CN115714102B - Method and device for automatically unbinding magic tape of product - Google Patents
Method and device for automatically unbinding magic tape of product Download PDFInfo
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- CN115714102B CN115714102B CN202211413145.5A CN202211413145A CN115714102B CN 115714102 B CN115714102 B CN 115714102B CN 202211413145 A CN202211413145 A CN 202211413145A CN 115714102 B CN115714102 B CN 115714102B
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Abstract
The invention discloses a method for automatically unbinding a magic tape and an unbinding device for a product, which belong to the technical field of semiconductor production, and comprise a workbench arranged on one side of a conveying line, wherein a multi-axis robot, an unbinding station and a stretching strap station are arranged on the workbench, a positioning clamping jaw for clamping the product is arranged at the unbinding station, a stretching strap mechanism for clamping the unbinding tape and pulling the unbinding strap to one side far away from the product is arranged at the stretching strap station, and a material moving clamping jaw for clamping the product for carrying and the unbinding mechanism are arranged at the driving end of the multi-axis robot.
Description
Technical Field
The invention relates to the technical field of semiconductor production lines, in particular to a method for automatically unbinding a magic tape and an unbinding device for a product.
Background
The production of semiconductor production line needs turnover material, generally transports through the charging tray, and in order to be convenient for transport, directly pile up and produce easily and scatter, influence transportation efficiency, and current production line generally uses the magic tape to bind the product and put on the charging tray and transport, when needs take out the product, need untie the magic tape earlier, but lack special equipment of untie the bandage at present, rely on the manual work to untie the bandage on the production line, manual work intensity of labour is big, and efficiency is lower relatively, can't satisfy the production demand of production line. .
Disclosure of Invention
The technical purpose is that: aiming at the defects that the existing semiconductor production line lacks a magic tape binding band unbinding device and needs manual unbinding, so that the labor intensity is high and the production requirement of the production line cannot be met, the invention discloses a method for automatically unbinding a product and a unbinding device.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:
A method for automatically removing magic tape from a product, comprising the steps of:
s01, conveying a product with a magic tape to an unbinding and feeding station by a tooling plate, and conveying the product to the unbinding and feeding station by a multi-axis robot driving a material moving clamping claw;
S02, at the unbinding station, the product is clamped and fixed by the positioning clamping jaw, and the product is photographed by the positioning camera positioned right above the Jie Bang station, so that the coordinate position information of the tape head of the magic tape on the product is obtained;
S03, driving the unbinding mechanism to move above the magic tape by the multi-axis robot, and driving the tearing tape plate to move downwards, wherein the lower end of the tearing tape plate is pressed on the magic tape so that the lower end of the tearing tape plate is lower than the height of the tape head of the magic tape;
s04, the multi-axis robot drives the belt tearing plate to move to the side where the belt head of the belt is located until the inclined plane of the lower end of the belt tearing plate is located below the belt head of the belt, and the belt pressing cylinder located above the belt tearing plate drives the belt pressing block of the driving end to descend so as to press the belt head of the belt on the surface of the belt tearing plate;
s05, the multi-axis robot drives the tearing belt plate and the belt pressing block to move upwards together to separate the belt head of the binding belt from the binding belt, and the multi-axis robot moves towards the unbinding side of the binding belt to tear the magic tape binding belt;
S06, clamping the unbuckled binding band by a band pulling mechanism positioned at one side of the unbuckling station, and pulling the unbuckled binding band to one side to separate the binding band from the product;
S07, after the binding bands on the products are completely removed, the multi-axis robot drives the material moving clamping jaw to replace the products on the tooling plate.
Preferably, in step S02, the lifting motor below the positioning clamping jaw confirms the height of the product according to the binding information of the product, drives the positioning clamping jaw to lift, keeps the height of the magic tape on the product consistent, stores the binding information of the product in a bar code form, and acquires the binding information through the code scanning gun.
Preferably, in step S02, the process of acquiring strap head position information of the strap according to the positioning camera includes: the method comprises the steps of keeping the position of a positioning camera fixed, shooting an image of a product through the positioning camera, identifying the position of a binding head in the image, converting the actual coordinates of the binding head in a multi-axis robot coordinate system according to the distance between the positioning camera and a binding belt on the upper surface of the product, and driving a binding mechanism to move by the multi-axis robot according to coordinate information.
