CN115848985A

CN115848985A - Full-automatic panel sleeving machine for nixie tubes

Info

Publication number: CN115848985A
Application number: CN202210706663.XA
Authority: CN
Inventors: 朱超
Original assignee: Shenzhen Jianzhan Technology Co ltd
Current assignee: Shenzhen Jianzhan Technology Co ltd
Priority date: 2022-06-21
Filing date: 2022-06-21
Publication date: 2023-03-28

Abstract

The invention relates to the field of automation equipment, in particular to a full-automatic panel sleeving machine for a nixie tube, which comprises a material front and back driving mechanism, a rotary driving mechanism, a material grabbing claw, a two-axis linear driving module, a material preparation identification camera, a working platform, a panel three-axis moving device arranged on the working platform, a panel sleeving claw device used for grabbing materials and adjusting the angle of the materials, a rubber shell identification device used for identifying the position of a rubber shell of equipment, a material identification device used for identifying the materials, a conveying belt assembly arranged on the working platform, and a rubber shell disc arranged on the conveying belt assembly and bearing the rubber shell of the equipment; can realize getting material, automatic positioning, grabbing the work of material, automatic upset, automatic identification, automatic lagging automatically, traditional artifical upset feed, artifical lagging relatively, this application has improved its work efficiency greatly, improves this process production efficiency, because whole process does not need personnel to participate in and changes this workshop section to artificial reliance.

Description

Full-automatic panel sleeving machine for nixie tubes

Technical Field

The invention relates to the field of automation equipment, in particular to a full-automatic trigger for a nixie tube.

Background

At present, the nixie tube completely depends on manual operation in the plate sleeving process, workers are easy to fatigue to cause errors in the operation of long-time high-strength repeated actions, the consistency of produced products is uncontrollable, meanwhile, the labor cost continuously rises, and more nixie tube manufacturers seek equipment which can effectively control the product quality and can improve the production efficiency in the plate sleeving process. Based on the market demand, the company provides a computer-controlled nixie tube full-automatic plate sleeving machine scheme.

Disclosure of Invention

In order to solve the problems, the invention provides a full-automatic sleeving machine for nixie tubes, which can realize the work of automatic material taking, automatic positioning, automatic material grabbing, automatic overturning, automatic identification and automatic sleeving, and compared with the traditional manual overturning feeding and manual sleeving, the full-automatic sleeving machine for nixie tubes greatly improves the working efficiency and the production efficiency of the working procedure, and does not need personnel to participate in the whole process to change the dependence of the working section on manpower.

In order to achieve the purpose, the invention adopts the technical scheme that: a full-automatic sleeving machine for a nixie tube comprises a material front and rear driving mechanism, a rotary driving mechanism, a material grabbing claw, a two-axis linear driving module, a material preparation identification camera, a working platform, a sleeving plate three-axis moving device arranged on the working platform, a sleeving claw device used for grabbing materials and adjusting the angles of the materials, a rubber shell identification device used for identifying the positions of rubber shells of equipment, a material identification device used for identifying the materials, a conveying belt assembly arranged on the working platform, and a rubber shell disc which is arranged on the conveying belt assembly and bears the rubber shells of the equipment;

the material front and back driving mechanism is connected with a material tray loaded with materials in a driving mode and drives the material tray to move along the Y-axis direction of the space; the two-axis linear driving module drives the rotary driving mechanism to move along the directions of a space X axis and a space Z axis; the rotary driving mechanism is in driving connection with the material grabbing claw and drives the material grabbing claw to rotate 180 degrees, and the material grabbing claw is located above the material tray and used for grabbing materials; the material preparation identification camera is positioned above the material tray and is used for identifying the material on the material tray;

the material identification device comprises a material identification camera and material identification light sources which are arranged on the working platform and positioned on two sides above the material identification camera; the sleeve plate three-axis moving device respectively moves along the XYZ-axis direction with the sleeve claw device and the rubber shell recognition device, and the sleeve claw device moves the material to the rubber shell disc and is assembled in the rubber shell; meanwhile, the sleeve plate three-axis moving device drives the material to move to a position between the two material identification light sources, the material is located above the material identification camera, and direct light rays of the material identification light sources are higher than the back face of the material.

As a preferred scheme of the present application, the two-axis linear driving module includes a first Z-axis linear module and a first X-axis linear module, where the first X-axis linear module includes a first X-axis driving module and an X-axis fixing base plate disposed along the X-axis direction, and a first X-axis sliding rail extending along the length direction of the X-axis fixing base plate is disposed on a surface of the X-axis fixing base plate, where a first X-axis sliding block is slidably mounted on the first X-axis sliding rail, and the first Z-axis linear module is mounted on the first X-axis sliding block, and the first X-axis driving module pushes the first Z-axis linear module to move along the first X-axis sliding rail direction;

the first Z-axis linear module comprises a Z-axis driving module and a Z-axis fixed bottom plate placed along the Z-axis direction, wherein the back of the Z-axis fixed bottom plate is fixed on a first X-axis sliding block, a first Z-axis sliding rail extending along the length direction of the Z-axis fixed bottom plate is arranged on the surface of the Z-axis fixed bottom plate, a first Z-axis sliding block is assembled on the first Z-axis sliding rail in a sliding mode, a rotary driving mechanism is assembled on the first Z-axis sliding block, and the Z-axis driving module pushes the rotary driving mechanism to move along the direction of the first Z-axis sliding rail.

