CN114434482B - PP manipulator hanging head and typesetting device using same - Google Patents
PP manipulator hanging head and typesetting device using same Download PDFInfo
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- CN114434482B CN114434482B CN202111596576.5A CN202111596576A CN114434482B CN 114434482 B CN114434482 B CN 114434482B CN 202111596576 A CN202111596576 A CN 202111596576A CN 114434482 B CN114434482 B CN 114434482B
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- feeding platform
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- sucker
- feeding
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- 239000012528 membrane Substances 0.000 claims abstract description 36
- 241000252254 Catostomidae Species 0.000 claims abstract description 13
- 238000003860 storage Methods 0.000 claims abstract description 6
- 238000003825 pressing Methods 0.000 claims description 31
- 238000001514 detection method Methods 0.000 claims description 16
- 230000000007 visual effect Effects 0.000 claims description 12
- 230000003068 static effect Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000003475 lamination Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 239000002985 plastic film Substances 0.000 abstract description 2
- 229920006255 plastic film Polymers 0.000 abstract description 2
- 239000004743 Polypropylene Substances 0.000 description 47
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 239000010410 layer Substances 0.000 description 5
- 238000005457 optimization Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- -1 Polypropylene Polymers 0.000 description 2
- 230000004075 alteration Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011229 interlayer Substances 0.000 description 2
- 229920001155 polypropylene Polymers 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000003463 adsorbent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
- B65H29/24—Delivering or advancing articles from machines; Advancing articles to or into piles by air blast or suction apparatus
- B65H29/241—Suction devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Multimedia (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
A PP manipulator hanging head and typesetting device using the same relate to the technical field of plastic film transportation and stacking, and comprise: a storage table; the first feeding platform is arranged at one side of the object placing table; the second feeding platform is arranged on the other side of the object placing platform relative to the first feeding platform; the manipulator for moving the PP film in any technical scheme comprises a manipulator assembly and a sucker frame arranged at the top end of the manipulator assembly, wherein at least two rows of suckers are arranged on two sides of the sucker frame, and the lower end surfaces of all suckers are positioned at the same height; the suction disc frame is provided with at least two calibration devices which are arranged diagonally, and the calibration devices are used for calibrating the positions of the suction disc frame for grabbing the membrane; the sucker rack is characterized in that a plurality of tensioning parts are arranged on the lower end face of the sucker rack, and the tensioning parts are arranged on the lower end face of the sucker rack and located between two rows of suckers. And the stacking precision of the PP film is improved by adopting a mechanical stacking mode.
Description
Technical Field
The invention relates to the technical field of plastic film transportation and stacking, in particular to a PP mechanical arm hanging head and a typesetting device using the same.
Background
Polypropylene films are used in the electrical fields represented by cable sheathing, capacitors, etc. because of their excellent properties such as transparency, mechanical properties, electrical properties, etc., the multi-layered stacked polypropylene films are often used in insulating interlayers between PCB electronic circuit boards, and the PP interlayers may be two PP films or more than two PP films stacked, and meanwhile, the types of PP film stacks used may be different, but the precision of the stacked PP is very important for PCB boards.
For example, a method for determining whether other PP sheets are properly stacked as mentioned in application number CN202010826545.3 includes the following steps: cutting; s2: drilling holes; s3: determining a stacking sequence, stacking, preparing a plurality of PCB boards to be stacked, determining the stacking sequence of the PCB boards and the PP sheets, wherein a bulge is arranged at one side edge of each PP sheet, stacking the PP sheets and the PCB boards together according to a certain sequence to form a multi-layer laminated board, the bulge is arranged at the same side of the multi-layer laminated board and extends out of the multi-layer laminated board, the positions of the bulge are staggered in sequence according to the stacking sequence, and the distances between the adjacent bulge are equal; s4: hot melting and riveting; s5: checking: and checking whether the protruding part is overlapped or not, if so, judging that the PP sheets are overlapped incorrectly, and if not, judging that the PP sheets are overlapped correctly. The invention can intuitively identify whether the PP sheet is lack or repeatedly placed, has quick identification, improves the efficiency, is convenient to manage, reduces the operation difficulty and the inspection cost, and ensures the quality of the PCB.