Preferably, in step S02, after the positioning camera shoots an image of the product, the positioning clamping jaw drives the product to rotate according to the position of the tape head of the magic tape, so that the joint of the tape head of the magic tape and the tape faces the direction of the tape tearing plate.
Preferably, in step S06, the process of pulling the strap by the strap pulling mechanism includes: the magic tape clamp is clamped by the pull tape clamp claw, the pull tape cylinder drives the pull tape clamp claw to move to one side far away from the product, and when the pull tape cylinder stroke is smaller than the distance of the pull tape clamp claw from the product, the second-stage pull tape cylinder at the drive end of the pull tape cylinder drives the pull tape clamp claw to move continuously, so that the pull tape clamp claw is separated from the product.
The invention also provides a binding off device, which uses the magic tape removing method to perform binding off operation of the semiconductor product, the binding off device comprises a workbench arranged at one side of a conveying line, a multi-axis robot, a binding off station and a tape pulling station are arranged on the workbench, a positioning clamping jaw for clamping the product is arranged at the binding off station, a tape pulling mechanism for clamping the binding off tape and pulling the binding off tape to one side far away from the product is arranged at the tape pulling station, a material moving clamping jaw for clamping the product for carrying and the binding off mechanism are arranged at the driving end of the multi-axis robot, and the material moving clamping jaw and the binding off mechanism are fixed at the driving end of the multi-axis robot through the same mounting plate; the binding removing mechanism comprises a tearing belt plate, a belt pressing cylinder and a belt pressing block, wherein the tearing belt plate is connected with the mounting plate through a spring floating mechanism, an inclined plane used for shoveling in the lower part of the belt head of the binding belt is arranged at the lower end of the tearing belt plate, the upper end of the belt pressing cylinder is fixedly connected with the mounting plate, the lower end of the belt pressing cylinder is opposite to the inclined plane of the tearing belt, the belt pressing block is fixed at the driving end of the belt pressing cylinder, and the belt pressing block is matched with the tearing belt plate to clamp the belt head of the binding belt; the positioning camera is fixed right above the binding station positioning clamping jaw through the mounting frame, and the position of the binding belt head on the product is obtained through the positioning camera.
Preferably, a lifting motor for driving the positioning clamping jaw to lift along the vertical direction is arranged below the positioning clamping jaw, the lifting motor is arranged below the workbench through a fixed plate, a lifting plate is arranged at the driving end of the lifting motor, the lifting plate is in sliding connection with the fixed plate through a guide rail structure, a lower limit sensor, an origin sensor and an upper limit sensor are sequentially arranged on the fixed plate from bottom to top along the moving direction parallel to the lifting plate, the lifting plate is provided with a sensing plate matched with the three sensors, the lifting motor sets the initial height position of the positioning clamping jaw according to the origin sensor, and the height of the positioning clamping jaw is adjusted by taking the origin as a reference according to the received product height information, so that the heights of the upper surface binding bands are consistent after the products are clamped.
Preferably, the upper end of the lifting plate is provided with the rotary air cylinder, the driving end of the rotary air cylinder is fixedly connected with the bottom of the positioning clamping jaw, the lower end of the rotary air cylinder is fixed on the lifting plate through the rotary air cylinder mounting plate, the positioning clamping jaw is driven to rotate through the rotary air cylinder, and the direction of the clamped and fixed product strap head is adjusted.
Preferably, the spring floating mechanism comprises a guide rail mounting plate and a floating spring, wherein the guide rail mounting plate adopts a C-shaped structure, the main plate surface of the guide rail mounting plate is parallel to the tear strip plate, the tear strip plate is connected with the main plate surface of the guide rail mounting plate in a matched manner through a sliding block and a guide rail, the guide rail mounting plate forms a limiting block for limiting the sliding distance of the tear strip plate at the bottom, the floating spring is arranged along the sliding direction parallel to the tear strip plate, the upper end of the floating spring is limited through a spring sleeve fixed on the guide rail mounting plate, and the lower end of the floating spring is propped against the tear strip plate.
Preferably, the pull belt mechanism comprises a pull belt clamping jaw, a pull belt cylinder and a secondary pull belt cylinder, wherein the drive directions of the pull belt cylinder and the secondary pull belt cylinder are parallel, the secondary pull belt cylinder is arranged at the drive end of the pull belt cylinder, the drive end of the secondary pull belt cylinder is fixedly connected with a lower pressing cylinder through a lower pressing cylinder mounting plate, and the pull belt clamping jaw is connected with the drive end of the lower pressing cylinder through a spring floating mechanism; the lower end of the drawstring cylinder is provided with a transverse moving cylinder for driving the drawstring cylinder to move along the direction parallel to the arrangement direction of the binding bands on the product.
