CN113859968B - Material taking module - Google Patents

Abstract

The invention discloses a material taking module, and belongs to the technical field of manipulators. According to the material taking module, each group of locking and adjusting structures comprises the thrust adjusting piece and the tension adjusting piece, and the thrust adjusting pieces can extend out along the Z direction to the direction close to the suckers by rotating the thrust adjusting pieces so as to push the suckers to move to the direction far away from the sucker mounting seats; through rotating the pulling force regulating part, can make the sucking disc remove to the direction that is close to the sucking disc mount pad along the Z direction, and then accessible multiunit locking is adjusted the structure and is carried out the leveling to the sucking disc, and can lock sucking disc and sucking disc mount pad through the cooperation of thrust regulating part and pulling force regulating part.

Description

Material taking module

Technical Field

The invention relates to the technical field of manipulators, in particular to a material taking module.

Background

In order to avoid the clamping jaw of the manipulator from scratching materials, a sucker is often adopted by many factories to grab and transfer the materials. However, in the material taking equipment in the prior art, the suckers are mostly connected with the mechanical arm in a fixed mounting mode, the suckers cannot be adjusted, the suckers after fixed mounting cannot be guaranteed to be kept in a horizontal state, and the sucker material taking equipment cannot be applied to materials needing to be kept horizontal in the carrying process.

Disclosure of Invention

The invention aims to provide a material taking module which can level a suction disc so as to meet the carrying requirements of different materials.

In order to realize the purpose, the following technical scheme is provided:

a material taking module comprises a material sucking assembly, wherein the material sucking assembly comprises a material sucking mechanical hand, a material sucking sliding seat, a material sucking sliding rail, a material sucking translation driving piece and a material sucking lifting driving piece, the material sucking sliding seat is slidably arranged on the material sucking sliding rail along the X direction, the material sucking translation driving piece is used for driving the material sucking sliding seat to move along the material sucking sliding rail, the material sucking mechanical hand is slidably arranged on the material sucking sliding seat along the Z direction, and the material sucking lifting driving piece is used for driving the material sucking mechanical hand to lift along the material sucking sliding seat; the X direction is perpendicular to the Z direction;

the sucking manipulator comprises a sucking disc, a sucking disc mounting seat and a plurality of groups of locking adjusting structures, the sucking disc mounting seat is slidably arranged on the sucking slide seat, the sucking disc mounting seat is connected with the sucking material lifting driving piece, and the sucking disc is mounted on the sucking disc mounting seat through the plurality of groups of locking adjusting structures; the locking adjusting structure comprises a thrust adjusting piece and a tension adjusting piece, the thrust adjusting piece is arranged in a penetrating mode on the sucker mounting seat and in threaded connection with the sucker mounting seat, one end of the thrust adjusting piece penetrates through the sucker mounting seat and abuts against the sucker, one end of the tension adjusting piece is rotatably arranged on the sucker mounting seat, and the other end of the tension adjusting piece penetrates through the sucker mounting seat and then is in threaded connection with the sucker.

As an alternative to the material taking module, the plurality of groups of locking adjusting structures are symmetrically arranged relative to the center of the suction cup.

As an alternative of the material taking module, the thrust adjusting pieces are provided with locking nuts, the locking nuts are sleeved on the outer sides of the thrust adjusting pieces and are in threaded connection with the thrust adjusting pieces, and the locking nuts are used for locking or unlocking the thrust adjusting pieces and the sucker mounting seats.

As an alternative of the material taking module, the tension adjusting piece is a bolt, the head of the bolt abuts against the top surface of the sucker mounting seat, and the rod part of the bolt penetrates through the sucker mounting seat and then is in threaded connection with the sucker.

As an alternative to the material extraction module, the suction cup is configured to be connected to a vacuum apparatus via a suction line.

As an alternative of the material taking module, the material sucking assembly further comprises a suction adjusting valve arranged on the suction pipeline, and the suction adjusting valve is used for adjusting the suction force of the sucker.

As the alternative of getting the material module, it still includes material taking frame and presss from both sides the material subassembly to get the material module, it includes presss from both sides material manipulator, presss from both sides the material slide, presss from both sides material translation driving piece and presss from both sides material lift driving piece, press from both sides the material slide with inhale the material slide and be parallel to each other and all locate the material taking frame, press from both sides the material slide and follow X direction slidable locates press from both sides the material slide, it is used for driving to press from both sides the material translation driving piece press from both sides the material slide and follow the material slide removes, it follows to press from both sides the material manipulator locate Z direction slidable the material slide, it is used for driving to press from both sides material lift driving piece press from both sides the material manipulator and goes up and down along pressing from both sides the material slide.

As an alternative of the material taking module, the movement tracks of the material clamping manipulator and the material suction manipulator at least partially coincide along the X direction.

As an alternative of the material taking module, the material clamping manipulator comprises a material clamping claw and a material clamping claw driving piece, and the material clamping claw driving piece is used for driving the material clamping claw to open and close.

As an alternative of the material taking module, the material sucking manipulator and the material clamping manipulator are both provided with no-load detection pieces, and the no-load detection pieces are used for detecting whether materials are grabbed in the material sucking manipulator or the material clamping manipulator.