As a preferred scheme of the application, the first X-axis driving module comprises a first X-axis driving motor, an X-axis driving wheel, and an X-axis transmission belt, wherein an output shaft of the first X-axis driving motor passes through one side of the X-axis fixing base plate and is connected with the X-axis driving wheel, the X-axis transmission wheel is movably assembled at the other side of the X-axis fixing base plate through a rotating shaft, the X-axis transmission belt is sleeved between the X-axis driving wheel and the X-axis transmission wheel, and meanwhile, a clamping block is arranged on the back of the Z-axis fixing base plate and clamps the X-axis transmission belt; x-axis photosensitive switches are arranged on two sides above the X-axis fixing bottom plate, a trigger blocking piece is further arranged on the back face of the Z-axis fixing bottom plate, and the Z-axis fixing bottom plate moves along the first X-axis sliding rail and triggers the X-axis photosensitive switches on the two sides.

As the preferred scheme of this application, rotary driving mechanism includes rotating electrical machines, rotating electrical machines fixed plate, rotatory PMKD, wherein fixes on Z axle slider at the bottom of the rotatory PMKD, the rotating electrical machines fixed plate sets up perpendicularly on rotatory PMKD, rotating electrical machines fixes in one side of rotating electrical machines fixed plate, and rotating electrical machines output shaft cover is equipped with a axle sleeve, and this axle sleeve is connected with the claw of grabbing.

As a preferred scheme of the present application, the first Z-axis driving module includes a first Z-axis driving motor, a first Z-axis driving wheel, and a first Z-axis conveying belt, wherein an output shaft of the first Z-axis driving motor passes through one side of the Z-axis fixing base plate and is connected to the first Z-axis driving wheel, the first Z-axis driving wheel is movably assembled at the other side of the Z-axis fixing base plate through a rotating shaft, the first Z-axis driving belt is sleeved between the first Z-axis driving wheel and the first Z-axis driving wheel, and one side of the rotating fixing base plate is connected to the first Z-axis driving belt;

an upper limit sensor, an in-place sensor and a lower limit sensor are sequentially arranged on the surface of the Z-axis fixed base plate from top to bottom, and a Z-axis trigger plate for triggering the upper limit sensor, the in-place sensor and the lower limit sensor is arranged on one side of the rotary fixed base plate;

the top end of the rotating motor fixing plate is provided with a rotating photoelectric sensor, the shaft sleeve is provided with a blocking piece, the rotating motor drives the material grabbing claw to rotate 180 degrees, and the blocking piece covers the rotating photoelectric sensor.

As the preferred scheme of this application, jacking claw device includes material rotating electrical machines, jacking claw, and wherein the output and the jacking claw of material rotating electrical machines are connected, and the jacking claw is provided with two and presss from both sides and get the end, should press from both sides the both sides of getting the end and all be furnished with the reflection of light subsides parallel with work platform, and two reflection of light subsides all are located material identification light source top.

As a preferable scheme of the application, the material identification light source keeps an included angle of 20 degrees with the XY plane, and the material identification light source is 8mm higher than the back surface of the material.

As the preferred scheme of this application, material recognition device still includes light source lifting mechanism, and light source lifting mechanism includes lifting cylinder, light source mount, and wherein the material discernment light source is fixed respectively in the both sides of light source mount, just lifting cylinder drive light source mount moves along space Z axle direction.

As the preferred scheme of this application, the three-axis mobile device of lagging includes second Z axle straight line module, second X axle straight line module, second Y axle straight line module, and wherein second X axle straight line module sets up on the workstation to drive second Y axle straight line module and remove along X axle direction, and second Y axle straight line module drive second Z axle straight line module and remove along Y axle direction, second Z axle straight line module drive material rotating electrical machines removes along Z axle direction.

As a preferred embodiment of the present application, the second X-axis linear module includes an X-axis lead screw, a second X-axis driving motor, an X-axis bracket, an X-axis sliding nut, a second X-axis slide rail disposed on a surface of the X-axis bracket along the X-axis direction, and a second X-axis slider slidably mounted on the second X-axis slide rail; one end of the X-axis screw rod penetrates through the X-axis sliding nut, and the other end of the X-axis screw rod is connected with the output end of a second X-axis driving motor; the second X-axis driving motor drives the X-axis screw rod to rotate and drives the X-axis sliding nut to move along the direction of the second X-axis sliding rail, and the second Y-axis linear die set is assembled on the second X-axis sliding block and the X-axis sliding nut;

the second Y-axis linear module comprises a Y-axis fixing plate, a Y-axis lead screw, a Y-axis driving motor, a Y-axis support, a Y-axis sliding nut, a Y-axis sliding rail arranged on the surface of the Y-axis support along the Y-axis direction, and a Y-axis sliding block assembled on the Y-axis sliding rail in a sliding manner; one end of the Y-axis screw rod penetrates through the Y-axis sliding nut, and the other end of the Y-axis screw rod is connected with the output end of the Y-axis driving motor; the Y-axis driving motor drives the Y-axis screw rod to rotate and drives the Y-axis sliding nut to move along the direction of the Y-axis sliding rail, the Y-axis fixing plate is assembled on the Y-axis sliding block and the Y-axis sliding nut, and the Z-axis linear module is assembled at the tail end of the Y-axis fixing plate;

the second Z-axis linear module comprises a Z-axis fixing plate, a Z-axis support, a second Z-axis slide rail, a second Z-axis slider, a second Z-axis driving motor, a second Z-axis driving wheel and a second Z-axis conveying belt, wherein the Z-axis fixing plate is fixed at the tail end of the Y-axis fixing plate, the second Z-axis slide rails are arranged on the surface of the Z-axis fixing plate, the second Z-axis slider is arranged on the second Z-axis slide rail in a sliding mode, the Z-axis supports are fixed on the second Z-axis slider, an output shaft of the second Z-axis driving motor penetrates through one side of the Z-axis fixing plate and is connected with the second Z-axis driving wheel, the second Z-axis driving wheel is movably assembled on the other side of the Z-axis fixing base plate through a rotating shaft, the second Z-axis conveying belt is sleeved between the second Z-axis driving wheel and the second Z-axis driving wheel, and a clamping block is arranged on the back face of the Z-axis fixing base plate and clamps the second Z-axis conveying belt.