The beneficial effects are that: the method and the device for automatically unbinding the magic tape of the product have the following beneficial effects:
1. According to the invention, the positioning clamping jaw is used for clamping and fixing the product, and after the tape head of the magic tape is tightly pressed by the tape tearing plate and the tape pressing block, the tape is released, so that the purpose of automatically releasing the tape can be realized, the labor cost is reduced, and the production efficiency of a production line is improved.
2. According to the invention, the positioning camera is used for photographing to position the strap head position on the product, the height of the upper end face of the product is automatically adjusted to be consistent according to the height of the product strap through the lifting motor, so that the distance between the camera and the positioning clamping jaw is consistent when the positioning camera photographs each time, the positioning of the strap head position of the magic tape according to the photographed image is more accurate, the multi-axis robot is convenient to drive the unbinding mechanism to move, and the automatic unbinding of the magic tape is realized.
3. According to the invention, the positioning clamping jaw is driven to rotate by the rotary cylinder, the direction of the joint of the belt head and the belt body of the magic tape can be judged according to the image shot by the positioning camera, and the direction of the belt head is kept consistent when the binding is released by the rotary cylinder, so that the positioning of the multi-axis robot is facilitated, and the control and positioning difficulty is reduced.
4. The belt tearing plate is connected with the mounting plate through the spring floating mechanism, when the belt tearing plate is pressed down, the floating spring can press the belt tearing plate on the magic tape binding belt under constant pressure, so that the inclined plane at the lower end of the belt tearing plate is lower than the belt head of the magic tape binding belt, the belt head can be clamped by matching with the belt pressing block, and the damage to a product caused by the pressing pressure when the belt tearing plate is pressed down can be avoided through the design of the floating spring.
5. According to the invention, the two-stage belt pulling cylinder is used for carrying out belt pulling operation, so that the occupied space of equipment is saved, and the multi-stage belt pulling out of different lengths is realized in the same space, thereby saving the equipment space and meeting the pulling-out requirements of semiconductor belts of different lengths.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic diagram of a semiconductor manufacturing line according to the present invention;
FIG. 2 is a block diagram of an unbinding device according to the present invention;
FIG. 3 is a diagram of the unbinding mechanism of the present invention;
FIG. 4 is an exploded view of the unbinding mechanism of the present invention;
FIG. 5 is a schematic diagram of the unbinding state of the unbinding mechanism according to the invention;
FIG. 6 is a block diagram of a positioning jaw of the present invention;
FIG. 7 is a block diagram of a drawstring mechanism of the present invention;
FIG. 8 is a block diagram of a positioning camera mounting of the present invention;
The device comprises a 1-conveying line, a 2-workbench, a 3-multiaxial robot, a 4-positioning clamping jaw, a 5-stretching strap mechanism, a 6-material moving clamping jaw, a 7-unbinding mechanism, an 8-mounting plate, a 9-tearing strap plate, a 10-stretching strap cylinder, an 11-stretching strap block, a 12-spring floating mechanism, a 13-inclined plane, a 14-positioning camera, a 15-mounting frame, a 16-lifting motor, a 17-fixing plate, a 18-lifting plate, a 19-lower limit sensor, a 20-origin sensor, a 21-upper limit sensor, a 22-sensing plate, a 23-rotating cylinder, a 24-rotating cylinder mounting plate, a 25-guide rail mounting plate, a 26-floating spring, a 27-main plate surface, a 28-sliding block, a 29-guide rail, a 30-limiting block, a 31-spring sleeve, a 32-stretching strap clamping jaw, a 33-stretching strap cylinder, a 34-secondary stretching strap cylinder, a 35-lower pressure cylinder mounting plate, a 36-lower pressure cylinder, a 37-traversing cylinder, a 38-camera mounting plate, a 39-mounting rod, a 40-auxiliary light source, a 41-blanking area and a 42-collecting frame.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown, but in which the invention is not so limited.