Compared with the prior art, the invention has the following beneficial effects:

according to the material taking module, each group of locking and adjusting structures comprises a thrust adjusting piece and a tension adjusting piece, and the thrust adjusting pieces can extend out in the direction close to the suckers along the Z direction by rotating the thrust adjusting pieces so as to push the suckers to move in the direction far away from the sucker mounting seats; through rotating the pulling force regulating part, can make the sucking disc remove to the direction that is close to the sucking disc mount pad along the Z direction, and then accessible multiunit locking is adjusted the structure and is carried out the leveling to the sucking disc, and can lock sucking disc and sucking disc mount pad through the cooperation of thrust regulating part and pulling force regulating part.

Drawings

FIG. 1 is a schematic structural diagram of an automatic glue shearing apparatus according to an embodiment of the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is an enlarged view of the portion B of FIG. 1;

FIG. 4 is a schematic structural diagram of a material pickup module according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of the connection between the suction cup and the suction cup mounting seat according to the embodiment of the present invention;

FIG. 6 is a schematic diagram of a demolding module according to an embodiment of the present invention;

FIG. 7 is a top view of FIG. 6;

FIG. 8 is a schematic structural diagram of a flip module according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a blanking module in an embodiment of the present invention.

Reference numerals:

1. a feeding streamline module; 11. a first upper stream line; 12. a second feeding flow line;

2. a material taking module; 21. a material clamping component; 211. a material clamping manipulator; 2111. a material clamping claw; 2112. a clamping jaw driving member; 212. a material clamping slide seat; 213. a material clamping slide rail; 214. a material clamping translation driving member; 215. a material clamping lifting driving piece; 22. a material suction assembly; 221. a material suction manipulator; 2211. a suction cup; 2212. a sucker mounting seat; 2213. a thrust adjustment member; 2214. a tension adjustment member; 2215. a locking nut; 222. a material suction sliding seat; 223. a material suction slide rail; 224. a material suction translation drive member; 225. a material suction lifting driving member; 23. a material taking frame;

3. a demolding module; 31. an inflation assembly; 311. a demolding platform; 3111. an inflation groove; 3112. an inflation hole; 312. an inflation pressure regulating valve; 32. a clamp assembly; 321. a clamping jaw; 3211. fixing the bump; 322. a jaw drive; 33. erecting a frame; 331. a top plate; 3311. installing a through groove; 332. a base plate; 333. a support post; 34. a position adjustment assembly; 341. a fixed block; 342. a stud; 343. a locking member; 35. a cache shelf;

4. a glue shearing module;

5. a turning module; 51. clamping arms; 511. overturning the platform; 512. turning over the clamp; 52. the clamping arm rotates the driving piece; 53. a clamping arm lifting driving piece;

6. a rechecking module; 61. a handling assembly; 62. a visual inspection assembly;

7. a blanking streamline module; 71. a first blanking flow line; 72. a second blanking flow line;

8. a blanking module; 81. a material guide frame; 811. a first station; 812. a second station; 82. a temporary storage rack; 821. temporarily storing acupuncture points; 83. a stage; 84. a blanking tray; 841. guiding the materials to acupuncture points; 85. a protective cover; 86. a safety grating;

a. and a glue shearing station.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the product of the present invention is conventionally placed in use, and are only used for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

As shown in fig. 1-9, the present embodiment provides an automatic glue shearing apparatus, which includes a feeding streamline module 1, a material taking module 2, a demolding module 3, a glue shearing module 4, a turning module 5, a re-checking module 6, a discharging streamline module 7, and a discharging module 8, wherein the feeding streamline module 1 is used for conveying a carrier and a product on the carrier that is not demolded; the demolding module 3 comprises an inflation assembly 31 and a clamp assembly 32, wherein the clamp assembly 32 is used for clamping the carrier, and the inflation assembly 31 is used for inflating between the product and the carrier so as to separate the product from the carrier. The glue shearing module 4 comprises a glue shearing assembly and a positioning assembly, the positioning assembly is used for obtaining the position and the length of a to-be-sheared glue column of a product, and the glue shearing assembly is used for shearing the to-be-sheared glue column; the overturning module 5 is used for overturning the product by 180 degrees and placing the product in a finished product tray of the blanking streamline module 7. The material taking module 2 comprises a material clamping component 21 and a material sucking component 22, and the material clamping component 21 is used for carrying a carrier between the material feeding streamline module 1 and the demoulding module 3; the material sucking component 22 is used for conveying the demolded product from the demolding module 3 to the glue shearing module 4, and the material sucking component 22 can move the product according to the result obtained by the positioning component, so that a to-be-glue-sheared column of the product is in butt joint with the glue shearing component; the material sucking component 22 is also used for conveying the product from the glue shearing module 4 to the overturning module 5; the rechecking module 6 comprises a carrying assembly 61 and a visual detection assembly 62, the carrying assembly 61 is used for carrying the product to the visual detection assembly 62 from the blanking streamline module 7, and the visual detection assembly 62 is used for shooting the shearing position of the product; the carrying assembly 61 is also used for carrying the product to the blanking streamline module 7 or the blanking module 8 from the visual detection assembly 62 according to the shooting result of the visual detection assembly 62.