As the preferred scheme of this application, it moves down the cylinder to glue shell recognition device including gluing shell recognition camera, gluing shell recognition fixed bolster, gluing shell recognition light source, gluing shell recognition, wherein glue shell recognition camera, glue shell recognition and move down the cylinder and all fix in one side of Z axle fixed plate, glue shell recognition and move down the expansion end of cylinder and glue shell recognition fixed bolster fixed connection, it sets up on gluing shell recognition fixed bolster to glue shell recognition light source.

The invention has the beneficial effects that: 1. according to the material grabbing device, the material front and rear driving mechanism moves back and forth, a material tray loaded with materials is taken out from a material box, the material tray is conveyed to the position below the material preparation identification camera, and after the material preparation identification camera identifies a material specific position, the material front and rear driving mechanism enables the front and rear central positions of the materials and the front and rear central positions of the material grabbing claws to coincide through the position of moving the material tray back and forth, so that the material grabbing claws can grab the materials conveniently. The two-axis linear driving module drives the material grabbing claws to move up and down and left and right, the material grabbing claws move up and down to grab materials at a proper height and feed the materials to the material claws of a subsequent process at a proper height, the material grabbing claws move left and right to enable the center positions of the material grabbing claws to coincide with the center position of the material when the material grabbing claws grab the materials, and the left and right positions of the material grabbing claws are adjusted to enable the center positions of the material grabbing claws to coincide with the center position of the material claws of the subsequent process when the material grabbing claws feed the material claws of the subsequent process, and the rotary driving mechanism can turn the materials taken out by the material grabbing claws by 180 degrees. Through the device of this application, can realize getting material, automatic positioning, grabbing the work of material, automatic upset automatically, traditional artifical upset feed relatively, this application has improved its work efficiency greatly, improves this process production efficiency, because whole process does not need personnel to participate in and changes this workshop section to artificial reliance.

2. In this application, through the three-axis mobile device of lagging, move along space XYZ axle direction with jacking claw device and gluey shell recognition device respectively, be responsible for reciprocating all around and expect claw device and gluey shell recognition device, when treating that jacking claw device catches the material from grabbing, it is responsible for reciprocating all around and expects to grab and make jacking claw device grab the material from grabbing to pick up and get the material in suitable position, when removing gluey shell recognition device simultaneously, it guarantees to glue shell recognition device and treats that the location is glued the shell position and in the identification range. When the material to be detected is conveyed to the plate sleeving position, the plate sleeving positioning device is responsible for accurately positioning the material to be identified to the front, back, left, right, upper and lower positions in the material identification device, and when the plate sleeving is carried out, the plate sleeving positioning device is responsible for positioning the front and back positions of the material to be sleeved according to the accurate positions calculated by the rubber shell and the material identification device, so that the front and back central positions of the material to be sleeved and the rubber shell are completely overlapped; therefore, the effect of automatic detection, automatic positioning and automatic assembly can be realized.

3. In the prior art, for a digital tube sleeve plate process, material detection and positioning (detection and positioning of a welding hole of a circuit board) are required, but in the traditional technology, a detection light source irradiates the back of the circuit board, and a circuit with mirror surface reflection property is distributed on the circuit board, so that a plurality of unnecessary reflection points appear on a picture shot by a detection camera, and the identification and positioning of the material are inaccurate; meanwhile, the direct light rays of the material identification light source are higher than the back of the material, so that the back picture of the circuit board shot by the material identification camera cannot reflect light (because the situation that the light source directly irradiates the back of the circuit board is avoided), and the edge of the whole material and the corresponding welding hole can be accurately positioned.

Drawings

Fig. 1 is a schematic perspective view of a material preparation identification, grasping and direction-adjusting mechanism.

Fig. 2 is a schematic structural diagram of the assembly of the rotary driving mechanism, the material grabbing claw and the two-axis linear driving module.

Fig. 3 is another visual structure schematic diagram of the assembly of the rotary driving mechanism, the material grabbing claw and the two-axis linear driving module.

Fig. 4 is a schematic perspective view of the material grasping identification nest plate assembling mechanism.

Fig. 5 is a perspective view of the material grabbing identification nest plate assembly mechanism from another perspective.

Fig. 6 is a schematic structural diagram of a three-axis moving device of a sleeve plate, a rubber shell recognition device and a jacking claw device.

Fig. 7 is a schematic structural view of the rubber case recognition device and the nesting claw device.

Fig. 8 is a schematic view of the structure of the material recognition apparatus.

Fig. 9 is a diagram illustrating a conventional technique for detecting a reflection phenomenon on a wiring board.

Fig. 10 is a schematic diagram of the circuit board without reflection phenomenon in the detection process.

FIG. 11 is a schematic view of the whole structure of a nixie tube full-automatic plate sleeving machine

The reference numbers indicate: <xnotran> 1, 20, 21, 22, 23, 24,

Z

25, 2, 3, X 4, X 41, X 42, X 43, X 44, X 45, X 46, X 47, X 48, 49, Z 5, Z 50, Z 51, Z 52, Z 53, Z 54, Z 55, Z 56, 57, 58, 59, 6, 7, X 8, X 81, X 82, X 83, X 84, X 85, X 86, Y 9, Y 91, Y 92, Y 93, Y 94, Y 95, Y 96, Z 10, Z 101, Z 102, Z 103, Z 104, Z 105, Z 106, Z 107,

Z

108, 11, 111, 112, 113, 12, 121, 122, 123, 124, 13, </xnotran> A lifting cylinder 131, a light source fixing frame 132, a material identification light source 133 and a material identification camera 134.