In order to meet the unbinding requirement of a magic tape on a semiconductor production line, the invention discloses a method for automatically unbinding the magic tape of a product, which comprises the following steps:
s01, conveying a product with a magic tape to an unbinding and feeding station by a tooling plate, and conveying the product to the unbinding and feeding station by a multi-axis robot driving a material moving clamping claw;
S02, at the unbinding station, a positioning clamping jaw clamps and fixes a product, a positioning camera positioned right above the Jie Bang station shoots the product, position information of a tape head of a magic tape on the product is obtained, the position of the positioning camera is kept fixed, an image of the product is shot through the positioning camera, the position of the tape head in the image is identified, the actual coordinate of the tape head in a multi-axis robot coordinate system is converted according to the distance between the positioning camera and the tape on the upper surface of the product, and the multi-axis robot drives the unbinding mechanism to move according to the coordinate information;
After the products are clamped and fixed, a lifting motor below the positioning clamping jaw confirms the height of the products according to binding information of the products, drives the positioning clamping jaw to lift, keeps the heights of magic tape binding bands on the products consistent, stores the product binding information in a bar code form, and can be arranged on a tooling plate so that the bar code can carry information such as the types of the products and the like and is acquired through a code scanning gun;
In order to facilitate binding belt unbinding, after a positioning camera shoots an image of a product, a positioning clamping jaw drives the product to rotate according to the position of the belt head of the magic tape, so that the joint of the belt head of the magic tape and the binding belt faces the direction of the belt tearing plate, the action difficulty of the multi-axis robot is reduced, and a unbinding mechanism is quickly driven to move for unbinding;
S03, driving the unbinding mechanism to move above the magic tape by the multi-axis robot, and driving the tearing tape plate to move downwards, wherein the lower end of the tearing tape plate is pressed on the magic tape so that the lower end of the tearing tape plate is lower than the height of the tape head of the magic tape;
s04, the multi-axis robot drives the belt tearing plate to move to the side where the belt head of the belt is located until the inclined plane of the lower end of the belt tearing plate is located below the belt head of the belt, and the belt pressing cylinder located above the belt tearing plate drives the belt pressing block of the driving end to descend so as to press the belt head of the belt on the surface of the belt tearing plate;
s05, the multi-axis robot drives the tearing belt plate and the belt pressing block to move upwards together to separate the belt head of the binding belt from the binding belt, and the multi-axis robot moves towards the unbinding side of the binding belt to tear the magic tape binding belt;
s06, clamping the unbuckled binding band by a band pulling mechanism positioned at one side of the unbuckling station, and pulling the unbuckled binding band to one side to separate the binding band from the product; the process of pulling the strap by the strap mechanism includes: the magic tape clamping jaw is clamped by the pull tape clamping jaw, the pull tape cylinder drives the pull tape clamping jaw to move to one side far away from the product, and when the travel of the pull tape cylinder is smaller than the distance that the magic tape clamping jaw is separated from the product, the second-stage pull tape cylinder at the driving end of the pull tape cylinder drives the pull tape clamping jaw to move continuously, so that the magic tape clamping jaw is separated from the product; the two-stage drawstring cylinder can improve action formation and save equipment occupation space.
S07, after the binding bands on the products are completely removed, the multi-axis robot drives the material moving clamping jaw to replace the products on the tooling plate.
As shown in fig. 1-8, the invention further provides a unbinding device, which uses the method to perform unbinding operation of the semiconductor product in the production line, the unbinding device comprises a workbench 2 arranged on one side of a conveying line 1, a multi-axis robot 3, an unbinding station and a drawstring station are arranged on the workbench 2, a positioning clamping jaw 4 for clamping the product is arranged at the unbinding station, a drawstring mechanism 5 for clamping the unbinding binding band and pulling the unbinding binding band to one side far away from the product is arranged at the drawstring station, a material moving clamping jaw 6 for clamping the product for carrying and an unbinding mechanism 7 are arranged at the driving end of the multi-axis robot 1, and the material moving clamping jaw 6 and the unbinding mechanism 7 are fixed at the driving end of the multi-axis robot 3 through the same mounting plate 8; the unbinding mechanism 7 comprises a tear band plate 9, a band pressing cylinder 10 and a band pressing block 11, wherein the tear band plate 9 is connected with a mounting plate 8 through a spring floating mechanism 12, the lower end of the tear band plate 9 is provided with an inclined plane 13 used for shoveling in the lower part of a band head of the band, the upper end of the band pressing cylinder 10 is fixedly connected with the mounting plate 8, the lower end is opposite to the inclined plane of the tear band plate 9, the band pressing block 11 is fixed at the driving end of the band pressing cylinder 10 and is matched with the tear band plate 9 to clamp the band head of the band, and in order to enable the clamping to be firmer, a saw-tooth structure can be arranged at the matched part of the band pressing block 11 and the inclined plane so as to clamp the band head of the band; the positioning camera 14 is fixed right above the binding station positioning clamping jaw 4 through the mounting frame 15, and the position of the binding belt head on the product is obtained through the positioning camera 14.