The demoulding module 3 adopts an inflation mode to demould, so that the product can be prevented from being scratched in the demoulding process; the glue shearing module 4 can shoot a product and accurately position the position of a glue column to be sheared, and then shearing is carried out, so that the accuracy is high, and the reject ratio of a shearing opening can be reduced; the rechecking module 6 rechecks the shearing opening through the visual detection assembly 62, and separately collects qualified and unqualified products through the blanking streamline module 7 and the blanking module 8 respectively, so that the stable quality of the products can be ensured; through material loading streamline module 1, unloading streamline module 7 and get material module 2 and carry product and carrier, degree of automation is high, is favorable to improving work efficiency.

Optionally, the material loading assembly 1 includes a first material loading line 11 and a second material loading line 12, the first material loading line 11 is used for conveying the un-demolded products and carriers, the second material loading line 12 is used for conveying the demolded empty carriers, the material clamping assembly 21 can convey the un-demolded products on the carriers and the carriers from the first material loading line 11 to the demolding module 3, and the material clamping assembly 21 can also convey the demolded carriers from the demolding module 3 to the second material loading line 12.

Optionally, the feeding flow line module 7 includes a first feeding flow line 71, a second feeding flow line 72 and a guide carrying module, the first feeding flow line 71 is used for conveying empty finished trays, the guide carrying module is used for carrying finished trays between the first feeding flow line 71 and the second feeding flow line 72, and the carrying module 61 of the re-inspection module 6 can carry products from the vision inspection module 62 to the finished trays on the second feeding flow line 72. Specifically, the first feeding flow line 71 is located below the second feeding flow line 72, so that the carrying assembly 61 of the rechecking module 6 can put the product into the finished product tray on the second feeding flow line 72.

Optionally, automatic glue cutting equipment includes a plurality of glue cutting stations a, and every glue cutting station a all is equipped with drawing of patterns module 3, glue cutting module 4, upset module 5 and gets material module 2, and a plurality of glue cutting stations a all independent work are favorable to improving automatic glue cutting equipment's work efficiency. Optionally, the feeding streamline module 1 and the blanking streamline module 7 can be connected in series with a plurality of glue shearing stations a, and the feeding streamline module 1 and the blanking streamline module 7 are respectively located at two ends of the glue shearing stations a.

The material clamping assembly 21 includes a material clamping manipulator 211, a material clamping slide seat 212, a material clamping slide rail 213, a material clamping translation driving member 214, and a material clamping lifting driving member 215, wherein the material clamping slide seat 212 is slidably disposed on the material clamping slide rail 213 along the X direction, the material clamping translation driving member 214 is configured to drive the material clamping slide seat 212 to move along the material clamping slide rail 213, the material clamping manipulator 211 is slidably disposed on the material clamping slide seat 212 along the Z direction, and the material clamping lifting driving member 215 is configured to drive the material clamping manipulator 211 to lift along the material clamping slide seat 212.

The material suction assembly 22 comprises a material suction manipulator 221, a material suction slide carriage 222, a material suction slide rail 223, a material suction translation driving member 224 and a material suction lifting driving member 225, wherein the material suction slide carriage 222 is slidably disposed on the material suction slide rail 223 along the X direction, the material suction translation driving member 224 is used for driving the material suction slide carriage 222 to move along the material suction slide rail 223, the material suction manipulator 221 is slidably disposed on the material suction slide carriage 222 along the Z direction, and the material suction lifting driving member 225 is used for driving the material suction manipulator 221 to lift along the material suction slide carriage 222.

In this embodiment, the material grabbed by the material grabbing manipulator 211 is a carrier, and the material grabbed by the material sucking manipulator 221 is a product.

The material taking module 2 further comprises a material taking frame 23, and the material clamping slide rail 213 and the material sucking slide rail 223 are parallel to each other and are both arranged on the material taking frame 23. The material clamping assembly 21 and the material sucking assembly 22 are both arranged on the material taking frame 23, so that the material taking module 2 provided by the embodiment has two carrying modes of material clamping and material sucking, the material clamping assembly 21 is used for carrying a carrier, and the material sucking assembly 22 is used for carrying a product, so that different carrying requirements are met, and the occupied space is small.

Optionally, the movement trajectories of the material clamping manipulator 211 and the material suction manipulator 221 at least partially coincide along the X direction, so that both the material clamping manipulator 211 and the material suction manipulator 221 can reach a common area for operation, in this embodiment, both the material clamping manipulator 211 and the material suction manipulator 221 can reach the demolding module 3, specifically, the material clamping manipulator 211 can transport the unmolded product and carrier from the first material loading line 11 to the demolding module 3 for demolding operation, and can transport the demolded carrier from the demolding module 3 to the second material loading line 12; meanwhile, the material suction manipulator 221 can convey the demolded product from the demolding module 3 to the glue shearing module 4 for glue shearing operation. In the case of a work in a public area, the suction robot 221 needs to avoid the material clamping robot 211. In other embodiments, it can be set that the material clamping manipulator 211 avoids the material suction manipulator 221 when the common area works.

Optionally, the material clamping manipulator 211 comprises material clamping jaws 2111 and material clamping jaw driving members 2112, wherein the material clamping jaw driving members 2112 are used for driving the material clamping jaws 2111 to open and close. The material clamping manipulator 211 is a prior art, and is not described herein. Further, the material clamping manipulator 211 is provided with a material clamping no-load detection element, and the material clamping no-load detection element is used for detecting whether a carrier is gripped in the material clamping manipulator 211, so that the phenomenon that the material clamping manipulator 211 starts to operate without clamping the carrier can be avoided. Illustratively, the material-clamping no-load detection member is a proximity switch.