Detailed Description

Referring to fig. 1-11, the present invention relates to a fully automatic panel sleeving machine for nixie tubes, which comprises a material grabbing recognition panel sleeving assembly mechanism, a material preparation recognition grabbing direction adjustment mechanism,

the material preparation identification grabbing direction adjusting mechanism comprises a material front and back driving mechanism 1, a rotary driving mechanism 2, a material grabbing claw 3, a two-axis linear driving module and a material preparation identification camera 6;

the material grabbing and identifying sleeve plate assembling mechanism comprises a working platform 7, a sleeve plate three-axis moving device arranged on the working platform 7, a sleeve claw device 11 used for grabbing materials and adjusting the angle of the materials, a rubber shell identifying device 12 used for identifying the position of a rubber shell of equipment, a material identifying device 13 used for identifying the materials, a conveying belt assembly arranged on the working platform 7, and a rubber shell disc which is arranged on the conveying belt assembly and bears the rubber shell of the equipment;

the material front-back driving mechanism 1 is connected with a material tray loaded with materials in a driving mode and drives the material tray to move along the Y-axis direction of the space; the two-axis linear driving module drives the rotary driving mechanism 2 to move along the directions of a space X axis and a space Z axis; the rotary driving mechanism 2 is in driving connection with the material grabbing claw 3 and drives the material grabbing claw 3 to rotate 180 degrees, and the material grabbing claw 3 is located above the material tray and used for grabbing materials; the material preparation identification camera 6 is positioned above the material tray and is used for identifying the material on the material tray;

the material recognition device 13 comprises a material recognition camera 134 and material recognition light sources 133 which are arranged on the working platform 7 and positioned on two sides above the material recognition camera 134; the sleeve plate three-axis moving device respectively moves along the XYZ-axis direction with the sleeve claw device 11 and the rubber shell recognition device 12, and the sleeve claw device 11 moves the material to the rubber shell disc and is assembled in the rubber shell; meanwhile, the sleeve plate three-axis moving device drives the material to move to a position between the two material identification light sources 133, the material is located above the material identification camera 134, and direct light rays of the material identification light sources 133 are higher than the back of the material.

In the application, the material front-back driving mechanism 1 moves back and forth, a material tray loaded with materials is taken out from a material box, the material tray is sent to the position below the material preparation identification camera 6, and after the material preparation identification camera 6 identifies a specific material position, the material front-back driving mechanism 1 enables the front-back central position of the materials and the front-back central position of the material grabbing claw 3 to coincide through the position of moving the material tray back and forth, so that the material grabbing claw 3 can grab the materials conveniently. The two-axis linear driving module drives the material grabbing claw 3 to move up and down and left and right, the material grabbing claw 3 moves up and down, the material grabbing claw 3 is enabled to grab materials at a proper height, the materials are fed to the material grabbing claw of the subsequent process at a proper height, the material grabbing claw 3 moves left and right, when the material grabbing claw 3 grabs the materials, the left and right position center of the material grabbing claw 3 needs to enable the material grabbing center position to be coincident with the material center position, when the material grabbing claw 3 grabs the material claw of the subsequent process, the left and right position of the material grabbing claw 3 is adjusted, the material grabbing center position is coincident with the material grabbing center position of the material grabbing claw of the subsequent process, and the rotary driving mechanism 2 can turn the materials taken out by the material grabbing claw 3 by 180 degrees. Through the device of this application, can realize getting material, automatic positioning, grabbing the work of material, automatic upset automatically, traditional artifical upset feed relatively, this application has improved its work efficiency greatly, improves this process production efficiency, because whole process does not need personnel to participate in and changes this workshop section to artificial reliance.

In this application, through lagging triaxial mobile device respectively with jacking claw device 11 and glue shell recognition device 12 along space XYZ axle direction removal, be responsible for reciprocating jacking claw device 11 and glue shell recognition device 12 all around, when treating that jacking claw device 11 grabs the material and connect and get the material from grabbing, it is responsible for reciprocating the jacking all around and grabs the jacking and grabs and make jacking claw device 11 grab the material from grabbing the material and connect and get the material in suitable position, when removing gluey shell recognition device 12 simultaneously, it guarantees to glue shell recognition device 12 and treats that the location glues the shell position in identification range. When the material to be detected is conveyed to the plate sleeving position, the plate sleeving positioning device is responsible for accurately positioning the front, back, left, right, upper and lower positions of the material to be identified in the material identification device 13, and when the plate sleeving is carried out, the plate sleeving positioning device is responsible for positioning the front and back positions of the material to be sleeved according to the accurate positions calculated by the rubber shell and the material identification device 13, so that the front and back central positions of the material to be sleeved and the rubber shell are completely overlapped; therefore, the effect of automatic detection, automatic positioning and automatic assembly can be realized.

In the conventional technology, for the nixie tube sleeve plate process, material detection and positioning (detection and positioning of a welding hole of a circuit board) are required, but in the conventional technology, a detection light source irradiates the back of the circuit board, and a circuit with mirror reflection property is distributed on the circuit board, so that a plurality of unnecessary reflection points appear on a picture shot by a detection camera, and the identification and positioning of the material are inaccurate, and in the application, a sleeve plate three-axis moving device drives the material to move between two material identification light sources 133 and enables the material to be positioned above a material identification camera 134; meanwhile, the direct light of the material identification light source 133 is higher than the back of the material, so that the back picture of the circuit board shot by the material identification camera 134 cannot reflect light (because the situation that the light source directly irradiates the back of the circuit board is avoided), and the edge of the whole material and the corresponding welding hole can be accurately positioned.