According to the invention, the positioning camera 14 is used for carrying out tape head positioning of the magic tape, as the position of the tape head of the magic tape in a coordinate system of the multi-axis robot 3 is obtained by converting a shot image according to the distance between the camera and a product, in order to reduce errors and improve positioning accuracy, as shown in fig. 6, the lifting motor 16 for driving the positioning clamping jaw 4 to lift in the vertical direction is arranged below the positioning clamping jaw 4, the lifting motor 16 is arranged below the workbench 2 through the fixing plate 17, the driving end of the lifting motor 16 is provided with the lifting plate 18, the lifting plate 18 and the fixing plate 17 are connected in a sliding manner through a guide rail structure, the fixing plate 17 is sequentially provided with the lower limit sensor 19, the origin sensor 20 and the upper limit sensor 21 along the moving direction parallel to the lifting plate 18, the lifting plate 18 is provided with the sensing plate 22 for being matched with the three sensors, and the lifting motor 16 sets the initial height position of the positioning clamping jaw 4 according to the origin sensor 20 and adjusts the height of the positioning clamping jaw 4 according to the received product height information as a reference, so that the heights of the clamping jaw on the surface of the clamping jaw are consistent. The height of the positioning camera 14 is also consistent, as shown in fig. 8, the positioning camera of the present invention is fixed on a mounting rod 39 through a camera mounting plate 38, and an auxiliary light source 40 is further provided at the positioning camera 14, so as to improve the image effect shot by the camera.
When location is carried out, the system can acquire the product information that needs to unbind according to the bar code on the tooling plate, including its product type, ligature height etc., every category product is before transporting or set up unified ligature standard, consequently after knowing the model of product, can acquire information such as ligature height, the rethread origin inductor 20 makes elevator motor 16 can drive location clamping jaw 4 and keep at a reference height, again according to specific product ligature height information, both can be through changing elevator motor's elevating height, the upper surface of adjustment product is in same height, make the ligature positional information that is acquired according to location camera 14 shooting image more accurate, the information includes the ligature tape head position, and the ligature position of ligature on the product, so that multiaxis robot drives unbinding mechanism and unbinds the ligature one by one.
The binding band removing process needs to clamp the band head of the magic tape binding band by the binding band removing mechanism, and the binding band can be moved to the side capable of being opened, so that the binding band is torn, and for products clamped on the positioning clamping jaw from the production line, the direction of the binding band cannot be guaranteed to be consistent when each product is placed, if the direction is judged through the image acquired by the positioning camera 14, the binding band removing mechanism 7 is driven to move by the multi-axis robot 3 according to the judgment result, and the binding band removing operation is performed.
Therefore, the invention also has the rotary air cylinder 23 on the upper end of the lifting plate 18, the driving end of the rotary air cylinder 23 is fixedly connected with the bottom of the positioning clamping jaw 4, the lower end of the rotary air cylinder 23 is fixed on the lifting plate 18 through the rotary air cylinder mounting plate 24, the positioning clamping jaw 4 is driven to rotate through the rotary air cylinder 23, the direction of the clamped and fixed product strap head is adjusted, and compared with a multi-axis robot, the rotary air cylinder is convenient and quick to adjust, the multi-axis robot only needs to move in the same direction after the strap head is clamped each time by the unbinding mechanism, the control process is simplified, and the adjusting difficulty is reduced.