In summary, in the PCB production process, the stacking precision requirement of the PP film is very high, the prior art generally depends on the working skill and working attitude of operators, and once the manual operation is wrong, the PP film needs to be pushed and fallen again, so that the processing efficiency is affected, and the quality of the PP film cannot be effectively ensured.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the PP mechanical arm hanging head and the typesetting device using the same, and the stacking precision of PP films is improved in a mechanical stacking mode.
The PP manipulator hanging head comprises a manipulator assembly and a sucker frame arranged at the top end of the manipulator assembly, wherein at least two rows of suckers are arranged on two sides of the sucker frame, and the lower end surfaces of all suckers are positioned at the same height; the suction disc frame is provided with at least two calibration devices which are arranged diagonally, and the calibration devices are used for calibrating the positions of the suction disc frame for grabbing the membrane; the sucker rack is characterized in that a plurality of tensioning parts are arranged on the lower end face of the sucker rack, and the tensioning parts are arranged on the lower end face of the sucker rack and located between two rows of suckers.
As the optimization of the technical scheme, the tensioning part is an elastic gasket, the lower end face of the tensioning part is an arc-shaped face, the arc-shaped face is contacted with an object and then is deformed in an upward bending mode according to the object, and the bottommost end of the arc-shaped face is lower than the lower end face of the sucker.
Preferably, the calibration device comprises a positioning member and a displacement assembly for controlling the movement of the positioning member.
As the optimization of the technical scheme, the positioning piece is a CCD visual detection device, and the CCD visual detection device is provided with a direct-down main light source.
As the optimization of the technical scheme, the sucker frame is further provided with two auxiliary light sources, and the auxiliary light sources shine obliquely under the calibrating device.
A typesetting device, comprising: a storage table; the first feeding platform is arranged at one side of the object placing table; the second feeding platform is arranged on the other side of the object placing platform relative to the first feeding platform; the PP manipulator lifting head in any of the above technical solutions is used for grabbing the films on the first feeding platform and the second feeding platform to the object placing platform for stacking, so as to form a film lamination body; the membrane lamination body is a stack of membranes on the first feeding platform, a stack of membranes on the second feeding platform, or a mixed stack of membranes on the first feeding platform and the second feeding platform.
As a preferable aspect of the foregoing disclosure, the first feeding platform or the second feeding platform is provided with a pressing set, where the pressing set is used for pressing a surface of a membrane located on the first feeding platform or the second feeding platform, and the pressing set includes an elastic pressing sheet and a sliding table that makes the elastic pressing sheet slide relative to the membrane located on the first feeding platform or the second feeding platform.
As a preferable mode of the above technical solution, the first feeding platform or the second feeding platform is further provided with a static eliminating component.
As the optimization of the technical scheme, the object placing table, the first feeding platform and the second feeding platform are both provided with lifting platforms below, and the contact ends of the lifting platforms and the object placing table or the first feeding platform or the second feeding platform are electric roller tables.
As the optimization of the technical scheme, the PP film feeding device further comprises a coaming, wherein the coaming surrounds the periphery of the integral structure formed by the object placing table, the first feeding platform, the second feeding platform and the manipulator for moving the PP film; the coaming is provided with three inlets and outlets, the three inlets and outlets comprise a feed inlet communicated with the first feed platform and the second feed platform, and a discharge outlet communicated with the object placing platform, and a safety rolling door is arranged on the feed inlet and the discharge outlet.
In summary, the invention has the following advantages:
1. In the application, a mechanical control mode is adopted to improve the stacking precision of the PP film in the stacking process, in addition, the application designs the tensioning part to carry out tensioning and pressing operations on the whole PP film in the whole transportation process, and the suction cup frame is prevented from slightly displacing when the film is adsorbed/placed, so that the stacking precision of the PP film is influenced;
2. Furthermore, the CCD visual angle detection devices are arranged at two opposite angles to position the center of the membrane to be sucked, so that the moving precision is improved, and the CCD visual angle detection devices are lighted by the self-contained lamp to improve the detection precision, and the CCD visual angle detection devices are also provided with the oblique light source to assist in lighting in order to prevent the light of the self-contained lamp from affecting the visual detection too strongly;
3. Still further, the feeding platform for storing the films is provided with a plurality of devices for preventing two films from being adhered, so that the manipulator can only lift one film at a time.
Further or other details of the beneficial effects will be discussed in the embodiments.