Further, the material suction manipulator 221 includes a suction cup 2211, a suction cup mounting seat 2212 and multiple sets of locking adjusting structures, the suction cup mounting seat 2212 is slidably disposed on the material suction slide seat 222, the suction cup mounting seat 2212 is connected to the material suction lifting driving member 225, and the suction cup 2211 is mounted on the suction cup mounting seat 2212 through the multiple sets of locking adjusting structures; the structure is adjusted to locking includes that thrust adjustment piece 2213 and pulling force adjust piece 2214, thrust adjustment piece 2213 wears to locate sucking disc mount pad 2212 and with sucking disc mount pad 2212 threaded connection, and the one end of thrust adjustment piece 2213 passes behind the sucking disc mount pad 2212 butt in sucking disc 2211, sucking disc mount pad 2212 is rotationally located to the one end of pulling force adjustment piece 2214, the other end passes behind the sucking disc mount pad 2212 with sucking disc 2211 threaded connection. Each group of locking adjusting structures comprises a thrust adjusting piece 2213 and a tension adjusting piece 2214, and by rotating the thrust adjusting piece 2213, the thrust adjusting piece 2213 can extend out in the direction close to the sucker 2211 along the Z direction so as to push the sucker 2211 to move in the direction far away from the sucker mounting seat 2212; by rotating the tension adjusting piece 2214, the sucker 2211 can move in the direction close to the sucker mounting seat 2212 along the Z direction, and then the sucker 2211 can be leveled through a plurality of groups of locking adjusting structures, and the sucker 2211 and the sucker mounting seat 2212 can be locked through the matching of the thrust adjusting piece 2213 and the tension adjusting piece 2214.

Optionally, the suction cup 2211 is configured to be connected to a vacuum device through a suction line. Further, inhale material subassembly 22 still including locating the governing valve of breathing in the pipeline, the governing valve of breathing in is used for adjusting the suction of sucking disc 2211, can adjust the suction of sucking disc 2211 according to different products, and then can avoid appearing damaging the product because of the too big suction of sucking disc 2211, still can avoid appearing can not snatching the product because of the too little suction of sucking disc 2211.

Optionally, the material suction manipulator 221 is provided with a material suction idle detection component, and the material suction idle detection component is used for detecting whether a product is gripped in the material suction manipulator 221, so that it can be avoided that the material suction manipulator 221 starts to operate without gripping the product. Illustratively, the suction empty detection member is a proximity switch.

Optionally, the sets of locking adjustment structures are symmetrically arranged with respect to the exact center of the suction cup 2211. In this embodiment, the suction cup 2211 is rectangular, and four sets of locking adjustment structures are provided and located at four corners of the rectangular suction cup 2211, respectively, so as to level the suction cup 2211. In other embodiments, the suction cup 2211 may also be circular, and the multiple sets of locking adjustment structures are symmetrically arranged with respect to the center of the circular suction cup 2211.

Optionally, the thrust adjusters 2213 are each provided with a locking nut 2215, the locking nut 2215 is sleeved on the outer side of the thrust adjuster 2213 and is in threaded connection with the thrust adjuster 2213, and the locking nut 2215 is used for locking or unlocking the thrust adjuster 2213 and the sucker mounting seat 2212. After the suction cup 2211 is adjusted to be horizontal, the locking nut 2215 is tightened to lock the thrust adjusting piece 2213 with the suction cup mounting seat 2212, so that the suction cup 2211 can be fixed firmly.

In this embodiment, the tension adjusting member 2214 is a bolt, the head of the bolt abuts against the top surface of the suction cup mounting seat 2212, the rod of the bolt passes through the suction cup mounting seat 2212 and then is in threaded connection with the suction cup 2211, so as to provide pressure to the suction cup mounting seat 2212 by using the head of the bolt and provide tension to the suction cup 2211 by using the rod of the bolt, so as to lock the suction cup 2211 and the suction cup mounting seat 2212.

The demolding module 3 further comprises a vertical frame 33, the inflation assembly 31 comprises a demolding platform 311 arranged on the vertical frame 33, the demolding platform 311 is used for placing a carrier, the demolding platform 311 is provided with an inflation groove 3111 corresponding to a main body of a product and an inflation hole 3112 corresponding to a glue column of the product, and the inflation groove 3111 and the inflation hole 3112 are respectively used for being connected with an air source through inflation pipelines so that the inflation groove 3111 and the inflation hole 3112 can inflate air between the product and the carrier; the clamp assembly 32 includes two clamp units respectively disposed at two opposite sides of the demolding platform 311; the clamp unit comprises a clamping jaw 321 and a clamping jaw driving part 322, wherein the clamping jaw driving part 322 is used for driving the clamping jaw 321 to move so as to press the carrier to the demoulding platform 311 through the two clamping jaws 321.

Utilize clamping jaw 321 to press from both sides tight carrier, the rethread is aerifyd between groove 3111 and the gas charging hole 3112 and is aerifyd to product and carrier, utilizes gas pressure to make the product break away from the carrier, and in the whole drawing of patterns process, clamping jaw 321 can not contact the product, and then can not cause the damage on the product surface, is favorable to improving product quality. Aerify the main part setting that groove 3111 corresponds the product simultaneously, aerify the gluey post setting that hole 3112 corresponds the product to carry out the application of force through aerifing groove 3111 and aerifing the different positions of hole 3112 to the product, be favorable to making the product atress even, break away from in the carrier easily on the one hand, on the other hand can not lead to the local atress of product too big, and the mar appears with the carrier friction, can further improve product surface quality.