In order to avoid damage to products in the process of pressing down the tear strip, the invention uses the spring floating mechanism 12 to buffer, and specifically, the spring floating mechanism 12 comprises a guide rail mounting plate 25 and a floating spring 26, the guide rail mounting plate 25 adopts a C-shaped structure, a main plate surface 27 of the guide rail mounting plate 25 is parallel to the tear strip 9, the tear strip 9 is connected with the main plate surface 27 of the guide rail mounting plate 25 in a matched manner through a sliding block 28 and a guide rail 29, a limiting block 30 for limiting the sliding distance of the tear strip 9 is formed at the bottom of the guide rail mounting plate 25, the floating spring 26 is arranged along a sliding direction parallel to the tear strip 9, the upper end of the floating spring 26 is limited through a spring sleeve 31 fixed on the guide rail mounting plate 25, and the lower end of the floating spring 26 is abutted against the tear strip 9. When the multi-axis robot 3 drives the tear strip 9 to descend, the floating spring 26 is abutted with the tear strip 9 due to the lower end, so that the impact of the structure on a product can be reduced, and damage is avoided.
In order to simultaneously meet the pull belt detachment requirements of various binding belts, as shown in fig. 7, the pull belt mechanism 5 of the invention comprises a pull belt clamping jaw 32, a pull belt cylinder 33 and a secondary pull belt cylinder 34, wherein the driving directions of the pull belt cylinder 33 and the secondary pull belt cylinder 34 are parallel, the secondary pull belt cylinder 34 is arranged at the driving end of the pull belt cylinder 33, the driving end of the secondary pull belt cylinder 34 is fixedly connected with a lower pressing cylinder 36 through a lower pressing cylinder mounting plate 35, and the pull belt clamping jaw 32 is connected with the driving end of the lower pressing cylinder 36 through a spring floating mechanism 12; a transverse moving cylinder 37 for driving the stretching strap cylinder 33 to move along the direction parallel to the arrangement direction of the binding straps on the product is arranged at the lower end of the stretching strap cylinder 33. The transverse moving air cylinder 37 drives the drawstring air cylinder 33 and the second-stage drawstring air cylinder 34 on the drawstring air cylinder to move to the position corresponding to the binding band on the product, the drawstring clamping claw 32 clamps the binding band and then lifts the binding band, and the drawstring air cylinder 33 pulls the binding band to the side far away from the product, so that the product is separated from the binding band, and the drawstring is completed; in order to collect the binding band for secondary use, a blanking area 41 is arranged between the drawstring mechanism and the positioning clamping jaw, and after the binding band is separated from the product, the binding band enters a collecting frame 42 from the blanking area 41. The clamping jaw is driven by the air cylinder, so that the clamping of products or binding bands can be prevented according to the working procedure.
The unbinding device of the invention has the following working processes: the product bundled with the magic tape is placed on a tooling plate, the tooling plate is placed on a conveying line 1, when the product flows to an unbinding and feeding station, a multi-axis robot 3 drives a material moving clamping claw 6 to pick up the product and place the product on the unbinding station, and meanwhile, the information of the product carried on the tooling plate is scanned and read and then is sent to a controller of the unbinding device; the lifting motor 16 is automatically adjusted to enable the positioning clamping jaw 4 to be lifted to a proper height, the height of the binding band on the upper surface of a product is kept consistent, and certain deviation can be compatible because the precision degree required by binding band loosening is not high, so that the binding band loosening process is not influenced even if errors exist in binding of the product; then the auxiliary light source 40 is turned on, the positioning camera 14 shoots and judges the direction and the position of the magic tape, and the tape head of the magic tape is adjusted to be consistent by the rotary air cylinder 23; the multi-axis robot 3 drives the unbinding mechanism 7 to move to the calculated position after photographing by the camera to start tearing, as shown in fig. 5, the tear tape 9 is moved to the position of 10mm-20mm of the tape head of the magic tape on the product by the action of the multi-axis robot 3, the tear tape 9 is pressed on the magic tape by a constant pressure by a floating spring 26, then the multi-axis robot drives the tear tape to move to the left in the direction of fig. 6 for 30mm-40mm, a tape pressing block 11 is driven by a tape pressing cylinder 10 to press down, the tape pressing block 11 is provided with saw teeth, the tear tape 22 is provided with an inclined plane, and the magic tape is pressed on the inclined plane of the tear tape 9; after the magic tape is pressed, the multi-axis robot moves upwards for 20mm and moves the tearing belt leftwards, and after the multi-axis robot moves leftwards and leaves the product for 30mm, the magic tape is torn, so that the action of tearing the tearing belt is realized; the pull belt mechanism 5 takes the torn magic tape into the collecting frame 42; the unbinding position component 5 rotates the product to a proper direction, and the multi-axis robot 2 drives the material moving clamping claw 6 to pick up the product and place the product on the assembly line tooling plate, so that the tear tape is completed.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (8)
1. A method for automatically removing a magic tape for a product, comprising the steps of:
s01, conveying a product with a magic tape to an unbinding and feeding station by a tooling plate, and conveying the product to the unbinding and feeding station by a multi-axis robot driving a material moving clamping claw;