Drawings
FIG. 1 is a schematic view of a manipulator according to the present application;
FIG. 2 is a schematic view of the structure of the suction cup holder of the present application;
FIG. 3 is an enlarged view of area A of FIG. 2;
Fig. 4 is a schematic structural view of an automatic typesetting device according to the present application;
FIG. 5 is a schematic view of an assembly of a loading table, a first feeding table and a second feeding table according to the present application;
FIG. 6 is a schematic view of the structure of the first feeding stage or the second feeding stage of the present application;
FIG. 7 is an enlarged view of region B of FIG. 6;
FIG. 8 is a schematic view of the structure of the tension member of the present application in an uninstalled state;
fig. 9 is a schematic view of the structure of the tensioning part of the present application when mounted on the suction cup frame.
Detailed Description
The terms of orientation such as up, down, left, right, front, rear, front, back, top, bottom, etc. mentioned or possible in this specification are defined with respect to the configurations shown in the drawings, and the terms "inner" and "outer" refer to the relative concepts of the terms toward or away from the geometric center of a particular component, respectively, and thus may be changed accordingly depending on the location and use state of the component. These and other directional terms should not be construed as limiting terms.
The invention is further illustrated by the following examples:
Embodiment one:
Referring to fig. 1-3, a PP manipulator crane head includes a manipulator assembly 41 and a sucker frame 42 disposed on the manipulator assembly 41 and controlled by the manipulator assembly, wherein the whole sucker frame 42 is kept horizontal to the ground, and the whole sucker frame 42 has the manipulator assembly 41 to control the whole manipulator frame to keep horizontal to the ground during the moving process; two rows of suction cups 421 are arranged on two sides of the suction cup frame 42, each row of suction cups 421 are fixedly arranged by a positioning steel tube, a gas collecting tube 421-a is arranged on the suction cup frame 42, gas collecting holes are formed in the gas collecting tube 421-a, the upper end of each suction cup 421 is connected with the gas collecting tube 421-a through a soft rubber tube, a negative pressure tube 421-b is further arranged on the suction cup frame 42, the negative pressure tube 421-b is connected with the gas collecting tube 421-a through an air passage, when the air pressure in the negative pressure tube 421-b is reduced, the air pressure in the suction cup 421 is driven to be reduced, so that an air pressure difference appears on the lower end face of the suction cup 421, the suction cup 421 is adsorbed on a membrane in appearance, the suction cup 421 is simultaneously adsorbed on the membrane, a stable connection relation is formed between the suction cup frame 42 and the membrane, and the connection relation can be broken when the air pressure in the negative pressure tube 421-b is not continuously reduced, namely the suction cup 421 on the suction cup frame 42 can finish the operations of adsorbing the membrane and putting down the membrane.
Specifically, the whole frame of the suction cup frame 42 is rectangular, two calibration devices 422 are disposed on the suction cup frame 42, the calibration devices 422 are disposed on opposite angles of the rectangular suction cup frame 42, each calibration device 422 comprises a positioning member 4221 and a displacement assembly 4222 for controlling the positioning member 4221 to move along the length direction of the membrane, each positioning member 4221 is a CCD visual detection device, the two diagonally disposed CCD visual detection devices are mainly used for detecting the central position of the membrane to be absorbed, correction is performed through computer control to ensure the stacking precision, the displacement assembly 4222 is mainly used for ensuring the stacking precision, the fixed positioning member 4221 is possibly insufficient in detection range, the detection range of the positioning member is promoted through the displacement assembly 4222, a direct main light source is disposed on each CCD visual detection device, in addition, two auxiliary light sources 424 are further disposed on the suction cup frame 42, the auxiliary light sources 424 are used for obliquely polishing the position right below the calibration device 422, and the auxiliary light sources 424 are mainly used for performing auxiliary light irradiation because the front light on the positioning member 21 is too strong to possibly influence visual detection.