The inflation groove 3111 is used for applying force to the main body of the product, the inflation hole 3112 is used for applying force to the glue column of the product, the main body part is attached with electronic components, the glue column part has no other components, and the glue column needs to be subtracted at a later stage, so that the opening area of the inflation groove 3111 is larger than that of the inflation hole 3112 close to one end of the product, and further the contact area of the gas in the inflation groove 3111 and the product is larger than that of the gas in the inflation hole 3112 and the product, in order to prevent damage to the electronic components attached to the main body part. Further, the pressure of the gas introduced into the gas-filled groove 3111 is lower than the pressure of the gas introduced into the gas-filled hole 3112.

In order to more accurately monitor the gas pressure introduced into the inflation groove 3111 and the inflation hole 3112 and ensure that the gas pressure in the inflation groove 3111 and the inflation hole 3112 is within the upper and lower limits of the set pressure, the inflation assembly 31 further includes two gas pressure detection members, and the two gas pressure detection members are respectively used for detecting the gas pressure introduced into the inflation groove 3111 and the inflation hole 3112. The pressure detection piece can be a pressure gauge, and the measured pressure can be displayed on a display screen, so that the operator can conveniently check the pressure gauge in real time.

Optionally, the inflation assembly 31 further includes an inflation pressure regulating valve 312 disposed on the inflation pipeline, and in this embodiment, the inflation pressure regulating valve 312 is electrically connected to the air pressure detecting member, so that the inflation pressure regulating valve 312 can regulate the air pressure passing into the inflation groove 3111 and the inflation hole 3112 according to the detection result of the air pressure detecting member. In other embodiments, the inflation pressure-regulating valve 312 may be further provided not to be electrically connected to the air pressure detecting member but to be manually regulated by the operator so as to control the air pressure in the inflation groove 3111 and the inflation hole 3112 to be constant.

Optionally, there are two sets of inflation holes, each set of inflation holes includes at least one inflation hole 3112, and the two sets of inflation holes are respectively located on two opposite sides of the inflation groove 3111, so that the stress on the product is further uniform.

In order to make the clamping jaws 321 firmly press the carrier onto the demolding platform 311, fixing protrusions 3211 are disposed on opposite sides of the clamping jaws 321 of the two clamp units, and the fixing protrusions 3211 can abut against the top surface of the carrier.

Preferably, the clamping jaw 321 is hinged to the vertical frame 33, the clamping jaw driving member 322 is hinged to the vertical frame 33, and the clamping jaw driving member 322 is hinged to the clamping jaw 321, so that a lever principle can be formed, and the carrier is guaranteed to be fixed firmly. Illustratively, the jaw drive 322 employs a pneumatic or hydraulic cylinder.

In the present embodiment, the stand 33 includes a top plate 331, a bottom plate 332, and a plurality of support posts 333 supported between the top plate 331 and the bottom plate 332. Specifically, the demolding platform 311 is fixedly disposed on the top surface of the top plate 331, the top plate 331 is provided with two installation through slots 3311 corresponding to the two clamping jaws 321 one by one, the clamping jaws 321 are rotatably installed in the corresponding installation through slots 3311 through hinge shafts, the bottom ends of the clamping jaws 321 are hinged to the corresponding clamping jaw driving members 322 to drive the clamping jaws 321 to swing through the clamping jaw driving members 322, so that the top ends of the clamping jaws 321 can abut against the carrier to compress the carrier on the demolding platform 311.

Optionally, one end of the stand 33 is provided with a position adjusting assembly 34, and the position adjusting assembly 34 is used for driving the stand 33 to move along the Y direction. When the position of the base plate 332 needs to be adjusted, the base plate 332 is driven to move to the target position by the position adjusting assembly 34. Specifically, the position adjusting assembly 34 includes a fixing block 341, a stud 342, and a locking member 343, and the fixing block 341 is fixedly disposed at one end of the bottom plate 332; one end of the stud 342 is rotatably arranged on the fixing block 341, and the other end of the stud is connected with the bottom plate 332 of the stand 33 after penetrating through the fixing block 341; a locking member 343, such as a nut, is used to lock or unlock the stud 342 from the fixed block 341, and thus the bottom plate 332 may be driven to move closer to or away from the fixed block 341 by rotating the stud 342 to adjust the position of the bottom plate 332.

In this embodiment, the demolding module 3 further includes a buffer frame 35, the buffer frame 35 is located between the demolding module 3 and the material loading line module 1, the buffer frame 35 is used for placing the carrier, the material clamping component 21 can transport the carrier from the first material loading line 11 to the buffer frame 35, and can transport the carrier from the buffer frame 35 to the demolding module 3, so as to temporarily store the product and the carrier before demolding. In other embodiments, the buffer rack 35 may also be used for temporarily storing the carriers after being demolded, and the material clamping assembly 21 can transport the carriers from the demolding module 3 to the buffer rack 35 and transport the carriers from the buffer rack 35 to the second material loading line 12.