As a preferred scheme of the present application, the two-axis linear driving module includes a first Z-axis linear module 5 and a first X-axis linear module 4, where the first X-axis linear module 4 includes an X-axis driving module, and an X-axis fixing base plate 41 disposed along the X-axis direction, a first X-axis sliding rail 42 extending along the length direction of the X-axis fixing base plate is disposed on a surface of the X-axis fixing base plate 41, a first X-axis sliding block 43 is slidably mounted on the first X-axis sliding rail 42, where the first Z-axis linear module 5 is mounted on the first X-axis sliding block 43, and the X-axis driving module pushes the first Z-axis linear module 5 to move along the first X-axis sliding rail 42; first Z axle straight line module 5 is including Z axle drive module, the Z axle PMKD 50 of putting along Z axle direction, wherein Z axle PMKD 50 back is fixed on first X axle slider 43, and the surface of this Z axle PMKD 50 is provided with the first Z axle slide rail 51 of extending along its length direction, and wherein sliding fit is equipped with first Z axle slider 52 on first Z axle slide rail 51, and wherein rotary driving mechanism assembles on first Z axle slider 52, just Z axle drive module promotes rotary driving mechanism and removes along first Z axle slide rail 51 direction.

However, it should be noted that the specific structure of the first Z-axis linear module 5 and the first X-axis linear module 7 is only one preferred embodiment in the present application, and therefore, those skilled in the art may also arrange other structures to drive the gripper to move up, down, left and right.

As a preferred scheme of the present application, the first X-axis driving module includes a first X-axis driving motor 44, an X-axis driving wheel 45, an X-axis driving wheel 47, and an X-axis conveying belt 46, wherein an output shaft of the first X-axis driving motor 44 passes through one side of the X-axis fixing base plate 41 and is connected to the X-axis driving wheel 45, the X-axis driving wheel 47 is movably assembled at the other side of the X-axis fixing base plate 41 through a rotating shaft, the X-axis conveying belt 46 is sleeved between the X-axis driving wheel 45 and the X-axis driving wheel 47, and a clamping block is disposed on a back surface of the Z-axis fixing base plate 50 and clamps the X-axis conveying belt 46;

in the embodiment, the X-axis transmission belt 46 is clamped by the clamping blocks, and the first X-axis driving motor 44 drives the X-axis driving wheel 45 to rotate, so as to drive the X-axis transmission belt 46 to rotate, and therefore the Z-axis fixing base plate 50 moves along the direction of the first X-axis sliding rail 42 during driving.

Further, X-axis photosensitive switches 48 are disposed on two sides above the X-axis fixing base plate 41, wherein a triggering blocking piece 49 is further disposed on the back of the Z-axis fixing base plate 50, and the Z-axis fixing base plate 50 moves along the first X-axis slide rail 42 and triggers the X-axis photosensitive switches 48 on two sides. In the present application, in order to limit the upper limit of the left-right movement of the Z-axis fixed base plate 50, X-axis photosensitive switches 48 are provided on both sides above the X-axis fixed base plate 41, and when the trigger stopper 49 blocks the X-axis photosensitive switch 48 on either side, that is, the first X-axis driving motor 44 stops operating, the first X-axis slide rail 42 is prevented from slipping out.

As a preferred solution of the present application, the rotation driving mechanism 2 includes a rotation motor 21, a fixed plate of the rotation motor 21, and a rotation fixing bottom plate 22, wherein the rotation fixing bottom is fixed on the Y-axis sliding block 94, the fixed plate of the rotation motor 21 is vertically disposed on the rotation fixing bottom plate 22, the rotation motor 21 is fixed on one side of the fixed plate of the rotation motor 21, and an output shaft sleeve 20 of the rotation motor 21 is provided with a shaft sleeve 20, and the shaft sleeve 20 is connected with the gripper 3.

As a preferred embodiment of the present application, the first Z-axis driving module includes a first Z-axis driving motor 53, a first Z-axis driving wheel 54, a first Z-axis driving wheel 55, and a first Z-axis conveying belt 56, wherein an output shaft of the first Z-axis driving motor 53 passes through one side of the Z-axis fixing base plate 50 and is connected to the first Z-axis driving wheel 54, the first Z-axis driving wheel 55 is movably assembled at the other side of the Z-axis fixing base plate 50 through a rotating shaft, the first Z-axis driving belt is sleeved between the first Z-axis driving wheel 54 and the first Z-axis driving wheel 55, and meanwhile, one side of the rotary fixing base plate 22 is connected to the first Z-axis driving belt.

Further, the surface of the Z-axis fixed base plate 50 is sequentially provided with an upper limit sensor 57, an in-place sensor 58 and a lower limit sensor 59 from top to bottom, and one side of the rotary fixed base plate 22 is provided with a Z-axis trigger plate 25 for triggering the upper limit sensor 57, the in-place sensor 58 and the lower limit sensor 59. That is, the upper limit height, the in-place height and the lower limit height of the rotary motor 21 moving along the Z-axis direction can be controlled by the upper limit sensor 57, the in-place sensor 58 and the lower limit sensor 59, wherein the in-place height refers to a preset height after normal material grabbing, the rotary motor 21 is lifted, and then the material grabbing claw 3 is driven to rotate 180 °.