Further, three tensioning portions 423 are disposed at the lower end of the suction cup frame 42, the three tensioning portions 423 are coaxially disposed between the two rows of suction cups 421, referring to fig. 8, the tensioning portions 423 are bent metal sheets, each of the tensioning portions includes a contact plate 4231 and connecting plates 4232 disposed symmetrically at two ends of the contact plate 4231, connecting holes are formed in the connecting plates 4232, the whole tensioning portion 423 is connected with the bottom surface of the suction cup frame 42 through connecting holes and matching bolts, and it is noted that when the tensioning portions 423 are connected, the two connecting plates 4232 need to be turned inwards to be connected to the bottom surface of the suction cup frame 42 respectively, the tensioning portions 423 connected with the suction cup frame 42 are in a structure as shown in fig. 9, at this time, the lower end surface of the contact plate 4231 is deformed into an arc surface, and the bottommost end surface of the arc surface in a spatial position is lower than the lower end surface of the suction cup 421.
In this way, in the whole process that the manipulator for moving the PP film adsorbs the PP film, the manipulator assembly 41 and the sucker frame 42 determine the positions of the film through the calibration device 422, the manipulator assembly 41 pulls the sucker frame 42 to move all the suckers 421 downwards, so that the suckers 421 are tightly attached to the film and form a pressure difference on the lower end face of the suckers 421, at this time, the arc face of the tensioning part 423 also abuts against the film, the film is supported by the supporting platform, under the interaction of force, the tensioning part 423 is elastically deformed in an upward bending manner, during the upward lifting process of the manipulator, the force of the tensioning part 423 of the supporting platform disappears, the tensioning part 423 is restored downwards under the action of elastic potential energy, at this time, the PP film adsorbed by the suckers 421 is prevented from being deformed by the tensioning part 423, and the PP film is also tensioned by the tensioning part 423; the tensioning part 423 is arranged because the sucking disc 421 on the sucking disc frame 42 still possibly causes the PP film to slightly move in the process of sucking the film downwards, and the arc-shaped surface of the tensioning part 423 contacts the film preferentially than the sucking disc 421, so that a certain pressing effect can be achieved on the film, and the sucking disc 421 is convenient for sucking the film; the adsorbed film is tensioned in the moving process of the manipulator, so that shaking and deviation cannot occur in the moving process, the manipulator is mainly used for stacking two PP films, under the condition that one PP film exists on a to-be-placed platform, the tensioning part 423 can stack the middle part of the PP film in transportation onto the other PP film, and in the continuing pressing process of the manipulator, the tensioning part 423 discharges air between the two PP films from the middle to four sides, so that the air deviation between the two PP films is prevented, and air bubbles between the finally formed PP laminated layers can be prevented from occurring to influence the forming quality.
Embodiment two:
Referring to fig. 4-7, an automatic typesetting device includes a placement table 1, a first feeding platform 2, a second feeding platform 3, and a manipulator for moving PP films according to an embodiment, where the placement table 1 is used for placing and transporting out a PP film layer after lamination, the first feeding platform 2 is disposed on the left side of the placement table 1, the second feeding platform 3 is disposed on the right side of the placement table 1, and the manipulator for moving PP films is used for transporting the film on the first feeding platform 2 or the second feeding platform 3 to the placement table 1 for stacking to form a film lamination body; the membrane stack may be a stack of membranes on the first feeding platform 2, a stack of membranes on the second feeding platform 3, or a hybrid stack of membranes on the first feeding platform 2 and the second feeding platform 3.
The first feeding platform 2 or the second feeding platform 3 is provided with a pressing sheet group, the pressing sheet group 5 is used for pressing the films on the first feeding platform 2 or the second feeding platform 3, and as the films on the first feeding platform 2 or the second feeding platform 3 are also placed in a stacking mode, note that the stacked films are not precisely required to be stacked again, and the two platforms are adopted for facilitating stacking of two groups of different films, when the manipulator moves the films on the first feeding platform 2 or the second feeding platform 3, the other film below the manipulator can be lifted together due to static electricity or adhesion, so that the stacking effect is affected; the pressing sheet group 5 comprises an elastic pressing sheet 51 and a sliding table 52 for controlling the elastic pressing sheet 51 to move along the length direction of the membrane, the elastic pressing sheet 51 can be folded upwards, and after the upward folding is removed, the elastic pressing sheet 51 is restored to the original position by a torsion spring on the elastic pressing sheet 51; the number of the pressing sheet groups 5 is four, and the four pressing sheet groups 5 are respectively and correspondingly arranged at four corners of the membrane, and the sliding table 52 is used for controlling the pressing range of the pressing sheet groups 5.