For the glue shearing module 4, the positioning component comprises a camera and a line scanning laser sensor, wherein the camera is used for shooting the column to be sheared of the product to obtain the position of the column to be sheared exemplarily, and the line scanning laser sensor is used for scanning the column to be sheared of the product to obtain the length of the column to be sheared. Specifically, the camera and the line scanning laser sensor are electrically connected to the suction assembly 22, so as to calibrate the position of the product grabbed in the suction manipulator 221 according to the result obtained by the positioning assembly, so that the column to be trimmed can be accurately trimmed by the trimming assembly in a state where the suction manipulator 221 continuously holds the product.

In this embodiment, the X direction, the Y direction, and the Z direction respectively represent three axes of a three-dimensional coordinate system, the material suction robot 221 can adjust the position of the product along the X direction and the Z direction, and the position of the product along the Y direction is preset, that is, the stand 33 of the demolding module 3 is driven by the position adjusting assembly 34 to move to a target position along the Y direction in advance, and the target position can be adjusted according to actual requirements.

Optionally, the glue cutting assembly comprises scissors and a scissors drive for driving the scissors to open and close to cut the glue column of the product. The glue shearing assembly is prior art and is not described here in detail.

Upset module 5 includes arm lock 51, arm lock rotary driving spare 52 and arm lock lift driving spare 53, arm lock 51 is equipped with the upset platform 511 that is used for placing the product, the product after cutting off the glue column carries to upset platform 511 through inhaling material subassembly 22, upset platform 511 can overturn 180 under arm lock rotary driving spare 52's drive, so that the product is cut the position and up, after the upset, arm lock lift driving spare 53 drives arm lock 51 and descends and places the product in second unloading streamline 72, it inspects to being cut the position to be convenient for reinspection module 6. The flipping module 5 is a conventional module, and is not described herein.

Optionally, the overturning platform 511 is provided with an overturning clamp 512, and the overturning clamp 512 can clamp and position the product, so as to prevent the product from falling off in the overturning process. After the product is inverted and placed in the second feed stream line 72, the inverting gripper 512 releases the product.

The carrying assembly 61 of the rechecking module 6 is a three-axis portal frame, a manipulator of the carrying assembly 61 can move along three directions of X, Y and Z, and the three-axis portal frame is the prior art and is not described herein again.

Optionally, the visual inspection assembly 62 includes a camera for photographing the cut position of the product to obtain whether the cut position is scratched by the scissors to form a scratch, and a line scanning laser sensor for scanning the height of the remaining glue column to obtain whether the glue column cutting amount is sufficient.

The blanking module 8 comprises a material guide frame 81, a temporary material storage frame 82, a carrier 83, a carrier translation driving part and a material tray detecting part, wherein the material guide frame 81 is provided with a first station 811 and a second station 812; the temporary storage rack 82 is arranged on one side of the first station 811 away from the second station 812; the carrier 83 is slidably arranged on the material guide frame 81, and the carrier 83 is used for placing different types of blanking trays 84; the stage translation driving part is used for driving the stage 83 to move between the first station 811 and the second station 812 along the material guide frame 81; the tray detecting member is used for detecting whether the carrier 83 places the blanking tray 84 or not and detecting the model of the blanking tray 84. Specifically, the blanking tray 84 is provided with bumps representing the tray model, and the tray detecting part can judge which type of blanking tray 84 is by detecting the number or position of the bumps. In this embodiment, two tray detecting parts are provided to correspond to the bumps at different positions on different blanking trays 84, and the tray detecting parts are proximity switches for example.

In the blanking module 8 of the present embodiment, the empty blanking tray 84 is placed on the stage 83 at the second station 812, and the blanking tray 84 can be conveyed to the first station 811 via the stage 83, so as to receive the defective products that have been taken off the line from the review module 6. After the blanking tray 84 is full, when the carrier 83 returns to the second station 812 for discharging, the unqualified products discharged from the rechecking module 6 can be placed on the temporary storage tray 82, and when the carrier 83 conveys the empty blanking tray 84 to the first station 811 again, the unqualified products of the temporary storage tray 82 are placed in the blanking tray 84 by the carrying component 61 of the rechecking module 6 in idle time, so that non-stop blanking can be realized. The carrying platform 83 can be used for placing blanking trays 84 of different types, and when products are replaced, only the blanking trays 84 need to be replaced, so that the blanking operation of various products can be realized; the tray detection part can detect whether the carrying platform 83 is provided with the blanking tray 84 or not, and the phenomenon that the carrying platform 83 starts to act when no load occurs is avoided; the tray detecting member can also detect which type of blanking tray 84 is placed on the carrying platform 83 to ensure that the blanking tray 84 is matched with the product off the production line of the reinspection module 6.

Optionally, the temporary storage rack 82 is provided with a plurality of temporary storage points 821 with different sizes for placing the products. Specifically, the size of the temporary storage acupuncture point 821 may be set according to the kind of the product. In this embodiment, the temporary storage frame 82 is provided with a plurality of first temporary storage acupoints and a plurality of second temporary storage acupoints, wherein the first temporary storage acupoints are used for storing large-size products, and the second temporary storage acupoints are used for storing small-size products.

Optionally, the temporary storage rack 82 is provided with a plurality of rack hole detection pieces, the rack hole detection pieces are arranged in one-to-one correspondence with the temporary storage acupoints 821, and the rack hole detection pieces are used for detecting whether the corresponding temporary storage acupoints 821 are holes. And then accessible work or material rest hole detects a control and keeps in the stock quantity of work or material rest 82, still can feed back this information to the transport subassembly 61 of reinspection module 6, is favorable to realizing automatic unloading. Illustratively, the temporary storage acupuncture points 821 are hollow structures, and the rack cavity detection part is a proximity switch arranged below the hollow structures.

