device being connected to the control device for picking and placing graphite boat blades on the staple mounting platform.

19. The graphite boat blade staple mounting apparatus of claim 18, wherein the pick-and-place device comprises:

20. The graphite boat blade staple mounting apparatus of claim 19, wherein the three-axis linkage mechanism comprises a Y-axis electric cylinder, an X-axis electric cylinder and a Z-axis electric cylinder respectively connected to the control device, the Y-axis electric cylinder is fixed to the frame, the Y-axis electric cylinder is connected to the X-axis electric cylinder and can drive the X-axis electric cylinder to move left and right along the Y-axis direction, the X-axis electric cylinder is connected to the Z-axis electric cylinder and can drive the Z-axis electric cylinder to move back and forth along the X-axis direction, and the Z-axis electric cylinder is connected to the chuck assembly and can drive the chuck assembly to move up and down along the Z-axis direction.

21. The graphite boat blade staple mounting apparatus of claim 19, wherein the suction cup assembly comprises a support, a plurality of suction cups disposed on the support and connected to the vacuum pump through the pipeline, the support being connected to the three-axis linkage mechanism.

22. The graphite boat blade staple mounting apparatus of claim 18, wherein two said staple mounting platforms are provided on said frame at intervals, one said staple mounting device being provided for each said staple mounting platform.

23. The graphite boat blade staple mounting apparatus of claim 22, wherein each staple mounting and dismounting platform comprises a staple dismounting positioning plate and a staple mounting positioning plate which are arranged at intervals along the Y-axis direction; the taking and placing device is also used for transferring the graphite boat piece on the nail dismounting positioning plate to the nail mounting positioning plate;

24. The graphite boat blade staple mounting apparatus of claim 23, further comprising:

25. The graphite boat blade staple mounting equipment of claim 18, wherein a reserved station is further arranged on the frame, the visual detection module is further used for detecting whether the graphite boat blade on the staple mounting and dismounting platform is damaged, and the taking and placing device is further used for placing the damaged graphite boat blade on the reserved station.

26. A control method of a graphite boat blade staple mounting apparatus applied to the graphite boat blade staple mounting apparatus of any one of claims 1 to 25, comprising the steps of:

27. The method as claimed in claim 26, wherein the control means further comprises, before the step of detecting the position and diameter of the chuck pin hole of the graphite boat sheet placed on the staple mounting and demounting platform by means of the visual detection module:

28. The method as claimed in claim 26, wherein the step of the control means detecting the position and diameter of the chuck pin hole of the graphite boat piece placed on the staple mounting and dismounting platform through the visual detection module comprises:

the control device drives the visual detection module to move above the dismounting nail platform to a position above an old staple on the graphite boat sheet by controlling the driving mechanism so as to detect the position of the old staple on the graphite boat sheet; and/or the presence of a gas in the gas,

29. The method for controlling a graphite boat blade staple mounting device of claim 26, wherein the step of installing a new staple fitted into the staple hole into the corresponding staple hole by the stapling module comprises:

30. The method as claimed in claim 27, wherein the step of controlling the staple removing module to remove the old staple from the graphite boat piece according to the position of the old staple by the control device further comprises:

31. The method of claim 26, wherein the step of the control device detecting the position of the old staple on the graphite boat sheet on the staple mounting and demounting platform by the visual detection module further comprises the following steps:

32. The method as claimed in claim 31, wherein the number of the de-binding platforms is two, each de-binding platform is provided with one de-binding device, and each de-binding device is used for de-binding the staples on the graphite boat on the corresponding de-binding platform.

33. The control method of a graphite boat blade staple mounting device according to claim 32, wherein each said staple removing platform comprises a staple removing positioning plate and a staple mounting positioning plate which are arranged at intervals, and said control device can control said pick-and-place device to transfer the graphite boat blade on said staple removing positioning plate, from which the old staples are removed, to said staple mounting positioning plate;