Further, a rotating photoelectric sensor 24 is arranged at the top end of the rotating motor fixing plate 23, and a blocking piece (not shown) is arranged on the shaft sleeve 20, wherein the rotating motor 21 drives the material grabbing claw 3 to rotate 180 degrees, and the blocking piece covers the rotating photoelectric sensor 24. In the embodiment, the rotating motor 21 drives the gripper 3 to rotate, and also drives the blocking piece to rotate, when the blocking piece rotates to block the rotating photoelectric sensor 24, that is, the rotating angle of the gripper 3 reaches a preset value (180 °), the rotating motor 21 stops rotating, that is, the material is turned over.

As a preferred scheme of the present application, the nesting claw device 11 includes a material rotating motor 111 and a nesting claw 112, wherein an output end of the material rotating motor 111 is connected to the nesting claw 112, the nesting claw 112 is provided with two clamping ends, two sides of the clamping ends are respectively provided with a light reflecting sticker 113 parallel to the working platform 7, and the two light reflecting stickers 113 are both located above the material identification light source 133. Wherein the material rotates the motor 111, which is responsible for adjusting the angle of the material to be jacketed. When the plate is sleeved, the plate is responsible for positioning the angle position of the material to be sleeved according to the accurate angle position calculated by the rubber shell and the material identification camera 134, so that the angle positions of the material to be sleeved and the rubber shell are completely overlapped; meanwhile, the reflective sticker 113 functions to uniformly reflect the light of the material recognition light source 133 back to the material recognition camera 134.

As a preferable scheme of the present application, the material recognition light source 133 maintains an included angle of 20 degrees with the XY plane, and the material recognition light source 133 is 8mm higher than the back surface of the material. In the embodiment, two material recognition light sources 133 (material recognition light source No. 1 133, material recognition light source No. 2 133) are arranged on each side, and when the material recognition light sources are installed, the included angle between the material recognition light sources and the horizontal plane needs to be kept 20 degrees, the horizontal position of the material recognition light sources 133 is 8mm higher than the back surface of the material when the material recognition light sources work, so that the light of the material recognition light sources cannot be directly emitted to the back surface of the material, and the material recognized by the material recognition cameras 134 cannot reflect light, so that the material positioning judgment is influenced.

As a preferred scheme of the present application, the material recognition device 13 further includes a light source lifting mechanism, the light source lifting mechanism includes a lifting cylinder 131 and a light source fixing frame 132, wherein the material recognition light sources 133 are respectively fixed on two sides of the light source fixing frame 132, and the lifting cylinder 131 drives the light source fixing frame 132 to move along the Z-axis direction. Meanwhile, in this embodiment, in order to prevent the material recognition light source 133 from blocking the movement of the nesting claw device 11 and the glue shell recognition device 12, in this application, the material recognition light source 133 is lifted by the lifting cylinder 131 and moved to a set position.

As the preferred scheme of this application, the three-axis mobile device of lagging includes second Z axle straight line module 10, second X axle straight line module 8, second Y axle straight line module 9, and wherein second X axle straight line module 8 sets up on work platform 7 to drive second Y axle straight line module 9 and remove along the X axle direction, and second Y axle straight line module 9 drive second Z axle straight line module 10 and remove along the Y axle direction, second Z axle straight line module 10 drive material rotating electrical machines removes along the Z axle direction.

As a preferred embodiment of the present application, the second X-axis linear module 8 includes an X-axis lead screw 83, a second X-axis driving motor 82, an X-axis bracket 81, an X-axis sliding nut 86, a second X-axis slide rail 84 disposed on a surface of the X-axis bracket 81 along the X-axis direction, and a second X-axis slider 85 slidably fitted on the second X-axis slide rail 84; one end of the X-axis lead screw 83 penetrates through the X-axis sliding nut 86, and the other end of the X-axis lead screw is connected with the output end of the second X-axis driving motor 82; the second X-axis driving motor 82 drives the X-axis lead screw 83 to rotate and drives the X-axis sliding nut 86 to move along the second X-axis slide rail 84, and the second Y-axis linear module 9 is assembled on the second X-axis slide block 85 and the X-axis sliding nut 86;

the second Y-axis linear module 9 comprises a Y-axis fixing plate 95, a Y-axis lead screw 96, a Y-axis driving motor 92, a Y-axis bracket 91, a Y-axis sliding nut, a Y-axis slide rail 93 arranged on the surface of the Y-axis bracket 91 along the Y-axis direction, and a Y-axis slide block 94 slidably mounted on the Y-axis slide rail 93; one end of a Y-axis screw 96 passes through the Y-axis sliding nut, and the other end of the Y-axis screw is connected with the output end of the Y-axis driving motor 92; a Y-axis driving motor 92 drives a Y-axis lead screw 96 to rotate and drives a Y-axis sliding nut to move along the direction of a Y-axis sliding rail 93, a Y-axis fixing plate 95 is assembled on a Y-axis sliding block 94 and the Y-axis sliding nut, and a Z-axis linear module is assembled at the tail end of the Y-axis fixing plate 95;

the second Z-axis linear module 10 includes a Z-axis fixing plate 105, a Z-axis support 102, a second Z-axis sliding rail 103, a second Z-axis slider 104, a second Z-axis driving motor 101, a second Z-axis driving wheel 106, a second Z-axis driving wheel 107, and a second Z-axis conveying belt 108, where the Z-axis fixing plate 105 is fixed at the end of the Y-axis fixing plate 95, the plurality of second Z-axis sliding rails 103 are disposed on the surface of the Z-axis fixing plate 105, the second Z-axis slider 104 is slidably disposed on the second Z-axis sliding rail 103, the plurality of Z-axis supports 102 are fixed on the second Z-axis slider 104, an output shaft of the second Z-axis driving motor 101 passes through one side of the Z-axis fixing plate 105 and is connected with the second Z-axis driving wheel 106, the second Z-axis driving wheel 107 is movably fitted on the other side of the Z-axis fixing base plate through a rotating shaft, and the second Z-axis conveying belt 108 is sleeved between the second Z-axis driving wheel 106 and the second Z-axis driving wheel 107, and a clamping block is disposed on the back side of the Z-axis fixing base plate.