Optionally, each material discharging tray 84 is provided with a plurality of material guiding acupuncture points 841, the material guiding acupuncture points 841 are used for placing products, and the size of any temporary storage acupuncture point 821 is larger than the size of the material guiding acupuncture point 841. The size of the temporary storage acupoint 821 is larger, so that the temporary storage rack 82 can store products with larger volume and products with smaller volume, and the problem that the products drop cannot occur even if the size of the temporary storage acupoint 821 is larger than the products because the temporary storage rack 82 is fixed.

Optionally, the structure of the material guiding acupuncture points 841 is matched with the shape of the product, so that the material guiding acupuncture points 841 have a certain positioning function on the product, and the product is prevented from falling off from the material discharging tray 84 in the moving process of the carrying platform 83.

Optionally, the first station 811 is provided with a plurality of tray hole detection members, when the blanking tray 84 is located at the first station 811, the plurality of tray hole detection members are arranged in one-to-one correspondence with the plurality of guide acupuncture points 841, and the tray hole detection members are used for detecting whether the corresponding guide acupuncture points 841 are holes. And then when unloading charging tray 84 was located first station 811, accessible charging tray hole detection spare control unloading charging tray 84 stocked quantity, still can feed back this information to the transport subassembly 61 of reinspection module 6, was favorable to realizing automatic unloading.

Optionally, the first station 811 and the second station 812 are both provided with a stage detection member, and the stage detection member is used for detecting whether the stage 83 is located at the first station 811 or the second station 812. The problem that the carrying platform 83 does not reach the first station 811 or the second station 812, and the carrying assembly 61 of the reinspection module 6 is in misoperation can be avoided. Illustratively, the stage detecting member may be a proximity switch, a photosensor, or the like.

Optionally, the second station 812 is provided with a protection structure, the protection structure includes a protection cover 85, and when the stage 83 is located at the second station 812, the protection cover 85 covers the outside of the stage 83. Further, the protection structure further comprises a safety grating 86 arranged on the protection cover 85. Specifically, the protective cover 85 is provided with an inlet and an outlet, the carrier 83 can enter and exit the protective cover 85 through the outlet, the blanking tray 84 can be replaced through the inlet by an operator, and the safety grating 86 is arranged at the inlet of the protective cover 85, so that the safety of the operator can be protected through the protective cover 85 and the safety grating 86.

In order to prevent the blanking tray 84 from moving during the movement of the carrier 83, a connecting structure is arranged between the carrier 83 and the blanking tray 84, and the blanking tray 84 is locked on the carrier 83 through the connecting structure. Specifically, the connecting structure comprises a magnetic part and a magnetic part, one of the magnetic part and the magnetic part is arranged on the carrying platform 83, the other one of the magnetic part and the magnetic part is arranged on the blanking tray 84, and the magnetic part can be attracted with the magnetic part. So set up, the quick replacement unloading charging tray 84 of being convenient for.

Optionally, the carrier 83 is provided with a positioning structure for positioning the blanking tray 84, and the positioning structure ensures that the position of the blanking tray 84 on the carrier 83 is constant, which is beneficial for the carrying assembly 61 of the rechecking module 6 to accurately place unqualified products in the blanking tray 84. Specifically, the positioning structure may be a positioning pin and a positioning hole, one of the positioning pin and the positioning hole is disposed on the carrier 83, the other one of the positioning pin and the positioning hole is disposed on the blanking tray 84, and the positioning pin is inserted into the positioning hole to realize the rapid positioning of the blanking tray 84.

Optionally, the automatic glue shearing equipment further comprises a control system, and the control system is electrically connected with the material feeding line module 1, the material taking module 2, the demolding module 3, the glue shearing module 4, the overturning module 5, the rechecking module 6, the blanking line module 7 and the blanking module 8 respectively so as to control the modules to act cooperatively. The control system and the implementation method for controlling the cooperative action of each module through the control system are all the prior art, and are not described herein again.

It should be noted that, in this embodiment, the specific structures of all the translation driving element, the lifting driving element and the rotation driving element are not limited herein, as long as the translation driving element and the lifting driving element can realize linear motion, and the rotation driving element can realize rotational motion. For example, the translational driving member and the lifting driving member can adopt air cylinders or hydraulic cylinders, and the rotary driving member can adopt a motor.

Illustratively, the work flow of the automatic glue shearing equipment of the embodiment is as follows:

1. feeding: the product that does not demold and carrier are supplied with a plurality of shearing of setting side by side and are glued station a under the transport of first material loading streamline 11, and a plurality of shearing are glued station a and are independently worked, and then can carry out the shearing operation to a plurality of products simultaneously, and work efficiency is high.

2. Demolding: the material clamping assembly 21 of the material taking module 2 carries the product which is not demoulded on the first feeding flow line 11 and the carrier to the demoulding platform 311 of the demoulding module 3 together, the clamp assembly 32 fixes the carrier, and the air inflation assembly 31 inflates air between the product and the carrier so as to separate the product and the carrier, thereby completing demoulding. The clamping assembly 21 then transports the demolded carrier to the second material loading line 12 to recover the carrier.