Here, the shifting unit 4222 controls the moving direction of the positioning unit 4221 and the moving direction of the sliding table 52 controls the elastic pressing piece 51 to be the length direction of the film, which is derived from that the film is obtained by cutting the PP film roll in the previous cutting process, and the width of the PP film roll is constant, and the size of the cut film can be controlled by the cutting machine only be the length thereof; therefore, the detection range of the positioning member 4221 and the pressing range of the elastic pressing piece 51 can be solved by controlling the adjustment of the length direction of the diaphragm.
Further, in order to prevent static electricity from being generated, the first feeding platform 2 or the second feeding platform 3 is provided with a static electricity eliminating assembly 6 on the sea, the static electricity eliminating assembly 6 comprises a static electricity eliminating column 61 and a lifting column 62 for lifting/lowering the static electricity eliminating column 61, the length of the static electricity eliminating column 61 is compliant with the length of the first feeding platform 2 or the second feeding platform 3, and static electricity is eliminated on the membrane on the first feeding platform 2 or the second feeding platform 3.
Further, lifting tables a are arranged below the object placing table 1, the first feeding platform 2 and the second feeding platform 3, so that the height of the membrane placed by the manipulator adsorbent is controlled, the lifting tables a are shear type lifting tables, in addition, the contact ends of the lifting tables a and the object placing table 1 or the first feeding platform 2 or the second feeding platform 3 are motor-controlled electric roller tables a-1, the existence of the electric roller tables a-1 is convenient for the first feeding platform 2 or the second feeding platform 3 to convey the membrane stacks to be accurately stacked into the first feeding platform 2 or the second feeding platform 3, and the electric roller tables a-1 convey the accurately stacked membrane stacks on the object placing table 1 out of the object placing table 1.
The outer periphery of the integral structure formed by the object placing table 1, the first feeding platform 2, the second feeding platform 3 and the manipulator for moving the PP film is circumferentially provided with a coaming 7, and the coaming 7 is provided with three inlets and outlets, wherein the coaming 7 comprises two feeding inlets respectively communicated with the first feeding platform 2 and the second feeding platform 3 and a discharging port communicated with the object placing table 1, and safety rolling doors 71 are arranged on the feeding inlets and the discharging port; the safety rolling door 71 is closed when the robot performs a stacking operation, preventing an operator from entering to cause a safety accident.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The utility model provides a PP manipulator furred header, includes manipulator assembly (41) and set up in sucking disc frame (42) on manipulator assembly (41) top, its characterized in that:
At least two rows of suckers (421) are arranged on two sides of the sucker frame (42), and the lower end surfaces of all the suckers (421) are located at the same height;
At least two calibration devices (422) which are diagonally arranged are arranged on the sucker frame (42), and the calibration devices (422) are used for calibrating the positions of the sucker frame (42) for grabbing the membrane;
The sucker rack is characterized in that a plurality of tensioning parts (423) are arranged on the lower end face of the sucker rack (42), and the tensioning parts (423) are arranged on the lower end face of the sucker rack (42) and located between two rows of suckers (421).
2. The PP manipulator sling as defined in claim 1, wherein: the tensioning part (423) is an elastic gasket, the lower end face of the tensioning part (423) is an arc-shaped face, the arc-shaped face is contacted with an object and then is deformed in an upward bending mode, and the bottommost end of the arc-shaped face is lower than the lower end face of the sucker (421).
3. The PP manipulator sling as defined in claim 1, wherein: the calibration device (422) includes a positioning member (4221) and a displacement assembly (4222) that controls movement of the positioning member (4221).
4. A PP manipulator sling according to claim 3, wherein: the positioning piece (4221) is a CCD visual detection device, and the CCD visual detection device is provided with a direct-down main light source.
5. The PP manipulator sling according to claim 4, wherein: two auxiliary light sources (424) are further arranged on the sucker frame (42), and the auxiliary light sources (424) shine obliquely under the calibrating device (422).
6. A typesetting device is characterized by comprising:
a storage table (1);
The first feeding platform (2) is arranged at one side of the object placing table (1);
The second feeding platform (3) is arranged at the other side of the object placing table (1) relative to the first feeding platform (2);
The PP manipulator crane head of any one of claims 1-5, configured to grab the membrane sheets on the first feeding platform (2) and the second feeding platform (3) to stack the membrane sheets on the object placing platform (1) to form a membrane sheet stacked body; the membrane lamination body is a stack of membranes on the first feeding platform (2), a stack of membranes on the second feeding platform (3), or a mixed stack of membranes on the first feeding platform (2) and the second feeding platform (3).