It should be noted that the specific structure of the second Z-axis linear module 10, the second X-axis linear module 8, and the second Y-axis linear module 9 is only one preferred embodiment in the present application, and therefore, those skilled in the art may also set other structures to realize the driving of the material sleeving claw and the rubber case recognition device to realize the up-down, left-right, front-back movement.

As a preferred scheme of the present application, the glue shell recognition device 12 includes a glue shell recognition camera 121, a glue shell recognition fixing support 123, a glue shell recognition light source 124, and a glue shell recognition downward movement cylinder 122, wherein the glue shell recognition camera 121, the glue shell recognition downward movement cylinder 122 are both fixed on one side of the Z-axis fixing plate 105, the glue shell recognition downward movement cylinder 122 is fixedly connected with the glue shell recognition fixing support 123 at its movable end, and the glue shell recognition light source 124 is disposed on the glue shell recognition fixing support 123. The rubber shell recognition camera 121 is responsible for recognizing and positioning the accurate position of the rubber shell; a glue-shell recognition light source 124 for providing light source illumination when the glue-shell recognition camera 121 recognizes the glue shell; meanwhile, the glue shell recognition downward moving air cylinder 122 can adjust the position of the glue shell recognition light source 124.

In the embodiment, the material handling device comprises two material front and rear driving mechanisms 1, two rotary driving mechanisms 2, two material gripping claws 3, two-axis linear driving modules, a material preparation identification camera 6, two sleeve plate three-axis moving devices, two material gripping claw devices 11 for gripping materials and adjusting material angles, two rubber shell identification devices 12 for identifying the positions of rubber shells of equipment, two material identification devices 13 for identifying materials, a conveying belt assembly arranged on a working platform 7, and a rubber shell disc which is arranged on the conveying belt assembly and bears the rubber shells of the equipment;

referring to fig. 10, the two mechanisms are arranged symmetrically left and right, the material preparing identification grabbing direction adjusting mechanism and the material grabbing identification casing plate assembling mechanism are matched with each other, 3 seconds are needed when the material grabbing identification casing plate assembling mechanism removes the casing plate, in the period, the material grabbing claw 3 can grab a material in advance, the material returns after the casing plate flow of the casing plate mechanism is finished at the loading position of the material grabbing identification casing plate assembling mechanism No. 1 casing plate claw 112, the material is fed to the material grabbing claw No. 1 in the first time, then the material is grabbed and fed to the material grabbing claws No. 2 and No. 3 in sequence, the time of the combined flow is just 3 seconds, the machine has two groups of left and right material grabbing identification casing plate assembling mechanisms to work, when the three groups of the material grabbing claw 112 are just matched, when the left material grabbing identification casing plate assembling mechanism works, the right material grabbing identification casing plate assembling mechanism grabs the right material and assembles the right material grabbing identification casing plate assembling mechanism and fills the material continuously to ensure the middle working position machine.

The above embodiments are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the design of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. The utility model provides a full-automatic trigger of lagging of charactron which characterized in that:

the material pre-preparation identification device comprises a material front and rear driving mechanism, a rotary driving mechanism, a material grabbing claw, a two-axis linear driving module, a material preparation identification camera, a working platform, a sleeve plate three-axis moving device arranged on the working platform, a sleeve claw device used for grabbing materials and adjusting the angle of the materials, a rubber shell identification device used for identifying the position of a rubber shell of equipment, a material identification device used for identifying the materials, a conveying belt assembly arranged on the working platform, and a rubber shell disc arranged on the conveying belt assembly and bearing the rubber shell of the equipment;

2. The full-automatic trigger of a charactron of claim 1, characterized by that: the two-axis linear driving module comprises a first Z-axis linear module and a first X-axis linear module, wherein the first X-axis linear module comprises a first X-axis driving module and an X-axis fixed bottom plate arranged along the X-axis direction, a first X-axis slide rail extending along the length direction of the X-axis fixed bottom plate is arranged on the surface of the X-axis fixed bottom plate, a first X-axis slide block is assembled on the first X-axis slide rail in a sliding manner, the first Z-axis linear module is assembled on the first X-axis slide block, and the first X-axis driving module pushes the first Z-axis linear module to move along the direction of the first X-axis slide rail;

the first Z-axis linear module comprises a Z-axis driving module and a Z-axis fixing bottom plate arranged along the Z-axis direction, wherein the back of the Z-axis fixing bottom plate is fixed on a first X-axis sliding block, a first Z-axis sliding rail extending along the length direction of the Z-axis fixing bottom plate is arranged on the surface of the Z-axis fixing bottom plate, the first Z-axis sliding rail is provided with the first Z-axis sliding block in a sliding assembly mode, a rotary driving mechanism is assembled on the first Z-axis sliding block, and the Z-axis driving module pushes the rotary driving mechanism to move along the Z-axis sliding rail direction.