3. Shearing glue: the material sucking assembly 22 conveys the demolded product to the glue shearing assembly 4, and the position of the product is calibrated according to the result obtained by the positioning assembly, so that the column to be subjected to glue shearing is sheared by the glue shearing assembly in the state that the material sucking assembly 22 continuously sucks the product.

4. Turning: after the glue column is cut off, the suction assembly 22 conveys the product to the turnover module 5, and the product is turned over by 180 degrees through the clamping arm and is placed on the second blanking streamline 72.

5. And (4) rechecking: the carrying assembly 61 of the rechecking module 6 carries the product on the second blanking flow line 72 to the visual detection assembly 62, the visual detection assembly 62 shoots and judges whether the cut position of the product is scratched by the scissors to form a scratch or not and whether the shearing amount of the rubber column is enough or not, if the detection result is qualified, the carrying assembly 61 sends the product back to the second blanking flow line 72 to finish blanking; if the detection result is not qualified, the conveying component 61 conveys the product to the blanking module 8 for centralized recovery.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. The material taking module is characterized by comprising a material sucking component (22), wherein the material sucking component (22) comprises a material sucking manipulator (221), a material sucking slide seat (222), a material sucking slide rail (223), a material sucking translation driving piece (224) and a material sucking lifting driving piece (225), the material sucking slide seat (222) is slidably arranged on the material sucking slide rail (223) along the X direction, the material sucking translation driving piece (224) is used for driving the material sucking slide seat (222) to move along the material sucking slide rail (223), the material sucking manipulator (221) is slidably arranged on the material sucking slide seat (222) along the Z direction, and the material sucking lifting driving piece (225) is used for driving the material sucking manipulator (221) to lift along the material sucking slide seat (222); the X direction is perpendicular to the Z direction;

the material suction manipulator (221) comprises a suction cup (2211), a suction cup mounting seat (2212) and a plurality of groups of locking adjusting structures, the suction cup mounting seat (2212) is slidably arranged on the material suction sliding seat (222), the suction cup mounting seat (2212) is connected with the material suction lifting driving piece (225), and the suction cup (2211) is mounted on the suction cup mounting seat (2212) through the plurality of groups of locking adjusting structures; the locking is adjusted the structure and is included thrust adjustment spare (2213) and pulling force adjustment spare (2214), thrust adjustment spare (2213) is worn to locate sucking disc mount pad (2212) and with sucking disc mount pad (2212) threaded connection, just the one end of thrust adjustment spare (2213) is passed behind sucking disc mount pad (2212) butt in sucking disc (2211), the one end of pulling force adjustment spare (2214) is rotationally located sucking disc mount pad (2212), the other end passes behind sucking disc mount pad (2212) with sucking disc (2211) threaded connection.

2. The reclaimer module set, according to claim 1, characterized in that said plurality of sets of locking adjustment structures are symmetrically arranged with respect to the exact center of said suction cup (2211).

3. The material take-out module as claimed in claim 1, wherein the thrust adjusters (2213) are each provided with a locking nut (2215), the locking nuts (2215) are sleeved outside the thrust adjusters (2213) and are in threaded connection with the thrust adjusters (2213), and the locking nuts (2215) are used for locking or unlocking the thrust adjusters (2213) and the sucker mounting seats (2212).

4. The reclaimer module of claim 1, characterized in that the tension adjuster (2214) is a bolt, the head of the bolt abuts against the top surface of the suction cup mount (2212), and the shaft of the bolt is threaded to the suction cup (2211) after passing through the suction cup mount (2212).

5. The reclaiming module according to claim 1 wherein the suction cup (2211) is configured to be connected to a vacuum apparatus via a suction line.

6. The reclaim module of claim 5, wherein the suction assembly (22) further comprises a suction damper valve in the suction line for adjusting the suction force of the suction cup (2211).

7. The material taking module according to any one of claims 1 to 6, further comprising a material taking frame (23) and a material clamping assembly (21), wherein the material clamping assembly (21) comprises a material clamping mechanical arm (211), a material clamping slide (212), a material clamping slide (213), a material clamping translation driving member (214) and a material clamping lifting driving member (215), the material clamping slide (213) and the material suction slide (223) are parallel to each other and are disposed on the material taking frame (23), the material clamping slide (212) is slidably disposed on the material clamping slide (213) along the X direction, the material clamping translation driving member (214) is configured to drive the material clamping slide (212) to move along the material clamping slide (213), the material clamping mechanical arm (211) is slidably disposed on the material clamping slide (212) along the Z direction, and the material clamping lifting driving member (215) is configured to drive the material clamping mechanical arm (211) to lift along the material clamping slide (212).

8. The reclaiming module according to claim 7, wherein the movement locus of the material clamping manipulator (211) and the material suction manipulator (221) at least partially coincide along the X direction.

9. The material taking module according to claim 7, wherein the material clamping manipulator (211) comprises material clamping claws (2111) and a material clamping claw driving member (2112), and the material clamping claw driving member (2112) is used for driving the material clamping claws (2111) to open and close.

10. The material taking module according to claim 7, wherein the material sucking manipulator (221) and the material clamping manipulator (211) are provided with idle load detection members, and the idle load detection members are used for detecting whether the material sucking manipulator (221) or the material clamping manipulator (211) grabs the material or not.

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