S02, at the unbinding station, the product is clamped and fixed by the positioning clamping jaw, and the product is photographed by the positioning camera positioned right above the Jie Bang station, so that the coordinate position information of the tape head of the magic tape on the product is obtained; the lifting motor below the positioning clamping jaw confirms the height of a product according to binding information of the product, drives the positioning clamping jaw to lift, keeps the height of a magic tape on the product consistent, stores the binding information of the product in a bar code form, and acquires the binding information through a code scanning gun;
The process of acquiring strap head position information of the strap according to the positioning camera includes: the method comprises the steps of keeping the position of a positioning camera fixed, shooting an image of a product through the positioning camera, identifying the position of a binding head in the image, converting the actual coordinate of the binding head in a multi-axis robot coordinate system according to the distance between the positioning camera and a binding belt on the upper surface of the product, and driving a binding mechanism to move by the multi-axis robot according to coordinate information;
s03, driving a binding removing mechanism to move above the magic tape binding band by the multi-axis robot, and driving the tearing band plate to move downwards, wherein the binding removing mechanism comprises the tearing band plate, a band pressing cylinder and a band pressing block, and the tearing band plate is connected with the mounting plate through a spring floating mechanism; the lower end of the tearing band plate is pressed on the magic tape, so that the lower end of the tearing band plate is lower than the height of the tape head of the magic tape;
s04, the multi-axis robot drives the belt tearing plate to move to the side where the belt head of the belt is located until the inclined plane of the lower end of the belt tearing plate is located below the belt head of the belt, and the belt pressing cylinder located above the belt tearing plate drives the belt pressing block of the driving end to descend so as to press the belt head of the belt on the surface of the belt tearing plate;
s05, the multi-axis robot drives the tearing belt plate and the belt pressing block to move upwards together to separate the belt head of the binding belt from the binding belt, and the multi-axis robot moves towards the unbinding side of the binding belt to tear the magic tape binding belt;
S06, clamping the unbuckled binding band by a band pulling mechanism positioned at one side of the unbuckling station, and pulling the unbuckled binding band to one side to separate the binding band from the product;
S07, after the binding bands on the products are completely removed, the multi-axis robot drives the material moving clamping jaw to replace the products on the tooling plate.
2. The method for automatically removing a velcro tape according to claim 1, wherein in step S02, after the positioning camera captures an image of the product, the positioning jaw drives the product to rotate according to the position of the velcro tape head, so that the joint of the velcro tape head and the tape faces the direction of the tape tearing plate.
3. A method of automatically unbinding a product magic tape according to claim 1, wherein in step S06, the process of pulling the tape by the tape pulling mechanism comprises: the magic tape clamp is clamped by the pull tape clamp claw, the pull tape cylinder drives the pull tape clamp claw to move to one side far away from the product, and when the pull tape cylinder stroke is smaller than the distance of the pull tape clamp claw from the product, the second-stage pull tape cylinder at the drive end of the pull tape cylinder drives the pull tape clamp claw to move continuously, so that the pull tape clamp claw is separated from the product.
4. An unbinding device and a method for automatically unbinding a binding band of a product by using the method for automatically unbinding a magic tape of any one of claims 1-3, which is characterized by comprising a workbench (2) arranged on one side of a conveying line (1), wherein a multi-axis robot (3), an unbinding station and a stretching station are arranged on the workbench (2), a positioning clamping jaw (4) for clamping the product is arranged at the unbinding station, a stretching mechanism (5) for clamping the unbinding binding band and pulling the unbinding binding band to one side far away from the product is arranged at the stretching station, a material moving clamping jaw (6) for clamping the product for carrying and an unbinding mechanism (7) are arranged at the driving end of the multi-axis robot (3), and the material moving clamping jaw (6) and the unbinding mechanism (7) are fixed at the driving end of the multi-axis robot (3) through the same mounting plate (8); the unbinding mechanism (7) comprises a tear band plate (9), a band pressing cylinder (10) and a band pressing block (11), wherein the tear band plate (9) is connected with the mounting plate (8) through a spring floating mechanism (12), an inclined plane (13) used for shoveling in the lower part of the band head of the band is arranged at the lower end of the tear band plate (9), the upper end of the band pressing cylinder (10) is fixedly connected with the mounting plate (8), the lower end of the band pressing cylinder is opposite to the inclined plane of the tear band plate (9), the band pressing block (11) is fixed at the driving end of the band pressing cylinder (10), and the band head of the band is clamped by matching with the tear band plate (9); the positioning camera (14) is fixed right above the binding station positioning clamping jaw (4) through the mounting frame (15), and the position of the binding belt head on the product is obtained through the positioning camera (14).