7. A typesetting apparatus according to claim 6, wherein: the device is characterized in that a pressing sheet group (5) is arranged on the first feeding platform (2) or the second feeding platform (3), the pressing sheet group (5) is used for pressing the surface of a membrane positioned on the first feeding platform (2) or the second feeding platform (3), and the pressing sheet group (5) comprises an elastic pressing sheet (51) and a sliding table (52) enabling the elastic pressing sheet to slide relative to the membrane on the first feeding platform (2) or the second feeding platform (3).
8. A typesetting apparatus according to claim 6, wherein: and the first feeding platform (2) or the second feeding platform (3) is also provided with a static electricity eliminating component (6).
9. A typesetting apparatus according to claim 6, wherein: the device comprises a storage platform (1), a first feeding platform (2) and a second feeding platform (3), wherein lifting platforms (a) are arranged below the storage platform (1), and the contact ends of the lifting platforms (a) and the storage platform (1) or the first feeding platform (2) or the second feeding platform (3) are electric roller tables (a-1).
10. The typesetting device according to any one of claims 6-9, wherein: the PP film feeding device further comprises a coaming (7), wherein the coaming (7) surrounds the periphery of the integral structure formed by the object placing table (1), the first feeding platform (2), the second feeding platform (3) and the manipulator for moving the PP film; three inlets and outlets are formed in the enclosing plate (7), the three inlets and outlets comprise a feed inlet communicated with the first feed platform (2) and the second feed platform (3), and a discharge outlet communicated with the object placing platform (1), and a safety rolling door (71) is arranged on the feed inlet and the discharge outlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596576.5A CN114434482B (en) | 2021-12-24 | 2021-12-24 | PP manipulator hanging head and typesetting device using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596576.5A CN114434482B (en) | 2021-12-24 | 2021-12-24 | PP manipulator hanging head and typesetting device using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114434482A CN114434482A (en) | 2022-05-06 |
| CN114434482B true CN114434482B (en) | 2024-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111596576.5A Active CN114434482B (en) | 2021-12-24 | 2021-12-24 | PP manipulator hanging head and typesetting device using same |
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| Country | Link |
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| CN (1) | CN114434482B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101559880A (en) * | 2008-04-18 | 2009-10-21 | 村田机械株式会社 | Plate material conveying device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6796588B2 (en) * | 2002-08-27 | 2004-09-28 | Tsung-Chang Hsieh | Suction device with telescopic evacuating pipes |
| JP2012040657A (en) * | 2010-08-20 | 2012-03-01 | Ihi Corp | Vacuum suction device |
| CN105773277B (en) * | 2016-04-13 | 2019-06-07 | 昆山巨闳机械科技有限公司 | PP snip stacker with temporary storage mechanism |
| CN207536835U (en) * | 2017-09-29 | 2018-06-26 | 苏州杰锐思自动化设备有限公司 | Diaphragm feeding device |
| DE102019000300A1 (en) * | 2018-09-19 | 2020-03-19 | Kiefel Gmbh | GRIPPER FOR A DEVICE FOR MOLDING AND / OR LAMINATING A FILM ELEMENT, DRAPING FRAME, DEVICE FOR MOLDING AND / OR LAMINATING A FILM ELEMENT, PLANT FOR PRODUCING A MOLDED PART OR A LAMINATED COMPONENT, METHOD FOR MOLDING OR FABRICATING FORMING |
| JP6888645B2 (en) * | 2019-05-08 | 2021-06-16 | トヨタ自動車株式会社 | Transfer device and transfer method |
| TWI690398B (en) * | 2019-08-02 | 2020-04-11 | 增縉精機股份有限公司 | Suction Laminating Machine |
| CN113771074B (en) * | 2021-10-13 | 2023-08-29 | 潍坊新松机器人自动化有限公司 | Edge pressing type sheet conveying robot |
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2021
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101559880A (en) * | 2008-04-18 | 2009-10-21 | 村田机械株式会社 | Plate material conveying device |
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