3. A material preparation identification grasping direction-adjusting mechanism according to claim 2, characterized in that: the first X-axis driving module comprises a first X-axis driving motor, an X-axis driving wheel and an X-axis conveying belt, wherein an output shaft of the first X-axis driving motor penetrates through one side of the X-axis fixing base plate and is connected with the X-axis driving wheel, the X-axis driving wheel is movably assembled on the other side of the X-axis fixing base plate through a rotating shaft, the X-axis conveying belt is sleeved between the X-axis driving wheel and the X-axis driving wheel, and meanwhile, a clamping block is arranged on the back of the Z-axis fixing base plate and clamps the X-axis conveying belt; x-axis photosensitive switches are arranged on two sides above the X-axis fixing bottom plate, a triggering blocking piece is further arranged on the back of the Z-axis fixing bottom plate, and the Z-axis fixing bottom plate moves along the X-axis sliding rails and triggers the X-axis photosensitive switches on the two sides.

4. A material preparation identification grasping direction-adjusting mechanism according to claim 3, characterized in that: the rotary driving mechanism comprises a rotary motor, a rotary motor fixing plate and a rotary fixing bottom plate, wherein the rotary fixing bottom is fixed on a first Z-axis sliding block, the rotary motor fixing plate is vertically arranged on the rotary fixing bottom plate, the rotary motor is fixed on one side of the rotary motor fixing plate, a shaft sleeve is sleeved on an output shaft of the rotary motor, and the shaft sleeve is connected with the material grabbing claw.

5. The full-automatic trigger of a charactron of claim 1, characterized by that: the nesting claw device comprises a material rotating motor and a nesting claw, wherein the output end of the material rotating motor is connected with the nesting claw, the nesting claw is provided with two clamping ends, two sides of each clamping end are respectively provided with a light reflecting sticker parallel to the working platform, and the two light reflecting stickers are both positioned above the material identification light source.

6. The full-automatic trigger of a charactron of claim 5, characterized by that: the material identification light source and the XY plane keep an included angle of 20 degrees, and the material identification light source is 8mm higher than the back of the material.

7. The full-automatic trigger of a charactron of claim 6, characterized by that: the material recognition device further comprises a light source lifting mechanism, the light source lifting mechanism comprises a lifting cylinder and a light source fixing frame, wherein the material recognition light sources are respectively fixed on two sides of the light source fixing frame, and the lifting cylinder drives the light source fixing frame to move along the direction of the Z axis.

8. The full-automatic trigger of a charactron of claim 7, characterized by that: the three-axis sleeve plate moving device comprises a second Z-axis linear module, a second X-axis linear module and a second Y-axis linear module, wherein the second X-axis linear module is arranged on the working platform and drives the second Y-axis linear module to move along the X-axis direction, the second Y-axis linear module drives the second Z-axis linear module to move along the Y-axis direction, and the second Z-axis linear module drives the material rotating motor to move along the Z-axis direction.

9. The full-automatic trigger for digital tubes according to claim 8 is characterized in that: the second X-axis linear module comprises an X-axis screw rod, a second X-axis driving motor, an X-axis support, an X-axis sliding nut, a second X-axis sliding rail arranged on the surface of the X-axis support along the X-axis direction, and a second X-axis sliding block assembled on the second X-axis sliding rail in a sliding mode; one end of the X-axis screw rod penetrates through the X-axis sliding nut, and the other end of the X-axis screw rod is connected with the output end of a second X-axis driving motor; the second X-axis driving motor drives the X-axis screw rod to rotate and drives the X-axis sliding nut to move along the direction of the second X-axis sliding rail, and the second Y-axis linear die set is assembled on the second X-axis sliding block and the X-axis sliding nut;

the second Y-axis linear module comprises a Y-axis fixing plate, a Y-axis lead screw, a Y-axis driving motor, a Y-axis bracket, a Y-axis sliding nut, a Y-axis sliding rail arranged on the surface of the Y-axis bracket along the Y-axis direction, and a Y-axis sliding block assembled on the Y-axis sliding rail in a sliding manner; one end of the Y-axis screw rod penetrates through the Y-axis sliding nut, and the other end of the Y-axis screw rod is connected with the output end of the Y-axis driving motor; a Y-axis driving motor drives a Y-axis lead screw to rotate and drives a Y-axis sliding nut to move along the direction of a Y-axis sliding rail, a Y-axis fixing plate is assembled on a Y-axis sliding block and the Y-axis sliding nut, and a second Z-axis linear module is assembled at the tail end of the Y-axis fixing plate;

the second Z-axis linear module comprises a Z-axis fixing plate, a Z-axis support, a second Z-axis slide rail, a second Z-axis slider, a second Z-axis driving motor, a second Z-axis driving wheel and a second Z-axis conveying belt, wherein the Z-axis fixing plate is fixed at the tail end of the Y-axis fixing plate, the second Z-axis slide rails are arranged on the surface of the Z-axis fixing plate, the second Z-axis slider is arranged on the second Z-axis slide rail in a sliding mode, the Z-axis supports are fixed on the second Z-axis slider, an output shaft of the second Z-axis driving motor penetrates through one side of the Z-axis fixing plate and is connected with the second Z-axis driving wheel, the second Z-axis driving wheel is movably assembled on the other side of the second Z-axis fixing base plate through a rotating shaft, the second Z-axis conveying belt is sleeved between the second Z-axis driving wheel and the second Z-axis driving wheel, meanwhile, a clamping block is arranged on the back of the Z-axis fixing base plate, and clamps the second Z-axis conveying belt.

10. The full-automatic trigger of a charactron of claim 9, characterized by that: the glue shell recognition device comprises a glue shell recognition camera, a glue shell recognition fixed support, a glue shell recognition light source and a glue shell recognition downward-moving cylinder, wherein the glue shell recognition camera and the glue shell recognition downward-moving cylinder are fixed on one side of the Z-axis fixed plate, the movable end of the glue shell recognition downward-moving cylinder is fixedly connected with the glue shell recognition fixed support, and the glue shell recognition light source is arranged on the glue shell recognition fixed support.