5. The unbinding device according to claim 4, wherein a lifting motor (16) for driving the positioning clamping jaw (4) to lift along the vertical direction is arranged below the positioning clamping jaw (4), the lifting motor (16) is arranged below the workbench (2) through a fixing plate (17), a lifting plate (18) is arranged at the driving end of the lifting motor (16), the lifting plate (18) is slidably connected with the fixing plate (17) through a guide rail structure, a lower limit sensor (19), an origin sensor (20) and an upper limit sensor (21) are sequentially arranged on the fixing plate (17) from bottom to top along the moving direction parallel to the lifting plate (18), the lifting plate (18) is provided with a sensing plate (22) for being matched with the three sensors, the lifting motor (16) sets the initial height position of the positioning clamping jaw (4) according to the origin sensor (20), and the height of the positioning clamping jaw (4) is adjusted according to the received product height information by taking the origin as a reference, so that the heights of the upper surfaces of the binding bands are consistent after the products are clamped.
6. The unbinding device according to claim 5, wherein a rotary air cylinder (23) is arranged at the upper end of the lifting plate (18), the driving end of the rotary air cylinder (23) is fixedly connected with the bottom of the positioning clamping jaw (4), the lower end of the rotary air cylinder (23) is fixed on the lifting plate (18) through a rotary air cylinder mounting plate (24), and the positioning clamping jaw (4) is driven to rotate through the rotary air cylinder (23) to adjust the direction of the clamped and fixed product strap head.
7. The unbinding device according to claim 4, wherein the spring floating mechanism (12) comprises a guide rail mounting plate (25) and a floating spring (26), the guide rail mounting plate (25) adopts a C-shaped structure, a main plate surface (27) of the guide rail mounting plate (25) is parallel to the tear band plate (9), the tear band plate (9) is connected with the main plate surface (27) of the guide rail mounting plate (25) in a matched manner through a sliding block (28) and a guide rail (29), the guide rail mounting plate (25) forms a limiting block (30) for limiting the sliding distance of the tear band plate (9) at the bottom, the floating spring (26) is arranged along a sliding direction parallel to the tear band plate (9), the upper end of the floating spring (26) is limited by a spring sleeve (31) fixed on the guide rail mounting plate (25), and the lower end of the floating spring is abutted against the tear band plate (9).
8. The unbinding device according to claim 4, wherein the pull belt mechanism (5) comprises a pull belt clamping jaw (32), a pull belt cylinder (33) and a secondary pull belt cylinder (34), the drive directions of the pull belt cylinder (33) and the secondary pull belt cylinder (34) are parallel, the secondary pull belt cylinder (34) is arranged at the drive end of the pull belt cylinder (33), a lower pressing cylinder (36) is fixedly connected at the drive end of the secondary pull belt cylinder (34) through a lower pressing cylinder mounting plate (35), and the pull belt clamping jaw (32) is connected with the drive end of the lower pressing cylinder (36) through a spring floating mechanism (12); the lower end of the drawstring cylinder (33) is provided with a transverse moving cylinder (37) for driving the drawstring cylinder (33) to move along the direction parallel to the arrangement direction of the binding bands on the product.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211413145.5A CN115714102B (en) | 2022-11-11 | 2022-11-11 | Method and device for automatically unbinding magic tape of product |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211413145.5A CN115714102B (en) | 2022-11-11 | 2022-11-11 | Method and device for automatically unbinding magic tape of product |
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| CN115714102B true CN115714102B (en) | 2024-05-31 |
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| CN202211413145.5A Active CN115714102B (en) | 2022-11-11 | 2022-11-11 | Method and device for automatically unbinding magic tape of product |
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| CN115714102A (en) | 2023-02-24 |
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